Construction robot operation control method, device, storage medium and processor

Abstract

The present invention discloses an operation control method, device, storage medium and processor of a construction robot. The target building interior to be operated is divided into multiple areas, the target construction robot has a corresponding target operation range, and the target operation range includes at least one area. The method includes: the target construction robot obtains a first distance between the current position and each unoperated area in the target operation range, wherein the current position is the current position of the target construction robot; the target construction robot obtains a second distance between other construction robots and each unoperated area in the target operation range, wherein the other construction robots are robots other than the target construction robot in the target building interior; the target construction robot determines the area to be operated based on the first distance and the second distance. The present invention solves the technical problem that the construction robots in the prior art have low efficiency in joint operation due to the large number of cross-operation environments during joint operation.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to an operation control method, device, storage medium and processor of a construction robot. Background Art

[0002] At present, robot joint operation has been realized in warehouse construction operations. Robots can shuttle between fixed storage cabinets and passages. However, the joint operation environment of construction robots is quite different from the warehouse environment. Since the operating areas of each different type of robots are different, for example, passages such as corridors cannot enable two robots to pass through in parallel, the joint operation of construction robots cannot be carried out according to the indoor warehouse joint operation mode. As a result, there is a problem of low efficiency of joint operation of construction robots due to the large number of cross-operation environments when they are working together.

[0003] With respect to the problem of low efficiency of the joint operation of the above-mentioned construction robots, no effective solution has been proposed so far. Summary of the invention

[0004] The embodiments of the present invention provide an operation control method, device, storage medium and processor for a construction robot, so as to at least solve the technical problem that the construction robots in the prior art have low efficiency in joint operation due to the large number of cross-operation environments during joint operation.

[0005] According to one aspect of an embodiment of the present invention, there is provided an operation control method for a construction robot, wherein a target building interior to be operated is divided into a plurality of areas, the target construction robot has a corresponding target operation range, the target operation range includes at least one area, the method comprising: the target construction robot obtains a first distance between a current position and each non-operated area in the target operation range, wherein the current position is the current position of the target construction robot; the target construction robot obtains a second distance between other construction robots and each non-operated area in the target operation range, wherein the other construction robots are robots other than the target construction robot in the target building interior; the target construction robot determines the area to be operated based on the first distance and the second distance.

[0006] Furthermore, the target construction robot determines the area to be worked according to the first distance and the second distance, including: normalizing the first distance to obtain a first distance parameter corresponding to the first distance; normalizing the second distance to obtain a second distance parameter corresponding to the second distance; obtaining a first weight corresponding to the first distance and the second distance; weighting the first distance parameter and the second distance parameter corresponding to each non-worked area according to the first weight to obtain a first distance weighted value corresponding to each non-worked area; selecting a minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-worked area, and determining the non-worked area corresponding to the selected minimum first distance weighted value as the area to be worked.

[0007] Furthermore, there are M other construction robots in the target building room, where M is an integer greater than 1. The second distance is normalized to obtain a second distance parameter corresponding to the second distance, including: weighting the M second distances corresponding to each non-operating area according to the second weight to obtain a second distance weighted value corresponding to each non-operating area, wherein the second weight is the weight corresponding to the M other construction robots; obtaining a maximum second distance weighted value and a minimum second distance weighted value corresponding to each non-operating area; obtaining a first difference between the second distance weighted value and the minimum second distance weighted value, and obtaining a second difference between the maximum second distance weighted value and the minimum second distance weighted value; obtaining a ratio of the first difference to the second difference; and determining the difference between 1 and the ratio as the second distance parameter corresponding to the second distance.

[0008] Furthermore, the interior of the target building is divided into passage areas. After selecting the minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated, the method also includes: the target construction robot obtains the target passage area that needs to be passed to reach the area to be operated; when there are other construction robots in the target passage area, the area to be operated is re-determined according to the first distance weighted value corresponding to each non-operated area.

[0009] Furthermore, after selecting the minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated, the method also includes: when there are other construction robots in the passage area where the target construction robot goes to each non-operated area, comparing the first operation efficiency of the other construction robots in the target passage area with the second operation efficiency of the target construction robot; when the first operation efficiency is greater than the second operation efficiency, the target construction robot waits for the other construction robots to complete the operation in the target passage area and leave, and then moves to the area to be operated through the target passage area; when the first operation efficiency is less than the second operation efficiency, the target construction robot directly moves to the area to be operated through the target passage area, wherein other construction robots suspend their operations and move from the target passage area to other areas to wait.

[0010] Furthermore, before the target construction robot obtains the first distance between the current position and each unoperated area in the target operating range, the method also includes: the construction robot enters the target building room and determines whether there are other construction robots in the target building room; when there are no other construction robots in the target building room, the target construction robot selects an area from the target operating range that is closest to the current position as the area to be operated; when there are other construction robots in the target building room, the target construction robot selects an area from the target operating range that is farthest from the areas where other construction robots are located as the area to be operated; the target construction robot goes to the area to be operated to operate.

