A fiber jumper robot control method, device, equipment and medium

Abstract

The present application relates to the field of fiber patching manipulators, and in particular to a method, device, equipment and medium for controlling a fiber patching manipulator. The method includes: the present application can quickly respond to wiring requests, automatically calculate the optimal path, and quickly and accurately complete the steps of grabbing, moving and inserting optical fiber jumpers by automatically controlling the fiber patching manipulator, which not only greatly shortens the wiring time, but also reduces the labor intensity of the staff, reduces the labor cost in the fiber patching operation, and improves the overall work efficiency. Automated control can also realize real-time monitoring and recording of the wiring process, which is convenient for subsequent operation and maintenance management and troubleshooting. By recording and analyzing the wiring process, the wiring path and operation method can be continuously optimized, and the level of operation and maintenance management can be further improved.

Description

Technical Field

[0001] The present application relates to the field of fiber patching robots, and in particular to a control method, device, equipment and medium for a fiber patching robot. Background Art

[0002] In the field of optical communications, fiber patching is a key step in connecting different devices or modules, and is crucial to the stability and performance of the network. Fiber patching, in simple terms, is the work of connecting optical fibers between communication devices. It usually involves connecting optical fibers with the same interface (such as SC, FC, ST, etc.) at both ends to achieve signal transmission between different optical fibers. The construction quality of fiber patching directly affects the normal operation of the communication system. Therefore, when performing fiber patching operations, it must be carried out in strict accordance with the operating specifications to ensure the stability and reliability of the communication system.

[0003] At present, most fiber patching operations still rely on manual work, which requires connecting optical fibers one by one and carefully finding and matching interfaces in complex network layouts, which greatly consumes human resources. Therefore, how to reduce the labor cost in fiber patching operations has become an urgent problem to be solved. Summary of the invention

[0004] In order to reduce the labor cost in fiber patching operation, the present application provides a fiber patching robot control method, device, equipment and medium.

[0005] In a first aspect, the present application provides a fiber jumper robot control method, which adopts the following technical solution:

[0006] A fiber jumper robot control method, comprising:

[0007] Receiving a wiring request, wherein the wiring request includes a wiring starting point position and a wiring end point position;

[0008] Determine an optimal path corresponding to the wiring request;

[0009] Controlling the fiber jumper robot to grab the optical fiber jumper, and driving the fiber jumper robot to move to the wiring terminal position based on the optimal path;

[0010] After the fiber jumper robot reaches the wiring terminal position, the fiber jumper robot is controlled to insert the optical fiber jumper into the optical fiber interface corresponding to the wiring terminal position.

[0011] By adopting the above technical solution, the fiber jumper manipulator can respond quickly to wiring requests, automatically calculate the optimal path, and quickly and accurately complete the steps of grabbing, moving and inserting fiber jumpers, which not only greatly shortens the wiring time, but also reduces the labor intensity of the staff, reduces the labor cost in the fiber jumper operation, and improves the overall work efficiency. Automated control can also realize real-time monitoring and recording of the wiring process, which is convenient for subsequent operation and maintenance management and troubleshooting. By recording and analyzing the wiring process, the wiring path and operation method can be continuously optimized, and the level of operation and maintenance management can be further improved.

[0012] In a possible implementation, determining the optimal path corresponding to the wiring request includes:

[0013] Constructing a wiring map corresponding to the wiring request;

[0014] Based on the wiring map, determining a path position between the wiring starting point position and the wiring end point position;

[0015] An optimal path corresponding to the wiring request is determined based on the wiring starting point position, the wiring end point position, and the path position.

[0016] By adopting the above technical solution, the complex network environment can be displayed in a graphical way by constructing a wiring map. This helps to clearly understand the wiring starting point, end point, and various devices and cable layouts that may be passed along the way. Based on the wiring map, all possible path locations between the wiring starting point and the end point can be accurately identified. After determining the wiring starting point, end point, and path locations, these locations are comprehensively analyzed through algorithms to select the optimal path.

[0017] In a possible implementation, determining the optimal path corresponding to the wiring request based on the wiring starting point position, the wiring end point position, and the path position includes:

[0018] Establishing an edge between the wiring starting point position and the adjacent path position, establishing an edge between every two adjacent path positions, and establishing an edge between the wiring end point position and the adjacent path position;

[0019] Based on each edge, the wiring starting point position, the wiring end point position and the path position, establish a first set corresponding to the wiring request;

[0020] Determine the weight corresponding to each edge;

[0021] Iterate the first set based on the weight corresponding to each edge, and establish a second set based on the iteration result, wherein the second set includes the wiring starting point position, the wiring end point position, and at least one of the path positions;

[0022] Based on the second set, an optimal path corresponding to the wiring request is determined.