[0011] Furthermore, there are N other construction robots in the target building room, where N is an integer greater than 1, and the target construction robot selects an area from the target operating range that is farthest from the areas where other construction robots are located as the area to be operated, including: obtaining the third distance between each area in the target operating range and the N other construction robots; weighting the N third distances corresponding to each area according to a third weight to obtain a third distance weighted value corresponding to each area, wherein the third weight is the weight corresponding to the N other construction robots; selecting the maximum third distance weighted value from the third distance weighted values ​​corresponding to each area, and determining the area corresponding to the selected maximum third distance weighted value as the area to be operated.

[0012] Furthermore, after the target construction robot goes to the area to be operated to operate, the method further includes: the target construction robot operates in the area to be operated, and after the operation is completed, determines that the area to be operated is an operated area.

[0013] According to another aspect of an embodiment of the present invention, there is also provided an operation control device for a construction robot, wherein the interior of a target building to be operated is divided into a plurality of areas, the target construction robot has a corresponding target operation range, the target operation range includes at least one area, and the device comprises: a first acquisition unit, used for the target construction robot to acquire a first distance between a current position and each unoperated area in the target operation range, wherein the current position is the current position of the target construction robot; a second acquisition unit, used for the target construction robot to acquire a second distance between other construction robots and each unoperated area in the target operation range, wherein the other construction robots are robots other than the target construction robot in the target building interior; and a determination unit, used for the target construction robot to determine the area to be operated based on the first distance and the second distance.

[0014] According to another aspect of an embodiment of the present invention, a storage medium is also provided, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the operation control method of the construction robot of an embodiment of the present invention.

[0015] According to another aspect of an embodiment of the present invention, a processor is further provided, the processor being used to run a program, wherein when the program is run, the operation control method of the construction robot of an embodiment of the present invention is executed.

[0016] In an embodiment of the present invention, a target construction robot is used to obtain a first distance between a current position and each unoperated area in a target operating range, wherein the current position is the current position of the target construction robot; the target construction robot obtains a second distance between other construction robots and each unoperated area in the target operating range, wherein other construction robots are robots other than the target construction robot in the target building room; the target construction robot determines the area to be operated according to the first distance and the second distance. That is to say, the present application obtains the first distance between the current position of the target construction robot and each unoperated area in the target operating range, and the second distance between other construction robots and each unoperated area in the target operating range respectively through the target construction robot, and the target construction robot can determine the area to be operated through the above-mentioned first distance and second distance, thereby controlling the target construction robot to operate according to the determined area to be operated, thereby solving the technical problem of low efficiency of joint operation of construction robots in the prior art due to the large number of cross-operation environments during joint operation, and achieving the technical effect of improving the efficiency of joint operation of construction robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a method for controlling an operation of a construction robot according to an embodiment of the present invention;

[0019] Figure 2 is a flow chart of a method for joint operation of multiple types of robots according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of dividing working areas on a floor according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a robot passage obstruction scenario according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of an operation control device of a construction robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] Example 1

[0026] According to an embodiment of the present invention, an embodiment of an operation control method of a construction robot is provided, wherein the interior of a target building to be operated is divided into a plurality of areas, the target construction robot has a corresponding target operation range, and the target operation range includes at least one area. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0027] Figure 1 FIG. 1 is a flow chart of a method for controlling an operation of a construction robot according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0028] Step S102: The target construction robot obtains a first distance between a current position and each non-operated area in a target operating range, wherein the current position is the current position of the target construction robot.

[0029] In the above scheme, the interior of the target building is divided into multiple areas. Figure 3 FIG. 1 is a schematic diagram of the division of work areas on a floor according to an embodiment of the present invention. Figure 3 As shown in the figure, the target building is divided into multiple working areas: δ1, δ2, δ3, δ4, δ5, δ6, δ7, δ8, δ9, δ 10 , δ 11 , θ1, θ2, θ3, θ4, θ5, each robot has a different working area due to its different work type. Take robots A, B and F as an example.

[0030] Robot A target operating range A i ={δ1 δ3 δ5 δ 10 δ 11};

[0031] Robot B target operating range B j ={δ2 δ4 δ6 δ8 θ4};

[0032] Robot F target operating range F m ={δ1 θ1 θ2 δ6 δ9}.

[0033] In the technical solution provided in the above step S102 of the present invention, the target operating range of the target construction robot can be first determined, and the target operating range may include operated areas and non-operated areas, and then the first distance between the target construction robot at its current position and each non-operated area in the target operating range can be obtained.

[0034] In the above embodiment, the target operating range of the target construction robot can be determined by the operating area in the floor where the target construction robot is located and the passage area of ​​the target construction robot. For example, the operating area in the floor is δ α , the passage area is θ β , then when there are multiple construction robots working together in the target building, δ α and θ β The target operating range of each construction robot of the joint operation construction robot is determined separately.

[0035] Step S104: The target construction robot obtains the second distance between other construction robots and each non-operated area in the target operating range, wherein other construction robots are robots other than the target construction robot in the target building room.

[0036] In the technical solution provided in the above step S104 of the present invention, there may be multiple construction robots in the target building room to be operated. After the target construction robot obtains the first distance between the current position and each non-operated area in the target operating range, it can obtain the second distance between other construction robots and each non-operated area in the target operating range.