[0023] By adopting the above technical solution, a detailed and accurate network topology model is created by establishing the edges between the wiring starting point position and the adjacent path position, and the edges between every two adjacent path positions and the wiring end position and the adjacent path position, ensuring that all possible paths are taken into account, thereby improving the accuracy of path selection. A corresponding weight is determined for each edge, and based on the weight corresponding to each edge, the first set is iteratively processed, and non-optimal paths are gradually eliminated through an algorithm, and finally a second set including the wiring starting point position, the wiring end position and at least one path position is generated, which can ensure that a globally optimal or near-globally optimal path is found.

[0024] In a possible implementation, determining the weight corresponding to each edge includes:

[0025] Obtaining the moving speed of the fiber jumper robot;

[0026] Based on the moving speed, determining the moving time corresponding to each edge;

[0027] Based on the movement duration corresponding to each edge, the weight corresponding to each edge is determined.

[0028] By adopting the above technical solution, in optical communication networks, time is often a key resource. By obtaining the real-time or preset moving speed of the fiber jumper robot, the time cost required for the robot on different paths can be dynamically evaluated, and the weight can be determined by considering the moving time. Those paths that take less time can be given priority, thereby optimizing the configuration of network resources and improving the overall operation efficiency of the network.

[0029] In a possible implementation, constructing a wiring map corresponding to the wiring request includes:

[0030] Obtaining a global map corresponding to the fiber jumper robot;

[0031] Determine that the wiring starting point is at a first position of the global map and the wiring end point is at a second position of the global map;

[0032] A wiring map corresponding to the wiring request is created based on the global map, the first position, and the second position.

[0033] By adopting the above technical solution and obtaining the global map corresponding to the fiber jumper manipulator, the structure and layout of the entire network or work area can be fully grasped. This helps to comprehensively consider various factors when planning the wiring path, such as space limitations, equipment distribution, and optical cable direction, thereby improving the accuracy of path planning. Determining the specific locations of the wiring starting point and end point (i.e., the first position and the second position) in the global map provides a precise starting point and end point for subsequent path planning, thereby ensuring that the path planning does not deviate from actual needs and improving the accuracy and practicality of the path.

[0034] In a possible implementation, controlling a fiber jumper manipulator to grab a fiber jumper includes:

[0035] Controlling an image acquisition device to acquire a current image of the fiber jumper robot;

[0036] Receiving radar data collected by the radar sensor on the fiber jumper robot;

[0037] Based on the current image, the radar data and the global map, construct a virtual scene including the fiber jumper manipulator;

[0038] Based on the virtual scene and the optical fiber jumper corresponding to the wiring starting point, a first process and a second process corresponding to the fiber jumper manipulator are simulated, wherein the first process is a process in which the fiber jumper manipulator moves from a current position to the wiring starting point, and the second process is a process in which the fiber jumper manipulator grabs the optical fiber jumper at the wiring starting point;

[0039] Based on the first process and the second process, the fiber jumper robot is controlled to grab the optical fiber jumper.

[0040] By adopting the above technical solution, combined with the current image of the image acquisition device and the radar data of the radar sensor, the image data provides visual details, such as the specific location and status of the fiber jumper, while the radar data provides the spatial layout and dynamic changes of the environment around the fiber jumper manipulator. Through the fusion of multi-source data, a more accurate and comprehensive virtual scene can be constructed. Based on the constructed virtual scene, it can simulate the first process of the fiber jumper manipulator moving from the current position to the wiring starting point, and the second process of grabbing the fiber jumper at the wiring starting point. It not only helps to detect potential collisions or erroneous operations in advance, but also allows the optimization of operation paths and techniques, thereby improving the accuracy and safety of actual operations.

[0041] In a possible implementation, driving the fiber jumper manipulator to move to the wiring terminal position based on the optimal path includes:

[0042] Based on the optimal path, determining a starting point moving direction corresponding to the wiring starting point position;

[0043] Based on the starting point moving direction and the starting point moving direction, the fiber jumper robot is driven to move to the wiring end position based on the optimal path.

[0044] By adopting the above technical solution, the fiber jumper robot can accurately move along the optimal path by determining the starting point movement direction corresponding to the wiring starting point position and based on the direction and subsequent path information. This precise control reduces unnecessary movement and turning, thereby improving movement efficiency.

[0045] In a second aspect, the present application provides a fiber jumper robot control device, which adopts the following technical solution:

[0046] A fiber jumper robot control device, comprising:

[0047] A receiving module, used for receiving a wiring request, wherein the wiring request includes a wiring starting point position and a wiring end point position;

[0048] A determination module, used to determine the optimal path corresponding to the wiring request;

[0049] A driving module, used for controlling the fiber jumper robot to grab the optical fiber jumper, and driving the fiber jumper robot to move to the wiring terminal position based on the optimal path;

[0050] The control module is used to control the fiber jumper manipulator to insert the optical fiber jumper into the optical fiber interface corresponding to the wiring terminal position after the fiber jumper manipulator reaches the wiring terminal position.

[0051] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0052] An electronic device, comprising:

[0053] at least one processor;

[0054] Memory;

[0055] At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the method for controlling the fiber jumper robot described in the first aspect above.

[0056] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0057] A computer-readable storage medium includes: a computer program that can be loaded by a processor and execute the fiber jumper robot control method described in the first aspect.

[0058] In summary, this application includes the following beneficial technical effects:

[0059] Through automated control of the fiber patching manipulator, it can quickly respond to wiring requests, automatically calculate the optimal path, and quickly and accurately complete the steps of grabbing, moving, and inserting fiber patch cords, which not only greatly shortens the wiring time, but also reduces the labor intensity of the staff, reduces the labor cost in the fiber patching operation, and improves the overall work efficiency. Automated control can also realize real-time monitoring and recording of the wiring process, which is convenient for subsequent operation and maintenance management and troubleshooting. By recording and analyzing the wiring process, the wiring path and operation method can be continuously optimized, and the level of operation and maintenance management can be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a flow chart of a fiber jumper robot control method provided in an embodiment of the present application;

[0061] Figure 2 It is a block diagram of a fiber jumper robot control device provided in an embodiment of the present application;

[0062] Figure 3 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following is combined with Figure 1 -Attached Figure 3 This application is described in further detail.

[0064] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0065] In the field of optical communications, fiber patching is a key step in connecting different devices or modules, and is crucial to the stability and performance of the network. Fiber patching, in simple terms, is the work of connecting optical fibers between communication devices. It usually involves connecting optical fibers with the same interface (such as SC, FC, ST, etc.) at both ends to achieve signal transmission between different optical fibers. The construction quality of fiber patching directly affects the normal operation of the communication system. Therefore, when performing fiber patching operations, they must be strictly followed in accordance with the operating specifications to ensure the stability and reliability of the communication system. At present, most fiber patching operations still rely on manual work. Manual fiber patching requires connecting optical fibers one by one, and carefully finding and matching interfaces in complex network layouts, which greatly consumes human resources. Therefore, how to reduce the labor cost in fiber patching operations has become an urgent problem to be solved.

[0066] The present application embodiment provides a fiber jumper robot control method, such as Figure 1 As shown, the method provided in the embodiment of the present application is executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. The method includes steps S101 to S104, wherein:

[0067] Step S101: receiving a wiring request.

[0068] The wiring request includes a wiring start point and a wiring end point.

[0069] Among them, a radar sensor is installed on the fiber jumper robot to transmit radar and receive returned radar, thereby generating corresponding radar data.

[0070] Specifically, the electronic device receives a wiring request from an operator through a user interface (such as a console, web page interface, or API interface). The request must clearly include the wiring starting point (such as device number, port number, or specific location coordinates) and the wiring end point (also including device number, port number, or location coordinates).

[0071] Step S102: Determine the optimal path corresponding to the wiring request.

[0072] Specifically, after obtaining the wiring request, all the passing stations can be obtained based on the wiring starting point position and the wiring end point position, and at least one path from the head end station to the end end station via the passing station can be planned, and one of the paths can be selected as the best wiring path. More specifically, based on the wiring starting point position and the wiring end point position, all the passing stations can be obtained, and the path can be generated based on the information of all the passing stations. Based on the intelligent routing algorithm, each passing station in the path is calculated to determine whether the passing station in the path has a port and an optical fiber that can perform a fiber jump operation. If each passing station in the path is connected, the path is a valid path, and the comparison information of the valid path is obtained, wherein the comparison information of the valid path includes the minimum number of operations required for each passing station to complete the fiber jump operation, the number of passing stations, and the loss of the path. Further, based on the comparison information of the valid path, at least one of the valid path with the least number of operations, the valid path with the least passing stations, and the valid path with the smallest path loss is obtained, and a path is selected as the optimal path corresponding to the wiring request.

[0073] Step S103: Control the fiber jumper robot to grab the optical fiber jumper, and drive the fiber jumper robot to move to the wiring end position based on the optimal path.

[0074] Among them, an image acquisition device is installed above the fiber jumper robot to capture the current state and current working environment of the fiber jumper robot.

[0075] Specifically, the image acquisition device is controlled to capture the current working environment of the fiber jumper robot, obtain real-time images, and combine the radar sensor data to construct a virtual scene including the fiber jumper robot and the surrounding environment.

[0076] Furthermore, the process of the fiber jumper manipulator moving from the current position to the wiring starting position and grabbing the fiber jumper is simulated in the virtual scene. According to the simulation results, a control instruction is sent to the fiber jumper manipulator to move to the wiring starting position and accurately grab the fiber jumper.