[0037] In the above embodiment, the target construction robot can determine whether there are other construction robots in the target building room after obtaining the first distance between the current position and each non-operating area in the target operating range. If there are other construction robots in the target building room, the target construction robot can obtain the second distance between the other construction robots and each non-operating area in the target operating range.

[0038] Optionally, in this embodiment, if there are no other construction robots in the target building room, the target construction robot can directly select the nearest unoperated area in the target operating range to perform the operation. If there are other construction robots in the target building room, proceed to the following step S106.

[0039] Step S106: The target construction robot determines the area to be operated according to the first distance and the second distance.

[0040] In the technical solution provided in the above step S106 of the present invention, after the target construction robot obtains the first distance and the second distance, the obtained first distance and the second distance can be comprehensively calculated to determine the final working area, and the working area can be determined as the waiting working area of ​​the above target construction robot.

[0041] Optionally, when determining the area to be operated based on the first distance and the second distance, if there are already other construction robots in the target building room, the first distance and the second distance obtained can be comprehensively calculated, and the work area with the farthest comprehensive distance from other construction robots can be determined as the area to be operated of the above-mentioned target construction robot; if there are no other construction robots in the target building room, the target construction robot selects the closest work area in the target working range as the area to be operated.

[0042] In this embodiment, through the above steps S102 to S106, the target construction robot obtains the first distance between the current position and each non-operated area in the target operating range, wherein the current position is the current position of the target construction robot; the target construction robot obtains the second distance between other construction robots and each non-operated area in the target operating range, wherein other construction robots are robots other than the target construction robot in the target building room; the target construction robot determines the area to be operated according to the first distance and the second distance. That is to say, in this embodiment, the target construction robot obtains the first distance between the current position of the target construction robot and each non-operated area in the target operating range, and the second distance between other construction robots and each non-operated area in the target operating range, respectively, and the target construction robot can determine the area to be operated according to the above first distance and second distance, thereby controlling the target construction robot to operate according to the determined area to be operated, thereby solving the technical problem of low efficiency of joint operation of construction robots in the prior art due to the large number of cross-operation environments during joint operation, and achieving the technical effect of improving the efficiency of joint operation of construction robots.

[0043] The above method of this embodiment is further introduced below.

[0044] As an optional implementation, step S106, the target construction robot determines the area to be worked according to the first distance and the second distance, including: normalizing the first distance to obtain a first distance parameter corresponding to the first distance; normalizing the second distance to obtain a second distance parameter corresponding to the second distance; obtaining a first weight corresponding to the first distance and the second distance; weighting the first distance parameter and the second distance parameter corresponding to each non-worked area according to the first weight to obtain a first distance weighted value corresponding to each non-worked area; selecting the minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-worked area, and determining that the non-worked area corresponding to the selected minimum first distance weighted value is the area to be worked.

[0045] In this embodiment, after the target construction robot obtains the first distance, it may perform normalization processing on the first distance to obtain a first distance parameter corresponding to the first distance.

[0046] For example, each construction robot has a different operating area due to its different types of work. Figure 3 As shown, construction robots A, B and F are still taken as examples.

[0047] The target construction robot F has completed the operation in the θ2 operation area in the target operation range Fm, and the remaining operation areas are not completed. Construction robots A and B are working in the δ3 operation area and the δ8 operation area respectively. The first distance obtained by the target construction robot F can be expressed by the following formula:

[0048]

[0049] in, Can be used to indicate the first distance.

[0050] After normalizing the first distance, the first distance parameter can be expressed by the following formula:

[0051]

[0052] Among them, Q can be used for the first distance parameter.

[0053] In the above embodiment, after the target construction robot obtains the second distance, the second distance may be normalized to obtain a second distance parameter corresponding to the second distance.

[0054] For example, the second distance between the construction robot A and the construction robot B and each non-operated area in the target operating range can be expressed by the following formula:

[0055]

[0056]

[0057] in, It can be used to represent the second distance between the construction robot A and each unoperated area in the target operating range. It can be used to represent the second distance between the construction robot B and each non-operated area in the target operating range.

[0058] Then the comprehensive distance of the second distance between the construction robot A and the construction robot B and each non-operated area in the target operating range can be calculated according to the weights of the construction robot A and the construction robot B.

[0059] Since construction robot F prioritizes the work area closest to the construction robot A and construction robot B, the remaining work areas prioritize the work areas that are farther away from construction robot A and construction robot B. Therefore, the normalized data of the above two second distances cannot be directly added, and the comprehensive distance needs to be normalized and subtracted.

[0060] In the above embodiment, after obtaining the first distance parameter and the second distance parameter, the first weight corresponding to the first distance and the second distance can be obtained, and the first distance parameter and the second distance parameter corresponding to each non-operating area within the target operating range are weighted according to the first weight to obtain the first distance weighted value corresponding to each non-operating area, and the minimum first distance weighted value is selected from the first distance weighted values ​​corresponding to each non-operating area, and the non-operating area corresponding to the minimum first distance weighted value is determined as the target construction robot's waiting operating area.

[0061] For example, the first weights of the first distance parameter Q and the second distance parameter Q′ of the target construction robot F can be defined by the hierarchical analysis method or the fuzzy comprehensive judgment method as follows: Then the first distance weighted value corresponding to each unoperated area can be expressed by the following formula:

[0062]

[0063] From the above results, it can be concluded that the δ6 operation area is the most suitable operation area after comprehensive calculation, that is, the area to be operated. The construction robot F can go to this operation area to operate.

[0064] As an optional implementation, there are M other construction robots in the target building room, M is an integer greater than 1, and the second distance is normalized to obtain a second distance parameter corresponding to the second distance, including: weighting the M second distances corresponding to each non-operating area according to a second weight to obtain a second distance weighted value corresponding to each non-operating area, wherein the second weight is the weight corresponding to the M other construction robots; obtaining the maximum second distance weighted value and the minimum second distance weighted value corresponding to each non-operating area; obtaining a first difference between the second distance weighted value and the minimum second distance weighted value, and obtaining a second difference between the maximum second distance weighted value and the minimum second distance weighted value; obtaining the ratio of the first difference to the second difference; and determining the difference between 1 and the ratio as the second distance parameter corresponding to the second distance.

[0065] In this embodiment, if there is more than one other construction robot in the target building room, the second distance is normalized to obtain the second distance parameter corresponding to the second distance. Each second distance between each other construction robot and each non-operating area in the target operating range can be weighted according to the second weight. The second weight is the weight corresponding to more than one other construction robot, which can be specifically 1 / M, so as to obtain the second distance weighted value corresponding to each non-operating area, and then determine the maximum second distance weighted value and the minimum second distance weighted value from the multiple second distance weighted values, and obtain the first difference between the second distance weighted value and the minimum second distance weighted value, as well as the second difference between the maximum second distance weighted value and the minimum second distance weighted value, and the ratio of the first difference to the second difference. Finally, the difference between 1 and the ratio is determined as the second distance parameter.

[0066] For example, if there are two other construction robots A and B in the target building, the comprehensive distance of the second distance can be expressed by the following formula:

[0067]

[0068] in, The comprehensive distance that can be used to represent the second distance between the construction robot A and the construction robot B and each non-operated area in the target operating range, Can be used to represent the second distance weighted value.

[0069] The second distance parameter can be expressed by the following formula:

[0070]

[0071] Wherein, Q′ can be used to represent the second distance parameter.

[0072] As an optional implementation, the interior of the target building is also divided into passage areas. After selecting the minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated, the method also includes: the target construction robot obtains the target passage area that needs to be passed through to reach the area to be operated; when there are other construction robots in the target passage area, the area to be operated is re-determined based on the first distance weighted value corresponding to each non-operated area.

[0073] In this embodiment, the target building interior may also include at least one passage area. After selecting the minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated, the target construction robot can obtain the target passage area that needs to be passed in the process of going to the area to be operated. If there are other construction robots in the target passage area, the target construction robot needs to re-determine the area to be operated based on the first distance weighted value corresponding to each non-operated area.

[0074] In the above embodiment, when there are other construction robots in the target passage area, the selection of the target construction robot's operating area can be determined by a priority strategy. For example, when there are other construction robots in the target passage area, in addition to using an avoidance strategy, if there are other strategies during the avoidance period of the target construction robot, which strategy to use will be selected according to the different priorities of the strategies.

[0075] Optionally, in the above embodiment, if there are no other construction robots in the target passage area, the target construction robot can directly pass through the target passage area to the waiting operation area to perform the operation.

[0076] As an optional implementation, after selecting the minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated, the method also includes: when there are other construction robots in the passage area where the target construction robot goes to each non-operated area, comparing the first operation efficiency of the other construction robots in the target passage area with the second operation efficiency of the target construction robot; when the first operation efficiency is greater than the second operation efficiency, the target construction robot waits for the other construction robots to complete their operations in the target passage area and leave, and then moves to the area to be operated through the target passage area; when the first operation efficiency is less than the second operation efficiency, the target construction robot directly moves to the area to be operated through the target passage area, wherein other construction robots suspend their operations and move from the target passage area to other areas to wait.

[0077] In this embodiment, after selecting the minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated, if there are other construction robots in the passage area of ​​each non-operated area where the target construction robot goes, the first operating efficiency of the other construction robots in the target passage area and the second operating efficiency of the target construction robot can be obtained, and the first operating efficiency and the second operating efficiency can be compared, and then the areas to be operated of the other construction robots and the target construction robot can be adjusted based on the comparison result.

[0078] In the above embodiment, when the first operation efficiency is greater than the second operation efficiency, the target construction robot will stop the ongoing operation and move to a non-operating area or an operating area where no construction robot is operating to wait until other construction robots complete their operations in the target passage area and leave, and then the target construction robot returns to the target passage area and moves to the waiting area for operation to operate; when the first operation efficiency is less than the second operation efficiency, other construction robots go to the non-operating area closest to the target passage area to wait. If there is no available non-operating area, other construction robots can wait in the nearest non-operating area until the target construction robot moves from the target passage area to the waiting area for operation to complete the operation, and then other construction robots move from the target passage area to its waiting area for operation to operate.