[0077] Furthermore, the optimal path information (including the starting moving direction and subsequent path information) is converted into the control instructions of the fiber jumper robot. According to the real-time image of the fiber jumper robot, the moving state of the fiber jumper robot is monitored in real time to ensure that it moves accurately along the optimal path. If obstacles or environmental changes are encountered, the path is re-evaluated and the control instructions are adjusted to ensure safe passage. When the fiber jumper robot approaches the wiring end position, its moving speed and direction are adjusted to ensure accurate arrival.

[0078] Step S104: After the fiber jumper robot reaches the wiring end position, the fiber jumper robot is controlled to insert the optical fiber jumper into the optical fiber interface corresponding to the wiring end position.

[0079] After the fiber jumper robot reaches the wiring terminal position, use image recognition technology and / or sensors to detect the position and status of the optical fiber interface, adjust the posture and angle of the fiber jumper robot, align the fiber jumper with the optical fiber interface, and send control instructions to the fiber jumper robot to gently insert the fiber jumper into the optical fiber interface, ensuring that the insertion depth is appropriate and the connection is firm.

[0080] Specifically, an image acquisition device is used to collect a real-time image of the wiring terminal position, and the specific position and posture of the optical fiber interface are identified through an image processing algorithm. The identified optical fiber interface position is compared with the preset position in the global map, and after confirmation, it is used as the target position for the insertion operation. According to the position and posture of the optical fiber interface, the posture of the end effector (such as a clamp) of the fiber jumper manipulator is adjusted to ensure that it is in the same docking direction with the optical fiber interface. During the movement, the fiber jumper is kept in an appropriate tension state by controlling the opening degree of the clamp to avoid bending or twisting during the insertion process. The relative position of the end effector and the optical fiber interface is monitored by acquiring the image of the fiber jumper manipulator and radar data in real time, and precise alignment is performed. After confirming that the alignment is correct, the clamp is controlled to slowly release the optical fiber jumper so that it can be smoothly inserted into the optical fiber interface. During the insertion process, a sensor (such as an optical sensor, a mechanical sensor, etc.) is used to detect whether the optical fiber jumper has been successfully inserted into the optical fiber interface.

[0081] The embodiment of the present application provides a method for controlling a fiber jumper robot. By automatically controlling the fiber jumper robot, it is possible to quickly respond to wiring requests, automatically calculate the optimal path, and quickly and accurately complete the steps of grabbing, moving, and inserting the optical fiber jumper. This not only greatly shortens the wiring time, but also reduces the labor intensity of the staff, reduces the labor cost in the fiber jumper operation, and improves the overall work efficiency. Automated control can also realize real-time monitoring and recording of the wiring process, which is convenient for subsequent operation and maintenance management and troubleshooting. By recording and analyzing the wiring process, the wiring path and operation method can be continuously optimized, and the level of operation and maintenance management can be further improved.

[0082] In a possible implementation of the embodiment of the present application, in the above step S102, determining the optimal path corresponding to the wiring request includes:

[0083] Construct a wiring map corresponding to the wiring request;

[0084] Based on the wiring map, determine the path position between the wiring starting point and the wiring end point;

[0085] Based on the wiring starting point location, wiring end point location and path location, the optimal path corresponding to the wiring request is determined.

[0086] Among them, data about the wiring environment is collected, including wiring stations, equipment layout, optical cable directions, obstacle locations, etc., and an environmental database is established based on this data.

[0087] Specifically, the data in the technical environment database uses geographic information system (GIS) software to construct a wiring map that can represent all relevant physical elements and the spatial relationships between them. On the wiring map, the wiring starting point and the wiring end point are clearly marked.

[0088] Use the path search algorithm in graph theory (such as breadth-first search, depth-first search, etc.) to search all the way stations from the wiring start point to the wiring end point on the wiring map, and determine the locations of these way stations as the route locations based on all the way stations.

[0089] Furthermore, based on the intelligent routing algorithm, each transit station in the path is calculated to determine whether the transit station in the path has a port and an optical fiber that can perform a fiber jump operation. If each transit station in the path is connected, the path is a valid path, and comparison information of the valid path is obtained, wherein the comparison information of the valid path includes the minimum number of operations required for each transit station to complete the fiber jump operation, the number of transit stations, and the loss of the path. Further, based on the comparison information of the valid path, at least one of the valid path with the minimum number of operations, the valid path with the minimum transit stations, and the valid path with the minimum path loss is obtained, and a path is selected as the optimal path corresponding to the wiring request.

[0090] A possible implementation of the embodiment of the present application, in the above embodiment, based on the wiring starting point position, the wiring end point position and the path position, determining the optimal path corresponding to the wiring request includes:

[0091] Establish an edge between the wiring start position and the adjacent path position, establish an edge between every two adjacent path positions, and establish an edge between the wiring end position and the adjacent path position;

[0092] Based on each edge, the wiring starting point position, the wiring end point position and the path position, a first set corresponding to the wiring request is established;

[0093] Determine the weight corresponding to each edge;

[0094] Iterate the first set based on the weight corresponding to each edge, and establish a second set based on the iteration result, the second set including the wiring starting point position, the wiring end point position and at least one path position;

[0095] Based on the second set, an optimal path corresponding to the wiring request is determined.