[0079] As an optional implementation, before the target construction robot obtains the first distance between the current position and each unoperated area in the target operating range, the method also includes: the construction robot enters the target building room and determines whether there are other construction robots in the target building room; when there are no other construction robots in the target building room, the target construction robot selects an area from the target operating range that is closest to the current position as the area to be operated; when there are other construction robots in the target building room, the target construction robot selects an area from the target operating range that is farthest from the areas where other construction robots are located as the area to be operated; the target construction robot goes to the area to be operated to operate.

[0080] In this embodiment, before the target construction robot obtains the first distance between the current position and each unoperated area in the target operating range, the target construction robot can enter the target building room, which can be the same floor of a certain building, and determine whether there are other construction robots in the target building room. If there are no other construction robots in the target building room, the target construction robot can use the elevator on that floor as the starting point (current position), obtain the distance between multiple operating areas in the target operating range and the starting point, select the operating area closest to it as the area to be operated, and then the target construction robot goes to the area to be operated to operate.

[0081] For example, since each work area is not completely a regular shape, when calculating the distance between the current position and each work area, the center point of each work area is used as its center of gravity position G h The stairs on the floor or the position where the construction robot completes the work are the actual coordinates D of the construction robot on the floor. F , through the coordinate D F and F m ={δ1 θ1 θ2 δ6 δ9} By calculating the center of gravity positions of the working areas, it can be obtained that the θ2 working area is closest to the current position of the target construction robot, so the target construction robot starts working from the θ2 working area first.

[0082] In the above embodiment, if there are other construction robots in the target building room, the target construction robot can select an area farthest from the areas where other construction robots are located from the target operating range as the area to be operated, and then the target construction robot goes to the area to be operated.

[0083] For example, other construction robot A works in area δ1, and other construction robot B works in area δ6. In order to prevent the target construction robot F from working at close distances with other construction robots A and B, it is necessary to calculate the operating area F of the target construction robot F. m The distance between all areas and the current positions of other construction robots A and other construction robots B.

[0084] F m The distance between each area and the current position of other construction robots A can be expressed by the following formula:

[0085]

[0086] F m The distance between each area and the current position of other construction robots B can be expressed by the following formula:

[0087]

[0088] Determine the importance (weight) of two other construction robots on the same floor Then F m The comprehensive distance between each area and two other construction robots can be expressed by the following formula:

[0089]

[0090] By calculating through the above formula, it can be obtained that the comprehensive distance between the δ9 area and other construction robots A and other construction robots B is the farthest. Therefore, the δ9 area can be selected as the area to be operated to start the operation.

[0091] It should be noted that if there are more than 2 construction robots on a floor, that is, if there are n construction robots working on the same floor, the importance (weight) of these construction robots can be evenly distributed, which are

[0092] As an optional implementation, there are N other construction robots in the target building room, N is an integer greater than 1, and the target construction robot selects an area farthest from the areas where other construction robots are located from the target operating range as the area to be operated, including: obtaining the third distance between each area in the target operating range and the N other construction robots; weighting the N third distances corresponding to each area according to a third weight to obtain a third distance weighted value corresponding to each area, wherein the third weight is the weight corresponding to the N other construction robots; selecting the maximum third distance weighted value from the third distance weighted values ​​corresponding to each area, and determining the area corresponding to the selected maximum third distance weighted value as the area to be operated.

[0093] In this embodiment, if there are more than one other construction robot in the target building room, for example, there are N other construction robots, N is an integer greater than 1, then when the target construction robot selects an area in the target operating range that is farthest from the area where other construction robots are located as the area to be operated, it can first obtain the third distance between each area in the target operating range and the N other construction robots, and then weight the N third distances corresponding to each area according to the third weight, which is the weight corresponding to the N other construction robots, and can specifically be 1 / N, so as to obtain the third distance weighted value corresponding to each area, and then select the maximum third distance weighted value from multiple third distance weighted values, and use the area corresponding to the maximum third distance weighted value as the area to be operated.

[0094] For example, the third distance weighted values ​​corresponding to each area are 7.5, 7.5, 7.5, 7.5, and 29 respectively. It can be obtained that the third distance weighted value 29 is the maximum third distance weighted value, and the area corresponding to the third distance weighted value 29 can be used as the area to be operated.

[0095] As an optional implementation, after the target construction robot goes to the area to be operated to operate, the method further includes: the target construction robot operates in the area to be operated, and after the operation is completed, determines that the area to be operated is an operated area.

[0096] In this embodiment, after the target construction robot goes to the area to be operated, the target construction robot can operate in the area to be operated, and after completing the operation, the area to be operated where the operation is completed can be marked as an operated area.

[0097] Optionally, in the above embodiment, after the target construction robot completes the work in the area to be worked, the area to be worked can be marked as P1. Each time a work area is completed, it is marked, and finally a set P is formed. The set P can be used to determine whether the target construction robot has completed its own work in the future, and to judge whether the work is finally completed. When making a judgment, the set P can be compared with the set F m Compare and determine whether set P is equal to set F m , if the set P is equal to the set F m , then the target construction robot is determined to finish the operation and drive to the elevator entrance to work on other floors; if the set P is not equal to the set F m , then it means that the target construction robot has not completed the content of the area to be worked on, and the target construction robot needs to continue to determine the area to be worked on to perform the work.

[0098] The operation control method of the construction robot in this embodiment obtains the first distance between the current position of the target construction robot and each non-operated area in the target operation range, as well as the second distance between other construction robots and each non-operated area in the target operation range through the target construction robot. The target construction robot can determine the area to be operated through the above-mentioned first distance and second distance, and thus control the target construction robot to perform the operation according to the determined area to be operated, thereby solving the technical problem of low efficiency of joint operation of construction robots in the prior art due to the large number of cross-operation environments during joint operation, and achieving the technical effect of improving the efficiency of joint operation of construction robots.

[0099] Example 2

[0100] The above method of the present invention is further introduced below in conjunction with preferred implementation modes.

[0101] In this embodiment, the building interior can be divided into three areas, namely, the working area δ α 、Traffic areaθ β and non-operating areas Based on the above area divisions, the operation area for the robot to enter the site in advance will be planned.

[0102] Figure 2 FIG. 1 is a flow chart of a method for joint operation of multiple types of robots according to an embodiment of the present invention. Figure 2 As shown, the method may include the following steps:

[0103] Step S201, according to the operation area δ in the floor α , the passage area θ β Determine the working area A of the joint working robots A, B, C, etc. i , B j , C n Wait, robot F enters the floor from the elevator entrance to work.

[0104] Step S202, determining whether there are other robots on the floor.

[0105] In this embodiment, if there is no working robot in the floor (indoor of the target building), jump to step S203; if there is a working robot in the floor, jump to step S204.

[0106] Step S203: The robot F starts from the elevator and moves from the robot F's working area F m Select the nearest work area to go to work, and name the work area P1.

[0107] Step S204, calculate the working area of ​​other robots and the working area F of robot F m The distances between the various areas are calculated through comprehensive analysis, and the farthest operating area is calculated. Robot F drives to this area to work, and the operating area is named P1.

[0108] Step S205: After robot F completes the P1 operation area, a set P is formed and the operation area F is m The P1 area is marked as the operated area.

[0109] Step S206, calculate the robot F's work completion position and F m The distance between the unoperated area and the operating area of ​​other robots and the operating area F of robot F are calculated. m The distance between the unoperated areas is calculated and the final operating area is determined by comprehensive calculation. The area is marked as P k .

[0110] Step S207: When the robot F moves to P k During the operation period, in the passage area θ β When there are other working robots in the environment, the working area of ​​robot F is selected through the priority strategy.

[0111] Step S208, after robot F completes P k After completing the work on the area, add it to the set P and add F m The area is marked as an operated area.

[0112] Step S209, determine whether set P is equal to set F m .

[0113] In this embodiment, if the set P is equal to the set F m , then jump to step S210, if the set P is not equal to the set F m , then jump to step S204.

[0114] Step S210: Robot F finishes the work and drives to the elevator entrance to work on other floors.

[0115] like Figure 3 As shown in the figure, each robot has a different working area due to its different work type. Take robots A, B and F as an example.

[0116] Robot A working area A i ={δ1 δ3 δ5 δ 10 δ 11};

[0117] Robot B working area B j ={δ2 δ4 δ6 δ8 θ4};

[0118] Robot F working area F m ={δ1 θ1 θ2 δ6 δ9}.

[0119] In this embodiment, as shown in step S202, when robot F enters a floor to work, it is first necessary to determine whether there are other robots on the same floor. If there are no working robots on the floor, the distance between the elevator starting point and the five working areas of robot F needs to be calculated.

[0120] In the above embodiment, since each area is not completely a regular shape, its calculation center point is its center of gravity position G h , the position of the staircase or the work completed is the actual coordinate D of the robot on the floor F , through D F and F m={δ1 θ1 θ2 δ6δ9} By calculating the center of gravity positions of the working areas, it can be obtained that the θ2 area is closest, P1=θ2, so the robot F can start working from the θ2 area first.

[0121] In this embodiment, as shown in step S203, after the robot completes the P1 operation area, a set P can be formed and F m P1 is marked as the worked area, and the set P is used to subsequently determine whether the robot F has completed its own work and to judge whether the final working area is.

[0122] In this embodiment, as shown in step S204, the robot F work completion position and F m Then calculate the distance between the unoperated area in the operating area of ​​other robots and the operating area Fm of robot F, and determine the final operating area through comprehensive calculation. The area is marked as P k The calculation of step S204 can be divided into two parts. On the basis of satisfying the principle of proximity for selecting the area to be operated by robot F, the final area to be operated needs to be determined by considering the next operation point and the distance between it and other operation robots.

[0123] In this embodiment, as shown in step S205, when the robot F travels to P k During the operation area, in the passage area θ β In the case of other working robots, the priority strategy determines the selection of the working area of ​​robot F. In step S205, while robot F selects the avoidance strategy, if there are other strategies during the avoidance period, the strategy can be selected with different priorities.

[0124] In this embodiment, as shown in step S206, after robot F completes P k After regional operation, P k The area is added to the set P, and then in F m In the P k The area is marked as the worked area, so that the worked area can be eliminated to prevent repeated operations.