[0096] Specifically, on the wiring map, the wiring starting point position is regarded as the starting node of the graph, the wiring end point position is regarded as the ending node of the graph, and the path position is regarded as the intermediate node in the graph. An edge is established from the wiring starting point position to its adjacent path position. For every two adjacent path positions, an edge between them is also established. Finally, an edge is established from the wiring end point position to its adjacent path position to form a graph consisting of nodes (positions) and edges (connections).

[0097] Furthermore, based on each edge and each node, a first set is established, that is, the first set includes all nodes (wiring starting positions, wiring end positions and path positions) and the edges between them. In the first set, each node has a unique identifier, and each edge connects two nodes.

[0098] Furthermore, a weight value is assigned to each edge according to the actual situation, and the weight value can be calculated based on a variety of factors. Specifically, the length of each edge is obtained, and based on the length of each edge, the weight of each edge is calculated, wherein the longer the length of the edge, the smaller the corresponding weight.

[0099] Starting from the starting point of the wiring, mark it as visited, set its distance to itself to 0, and set the distance to all other positions to infinity (indicating that the path has not been found yet), create a priority queue (or minimum heap), add the starting point and its distance to 0 to the queue, and loop through the following steps until the queue is empty: take out the position with the smallest distance from the queue (that is, the end point of the currently known shortest path), traverse all adjacent edges of the position, and for each other position connected by the edge (if it has not been visited yet): calculate the new distance to the position through the current edge (the distance of the current position + the weight of the edge). If the new distance is less than the known distance of the position, update the distance of the position and add it to the queue (if it is not already in the queue). After the iteration is completed, the shortest distance from all positions to the starting point of the wiring has been calculated. The second set is actually constructed during the iteration process, and it contains the shortest path information that can reach all positions from the starting point of the wiring (although here we are mainly concerned with the shortest path to the end point of the wiring).

[0100] Furthermore, in the second set, the shortest distance corresponding to the wiring end position and its predecessor position (i.e., the position immediately before the wiring end position on the shortest path) is found. Through the information of the predecessor position, the wiring starting position is traced back and all the positions passed (including the starting point and the end point) are recorded. These positions constitute the optimal path.

[0101] A possible implementation manner of the embodiment of the present application, in the above embodiment, determining the weight corresponding to each edge includes:

[0102] Get the moving speed of the fiber jumper robot;

[0103] Based on the moving speed, determine the moving time corresponding to each edge;

[0104] Based on the movement duration corresponding to each edge, the weight corresponding to each edge is determined.

[0105] Specifically, the set moving speed of the fiber jumper robot is obtained, and the physical length of each edge in the map is estimated based on the scale on the map. Further, the moving speed of the fiber jumper robot and the physical length of the edge are used to calculate the moving time required to pass the edge. Specifically, the moving time can be obtained by dividing the length of the edge by the moving speed of the robot.

[0106] Since weights are usually used to quantify the importance or cost of edges in path planning, the travel time can be used as the main basis for weights. Specifically, based on the travel time corresponding to each edge, it is directly set as a weight value, or converted into a weight value through a function (such as a linear function, an exponential function, etc.).

[0107] Furthermore, in order to ensure that the weights between different edges are comparable, the weight values ​​are standardized. Specifically, the standard weight value can be calculated by dividing all weight values ​​by the maximum weight value so that the value range of all weights is between 0 and 1. For example, suppose there is a simple graph containing several paths from the starting point to the end point, and each path consists of multiple edges. We already know the physical length of each edge and set the moving speed of the fiber jumper robot to a constant value V (unit: meter / second). For each edge in the graph, measure or estimate its physical length L (unit: meter). Calculate the moving time T=L / V (unit: second) required to pass through the edge. Use the moving time T as the initial weight value of the edge.

[0108] A possible implementation of the embodiment of the present application, in the above embodiment, constructing a wiring map corresponding to the wiring request includes:

[0109] Get the global map corresponding to the fiber jumper robot;

[0110] Determine the wiring starting point position at a first position of the global map and the wiring end point position at a second position of the global map;

[0111] A wiring map corresponding to the wiring request is created based on the global map, the first position, and the second position.

[0112] The environment database includes a global map, which contains the overall layout information of the working environment of the fiber jumper robot.

[0113] Specifically, a global map of the environment in which the fiber patching robot is located is obtained, that is, a global map corresponding to the fiber patching robot is obtained, and the positions of the wiring starting point and the wiring end point in the global map are determined. Specifically, according to the wiring starting point position corresponding to the wiring request and the global map, the position of the wiring starting point in the global map is determined as the first position. Similarly, according to the wiring end point position corresponding to the wiring request and the global map, the position of the wiring end point in the global map is determined as the second position.