[0125] Figure 4 Schematic diagram of a robot passage obstruction scenario according to an embodiment of the present invention. Figure 4 As shown, after robot B completes the operation in the δ3 operation area, it can determine through the calculation of step S204 that the δ1 operation area is the optimal operation scene. At this time, robot A operates in the passage area θ3. When this happens, there will be the following solution logic:

[0126] The first one is: in the working area calculated by robot B through step S204, if there is no obstruction in the passage area θ3, the robot can gradually select the working areas that will not be obstructed by other robots to complete the work. For example, if there is area δ4 in the remaining working area of ​​robot B, then robot B will go to area δ4 to work.

[0127] The second is: if all areas of the subsequent operation area of ​​robot B are blocked, the efficiency η of robot A can be used. A and the efficiency η of robot B B The working areas of robot A and robot B are adjusted based on the comparison results.

[0128] In this embodiment, when η A >η B , robot A stops the current operation and moves to the non-operation area or the area without robot operation to wait until robot B successfully passes through the passage area θ3, then robot A returns to the passage area θ3 to operate; when η A <η B , robot B goes to the non-operating area closest to the passage area θ3 to wait. If there is no available non-operating area, robot B can wait in the nearest non-operating area until robot A completes the work, and then robot B goes to work through the passage area θ3.

[0129] The multi-type robot joint operation method in this embodiment relies on the operation area δ in the floor. α and the passage area θ β Determine the robot's entry work area and provide a repulsive operation calculation method for the robot to enter. After the robot completes the initial work area, by solving the first distance between the working robot and the remaining work area, the second distance between other robots and the remaining work area, the final area to be worked on is determined by comprehensively calculating the first distance and the second distance. When the robot is working, a priority strategy is provided for cross-obstruction operations, thereby ensuring that the operations of multiple robots are repulsive, ensuring that the distance between the robot's working areas is farther, and further ensuring the smooth use of the robot's passage, reducing the robot's spatial waiting time when idle, and improving the overall comprehensive efficiency, so that multiple robots can work smoothly and the comprehensive operation efficiency is improved.

[0130] Example 3

[0131] According to an embodiment of the present invention, an embodiment of an operation control device of a construction robot is provided, wherein the interior of a target building to be operated is divided into multiple areas, and the target construction robot has a corresponding target operation range, and the target operation range includes at least one area. It should be noted that the operation control device of the construction robot can be used to execute the operation control method of the construction robot in Example 1 of the present invention.

[0132] Figure 5 Schematic diagram of a construction robot operation control device according to an embodiment of the present invention. Figure 5 As shown, the operation control device 50 of the construction robot includes: a first acquisition unit 51, a second acquisition unit 52 and a determination unit 53.

[0133] The first acquisition unit 51 is used for the target construction robot to acquire a first distance between a current position and each non-operated area in a target operating range, wherein the current position is the current position of the target construction robot.

[0134] The second acquisition unit 52 is used for the target construction robot to acquire the second distance between other construction robots and each non-operated area in the target operating range, wherein the other construction robots are robots other than the target construction robot in the target building room.

[0135] A determination unit 53 is used for the target construction robot to determine the area to be operated according to the first distance and the second distance.

[0136] The operation control device of the construction robot in this embodiment obtains the first distance between the current position of the target construction robot and each non-operated area in the target operating range, as well as the second distance between other construction robots and each non-operated area in the target operating range through the target construction robot. The target construction robot can determine the area to be operated through the above-mentioned first distance and second distance, and thus control the target construction robot to perform the operation according to the determined area to be operated, thereby solving the technical problem of low efficiency of joint operation of construction robots in the prior art due to the large number of cross-operation environments during joint operation, and achieving the technical effect of improving the efficiency of joint operation of construction robots.

[0137] Example 4

[0138] According to an embodiment of the present invention, a storage medium is also provided, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the operation control method of the construction robot in Example 1 of the present invention.

[0139] Example 5

[0140] According to an embodiment of the present invention, a processor is also provided, which is used to run a program, wherein when the program is run, the operation control method of the construction robot in Embodiment 1 of the present invention is executed.

[0141] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0142] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0143] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0144] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0145] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0147] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A construction robot operation control method, characterized in that: The target building interior to be operated is divided into a plurality of areas, the target construction robot has a corresponding target operation range, the target operation range includes at least one area, and the operation control method of the construction robot includes: The target construction robot acquires a first distance between a current position and each non-operated area in the target operating range, wherein the current position is the current position of the target construction robot; The target construction robot acquires a second distance between other construction robots and each non-operated area in the target operating range, wherein the other construction robots are robots other than the target construction robot in the target building room; The target construction robot determines a waiting operation area according to the first distance and the second distance; The target construction robot determines the area to be operated according to the first distance and the second distance, including: normalizing the first distance to obtain a first distance parameter corresponding to the first distance; normalizing the second distance to obtain a second distance parameter corresponding to the second distance; obtaining a first weight corresponding to the first distance and the second distance; weighting the first distance parameter and the second distance parameter corresponding to each non-operated area according to the first weight to obtain a first distance weighted value corresponding to each non-operated area; selecting a minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated; There are M other construction robots in the target building room, where M is an integer greater than 1. Normalizing the second distance to obtain a second distance parameter corresponding to the second distance includes: Weight the M second distances corresponding to each non-operated area according to a second weight to obtain a second distance weighted value corresponding to each non-operated area, wherein the second weight is the weight corresponding to the M other construction robots; obtain the maximum second distance weighted value and the minimum second distance weighted value corresponding to each non-operated area; obtain a first difference between the second distance weighted value and the minimum second distance weighted value, and obtain a second difference between the maximum second distance weighted value and the minimum second distance weighted value; obtain the ratio of the first difference to the second difference; determine the difference between 1 and the ratio as the second distance parameter corresponding to the second distance.

2. The method according to claim 1, characterized in that The target building is further divided into a pass area, and the minimum first distance weighted value is selected from the first distance weighted values ​​corresponding to each non-operation area. After determining that the unoperated area corresponding to the selected minimum first distance weighted value is the area to be operated, the method further includes: The target construction robot obtains a target passage area that needs to be passed to reach the area to be operated; In the case where there are other construction robots in the target passage area, the area to be operated is re-determined according to the first distance weighted value corresponding to each non-operated area.

3. The method according to claim 2, characterized in that After selecting a minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated, the method further includes: In the case where there are other construction robots in the passage area where the target construction robot is heading to each non-operated area, comparing the first operation efficiency of the other construction robots in the target passage area with the second operation efficiency of the target construction robot; When the first operation efficiency is greater than the second operation efficiency, the target construction robot waits for the other construction robots to complete their operations in the target passage area and leave, and then moves to the waiting operation area through the target passage area; When the first operating efficiency is lower than the second operating efficiency, the target construction robot directly moves through the target passage area to the waiting area for operation, wherein the other construction robots suspend operation and move from the target passage area to other areas to wait.

4. The method according to claim 1, characterized in that: Before the target construction robot acquires a first distance between a current position and each non-operated area in the target operating range, the method further includes: The construction robot enters the target building room and determines whether there are other construction robots in the target building room; When there are no other construction robots in the target building room, the target construction robot selects an area closest to the current position from the target operation range as the area to be operated; In the case where there are other construction robots in the target building room, the target construction robot selects an area farthest from the area where the other construction robots are located from the target operation range as the waiting operation area; The target construction robot goes to the area to be operated to operate.

5. The method according to claim 4, characterized in that There are N other construction robots in the target building room, where N is an integer greater than 1, and the target construction robot selects an area farthest from the area where the other construction robots are located from the target operation range as the area to be operated, including: Obtaining a third distance between each area in the target operating range and the N other construction robots; Weighting the N third distances corresponding to each area according to a third weight to obtain a weighted value of the third distance corresponding to each area, wherein the third weight is a weight corresponding to the N other construction robots; A maximum third distance weighted value is selected from the third distance weighted values ​​corresponding to each area, and the area corresponding to the selected maximum third distance weighted value is determined as the area to be operated.

6. The method according to claim 4, characterized in that After the target construction robot goes to the waiting operation area to operate, the method further includes: The target construction robot operates in the area to be operated, and determines that the area to be operated is an operated area after the operation is completed.

7. An operation control device for a construction robot, characterized in that: The target building interior to be operated is divided into a plurality of areas, the target construction robot has a corresponding target operation range, the target operation range includes at least one area, and the operation control device of the construction robot includes: A first acquisition unit, used for the target construction robot to acquire a first distance between a current position and each non-operated area in the target operating range, wherein the current position is a current position of the target construction robot; A second acquisition unit is used for the target construction robot to acquire a second distance between other construction robots and each non-operated area in the target operating range, wherein the other construction robots are robots other than the target construction robot in the target building room; A determination unit, configured for the target construction robot to determine a to-be-operated area according to the first distance and the second distance; The target construction robot determines the area to be operated according to the first distance and the second distance, including: normalizing the first distance to obtain a first distance parameter corresponding to the first distance; normalizing the second distance to obtain a second distance parameter corresponding to the second distance; obtaining a first weight corresponding to the first distance and the second distance; weighting the first distance parameter and the second distance parameter corresponding to each non-operated area according to the first weight to obtain a first distance weighted value corresponding to each non-operated area; selecting a minimum first distance weighted value from the first distance weighted values ​​corresponding to each non-operated area, and determining that the non-operated area corresponding to the selected minimum first distance weighted value is the area to be operated; There are M other construction robots in the target building room, where M is an integer greater than 1. Normalizing the second distance to obtain a second distance parameter corresponding to the second distance includes: Weight the M second distances corresponding to each non-operated area according to a second weight to obtain a second distance weighted value corresponding to each non-operated area, wherein the second weight is the weight corresponding to the M other construction robots; obtain the maximum second distance weighted value and the minimum second distance weighted value corresponding to each non-operated area; obtain a first difference between the second distance weighted value and the minimum second distance weighted value, and obtain a second difference between the maximum second distance weighted value and the minimum second distance weighted value; obtain the ratio of the first difference to the second difference; determine the difference between 1 and the ratio as the second distance parameter corresponding to the second distance.

8. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the operation control method of the construction robot according to any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the operation control method of the construction robot described in any one of claims 1 to 6.

Images