[0114] Furthermore, a wiring map corresponding to the wiring request can be constructed based on the global map, the first position, and the second position. Specifically, the global map can be cropped to retain only the first position, the second position, and the area corresponding to the optimal path. On the cropped map, the map is optimized for display, such as adjusting the color, line thickness, adding labels, etc. The cropped global map is combined with the added additional information to construct a wiring map for the current wiring request.

[0115] A possible implementation of the embodiment of the present application, in the above step S103, controlling the fiber jumper manipulator to grab the optical fiber jumper includes:

[0116] Control the image acquisition device to acquire the current image of the fiber jumper robot;

[0117] Receive radar data collected by the radar sensor on the fiber jumper robot;

[0118] Based on the current image, radar data and global map, a virtual scene including the fiber jumper robot is constructed;

[0119] Based on the virtual scene and the optical fiber jumper corresponding to the wiring starting point, the first process and the second process corresponding to the fiber jumper manipulator are simulated. The first process is the process of the fiber jumper manipulator moving from the current position to the wiring starting point, and the second process is the process of the fiber jumper manipulator grabbing the optical fiber jumper at the wiring starting point.

[0120] Based on the first process and the second process, the fiber jumper robot is controlled to grab the optical fiber jumper.

[0121] Among them, an image acquisition device is installed above the fiber jumper robot to capture the current state and current working environment of the fiber jumper robot.

[0122] Specifically, the image acquisition device is controlled to acquire a current image including the position, posture and surrounding environment information of the manipulator, and at the same time, data acquired by the radar sensor is received to detect spatial obstacles around the fiber jumper manipulator.

[0123] Furthermore, the real-time images, radar data and global map are integrated to construct a virtual scene including the fiber jumper robot, distribution frame, fiber jumpers and the surrounding environment. Computer vision and radar data processing technology are used to convert the two-dimensional images and radar data into a three-dimensional model, so as to more intuitively simulate and plan the movement path of the robot.

[0124] Based on the virtual scene, the optimal path of the fiber jumper robot from the current position to the wiring starting point is planned (the first process). At the wiring starting point, the robot is simulated to accurately grab the fiber jumper (the second process), including adjusting the robot's posture, opening / closing the clamp and other actions, and sending the planned path and grabbing action instructions to the control system of the fiber jumper robot. Furthermore, during the movement of the robot, the current image and radar data of the fiber jumper robot are obtained, and the movement of the robot is fine-tuned according to the current image and radar data obtained in real time to ensure accurate movement along the predetermined path. When the robot reaches the wiring starting point and successfully grabs the fiber jumper, the sensor confirms that the grab is successful.

[0125] A possible implementation of the embodiment of the present application, in the above embodiment, driving the fiber jumper manipulator to move to the wiring terminal position based on the optimal path includes:

[0126] Based on the optimal path, determine the starting point moving direction corresponding to the wiring starting point position;

[0127] Based on the starting point moving direction and the starting point moving direction, the fiber jumper robot is driven to move to the wiring end position based on the optimal path.

[0128] Specifically, for ease of management, the optimal path can be subdivided into multiple smaller sub-paths, and for each sub-path, the coordinates of its starting point and end point are determined, and the moving direction corresponding to the sub-path is calculated. The moving direction can be an absolute direction based on the global coordinate system, or a relative direction relative to the current orientation of the manipulator, which is not limited in the embodiments of the present application.

[0129] Furthermore, before the movement begins, the current position and orientation of the fiber jumper robot are confirmed through image recognition or radar data, and compared with the starting position and moving direction of the optimal path. If the current orientation of the robot is inconsistent with the moving direction of the starting point of the optimal path, an instruction is issued to adjust the orientation of the robot to align it with the moving direction of the starting point. While the robot moves along the sub-path, its position and orientation are continuously monitored, and control parameters (such as motor speed, joint angle, etc.) are adjusted as needed to ensure that the robot can accurately move along the predetermined sub-path.

[0130] Furthermore, sensors such as image recognition, radar scanning, or encoders can be used to track the actual position of the manipulator in real time and compare it with the optimal path. If a deviation is detected, the deviation is corrected by adjusting the control strategy. When the manipulator reaches a turning point in the path, the orientation of the manipulator can be adjusted based on the steering angle and steering direction, and continue to move in the new direction. Furthermore, when the manipulator approaches the wiring end position, its actual position is detected using real-time radar data. If a position deviation is detected, the movement trajectory and posture of the manipulator are fine-tuned to ensure that it can accurately align with the wiring end position. When the manipulator successfully reaches the wiring end position and stabilizes, a stop command is issued to end the movement process.

[0131] The above-mentioned embodiment introduces a fiber patching robot control method from the perspective of method flow, and the following embodiment introduces a fiber patching robot control device from the perspective of a virtual module or a virtual unit. For details, please refer to the following embodiments.

[0132] See also Figure 2 The fiber jumper robot control device 20 may specifically include: a receiving module 201, a determining module 202, a driving module 203 and a control module 204. Specifically:

[0133] A fiber jumper robot control device 20, comprising:

[0134] The receiving module 201 is used to receive a wiring request, where the wiring request includes a wiring start point and a wiring end point.

[0135] A determination module 202, configured to determine an optimal path corresponding to a wiring request;

[0136] The driving module 203 is used to control the fiber jumper robot to grab the optical fiber jumper and drive the fiber jumper robot to move to the wiring terminal position based on the optimal path;

[0137] The control module 204 is used to control the fiber jumper manipulator to insert the optical fiber jumper into the optical fiber interface corresponding to the wiring terminal position after the fiber jumper manipulator reaches the wiring terminal position.

[0138] In a possible implementation of the embodiment of the present application, when determining the optimal path corresponding to the wiring request, the determination module 202 may be specifically used to:

[0139] Construct a wiring map corresponding to the wiring request;

[0140] Based on the wiring map, determine the path position between the wiring starting point and the wiring end point;

[0141] Based on the wiring starting point location, wiring end point location and path location, the optimal path corresponding to the wiring request is determined.

[0142] In a possible implementation of the embodiment of the present application, when the determination module 202 determines the optimal path corresponding to the wiring request based on the wiring starting point position, the wiring end point position and the path position, it can be specifically used to:

[0143] Establish an edge between the wiring start position and the adjacent path position, establish an edge between every two adjacent path positions, and establish an edge between the wiring end position and the adjacent path position;

[0144] Based on each edge, the wiring starting point position, the wiring end point position and the path position, a first set corresponding to the wiring request is established;

[0145] Determine the weight corresponding to each edge;

[0146] Iterate the first set based on the weight corresponding to each edge, and establish a second set based on the iteration result, the second set including the wiring starting point position, the wiring end point position and at least one path position;

[0147] Based on the second set, an optimal path corresponding to the wiring request is determined.

[0148] In a possible implementation of the embodiment of the present application, when determining the weight corresponding to each edge, the determination module 202 may be specifically used to:

[0149] Get the moving speed of the fiber jumper robot;

[0150] Based on the moving speed, determine the moving time corresponding to each edge;

[0151] Based on the movement duration corresponding to each edge, the weight corresponding to each edge is determined.

[0152] In a possible implementation of the embodiment of the present application, when the determination module 202 constructs a wiring map corresponding to a wiring request, it can be specifically used to:

[0153] Get the global map corresponding to the fiber jumper robot;

[0154] Determine the wiring starting point position at a first position of the global map and the wiring end point position at a second position of the global map;

[0155] A wiring map corresponding to the wiring request is created based on the global map, the first position, and the second position.

[0156] In a possible implementation of the embodiment of the present application, the driving module 203 can be used to control the fiber jumper manipulator to grab the optical fiber jumper:

[0157] Control the image acquisition device to acquire the current image of the fiber jumper robot;

[0158] Receive radar data collected by the radar sensor on the fiber jumper robot;

[0159] Based on the current image, radar data and global map, a virtual scene including the fiber jumper robot is constructed;

[0160] Based on the virtual scene and the optical fiber jumper corresponding to the wiring starting point, the first process and the second process corresponding to the fiber jumper manipulator are simulated. The first process is the process of the fiber jumper manipulator moving from the current position to the wiring starting point, and the second process is the process of the fiber jumper manipulator grabbing the optical fiber jumper at the wiring starting point.

[0161] Based on the first process and the second process, the fiber jumper robot is controlled to grab the optical fiber jumper.

[0162] In a possible implementation of the embodiment of the present application, when the driving module 203 drives the fiber jumper manipulator to move to the wiring terminal position based on the optimal path, it can be specifically used to:

[0163] Based on the optimal path, determine the starting point moving direction corresponding to the wiring starting point position;

[0164] Based on the starting point moving direction and the starting point moving direction, the fiber jumper robot is driven to move to the wiring end position based on the optimal path.

[0165] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0166] See also Figure 3 , the embodiment of the present application also introduces an electronic device from the perspective of a physical device, such as Figure 3 As shown, Figure 3 The electronic device 300 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0167] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0168] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0169] The memory 303 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0170] The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the contents shown in the above method embodiment.

[0171] The electronic devices include but are not limited to: mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc., and can also be servers, etc. Figure 3 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0172] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment.

[0173] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0174] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A fiber jumper robot control method, characterized in that: The fiber jumper robot is equipped with a radar sensor, and the method includes: Receiving a wiring request, wherein the wiring request includes a wiring starting point position and a wiring end point position; Determine an optimal path corresponding to the wiring request; Controlling the fiber jumper manipulator to grab the optical fiber jumper, and driving the fiber jumper manipulator to move to the wiring terminal position based on the optimal path; After the fiber jumper manipulator reaches the wiring terminal position, controlling the fiber jumper manipulator to insert the optical fiber jumper into the optical fiber interface corresponding to the wiring terminal position; Wherein, determining the optimal path corresponding to the wiring request includes: Constructing a wiring map corresponding to the wiring request; Based on the wiring map, determining a path position between the wiring starting point position and the wiring end point position; Determine the optimal path corresponding to the wiring request based on the wiring starting point position, the wiring end point position and the path position; Wherein, determining the optimal path corresponding to the wiring request based on the wiring starting point position, the wiring end point position and the path position includes: Establishing an edge between the wiring starting point position and the adjacent path position, establishing an edge between every two adjacent path positions, and establishing an edge between the wiring end point position and the adjacent path position; Based on each edge, the wiring starting point position, the wiring end point position and the path position, establish a first set corresponding to the wiring request; Determine the weight corresponding to each edge; Iterate the first set based on the weight corresponding to each edge, and establish a second set based on the iteration result, wherein the second set includes the wiring starting point position, the wiring end point position, and at least one of the path positions; Based on the second set, determining an optimal path corresponding to the wiring request; Wherein, determining the weight corresponding to each edge includes: Obtaining the moving speed of the fiber jumper robot; Based on the moving speed, determining the moving time corresponding to each edge; Based on the movement duration corresponding to each edge, the weight corresponding to each edge is determined.

2. The fiber jumper robot control method according to claim 1, characterized in that: The constructing of a wiring map corresponding to the wiring request includes: Obtaining a global map corresponding to the fiber jumper robot; Determine that the wiring starting point is at a first position of the global map and the wiring end point is at a second position of the global map; A wiring map corresponding to the wiring request is created based on the global map, the first position, and the second position.

3. The fiber jumper robot control method according to claim 2, characterized in that: The controlling the fiber jumper manipulator to grab the optical fiber jumper comprises: Controlling an image acquisition device to acquire a current image of the fiber jumper robot; Receiving radar data collected by the radar sensor on the fiber jumper robot; Based on the current image, the radar data and the global map, construct a virtual scene including the fiber jumper manipulator; Based on the virtual scene and the optical fiber jumper corresponding to the wiring starting point, a first process and a second process corresponding to the fiber jumper manipulator are simulated, wherein the first process is a process in which the fiber jumper manipulator moves from a current position to the wiring starting point, and the second process is a process in which the fiber jumper manipulator grabs the optical fiber jumper at the wiring starting point; Based on the first process and the second process, the fiber jumper robot is controlled to grab the optical fiber jumper.

4. The fiber jumper robot control method according to claim 2, characterized in that: The step of driving the fiber jumper robot to move to the wiring terminal position based on the optimal path includes: Based on the optimal path, determining a starting point moving direction corresponding to the wiring starting point position; Based on the starting point moving direction and the starting point moving direction, the fiber jumper robot is driven to move to the wiring end position based on the optimal path.

5. A fiber jumper robot control device, characterized in that: include: A receiving module, used for receiving a wiring request, wherein the wiring request includes a wiring starting point position and a wiring end point position; A determination module, used to determine the optimal path corresponding to the wiring request; A driving module, used for controlling the fiber jumper robot to grab the optical fiber jumper, and driving the fiber jumper robot to move to the wiring terminal position based on the optimal path; A control module, configured to control the fiber jumper manipulator to insert the optical fiber jumper into the optical fiber interface corresponding to the wiring terminal position after the fiber jumper manipulator reaches the wiring terminal position; Wherein, when determining the optimal path corresponding to the wiring request, the determination module is specifically used to: Constructing a wiring map corresponding to the wiring request; Based on the wiring map, determining a path position between the wiring starting point position and the wiring end point position; Determine the optimal path corresponding to the wiring request based on the wiring starting point position, the wiring end point position and the path position; Wherein, when the determination module determines the optimal path corresponding to the wiring request based on the wiring starting point position, the wiring end point position and the path position, it is specifically used to: Establishing an edge between the wiring starting point position and the adjacent path position, establishing an edge between every two adjacent path positions, and establishing an edge between the wiring end point position and the adjacent path position; Based on each edge, the wiring starting point position, the wiring end point position and the path position, establish a first set corresponding to the wiring request; Determine the weight corresponding to each edge; Iterate the first set based on the weight corresponding to each edge, and establish a second set based on the iteration result, wherein the second set includes the wiring starting point position, the wiring end point position, and at least one of the path positions; Based on the second set, determining an optimal path corresponding to the wiring request; Wherein, when determining the weight corresponding to each edge, the determination module is specifically used to: Obtaining the moving speed of the fiber jumper robot; Based on the moving speed, determining the moving time corresponding to each edge; Based on the movement duration corresponding to each edge, the weight corresponding to each edge is determined.

6. An electronic device, characterized in that: The electronic device includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the fiber jumper robot control method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the fiber jumper robot control method according to any one of claims 1 to 4.

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