A robot control method and system based on department requirements

Abstract

The present invention relates to the field of robot control technology, and specifically discloses a robot control method and system based on department requirements, the method comprising extending the width of a material transport path to determine a path extension area; when auxiliary material requirements uploaded by each department are received, creating a department extension area with the department area as the original area based on the auxiliary material requirements; updating the material transport path according to the intersection of the path extension area and the department extension area; generating control instructions in real time based on the material transport path and sending them to the robot; the present invention extends the robot's working path to obtain the path extension area, then extends the department that sends the task to obtain the department extension area, determines whether the path extension area and the department extension area have an intersection, and if there is an intersection, uses the corresponding department as a waypoint to adjust the robot's working path, the adjustment process is dynamic, and effectively improves the distribution efficiency of multiple robots.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a robot control method and system based on department requirements. Background Art

[0002] With the development of automation and intelligent technology, robots have been widely used in many scenarios such as hospitals. However, these environments are often highly dynamic and uncertain, such as random arrival of tasks, machine failures, traffic congestion, etc., and fixed-rule scheduling schemes are difficult to adapt to dynamic environments; in actual applications, there will be multiple robots performing delivery tasks. If each task is dispatched separately, some inefficiencies will occur. For example, two adjacent scheduling points could have been delivered by one robot, but in fact two robots were used for delivery; therefore, how to provide a more efficient path planning solution and improve the delivery efficiency of robots is the technical problem that the technical solution of the present invention wants to solve. Summary of the invention

[0003] The purpose of the present invention is to provide a robot control method and system based on department needs to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A robot control method based on department requirements, the method comprising:

[0006] Obtain the location of the department, perform two-dimensional processing on the location of the department, and obtain a department map;

[0007] Receive independent material requirements uploaded by each department, and create material delivery routes with time intervals in the department map according to the material requirements;

[0008] Extend the width of the material transportation route and determine the route expansion area;

[0009] When receiving the auxiliary material requirements uploaded by each department, a department extension area is created based on the auxiliary material requirements with the department area as the original area;

[0010] Update the material delivery route according to the intersection of the route expansion area and the department expansion area;

[0011] Generate control instructions in real time based on the material delivery path and send them to the robot.

[0012] As a further solution of the present invention: the step of obtaining the department location, performing two-dimensional processing on the department location, and obtaining the department map includes:

[0013] Obtain the building data of the hospital area and query the location of the department in the building data;

[0014] Query the number of floors in the robot parking area, and calculate the difference between the number of floors in other floors and the number of floors where the robot parking area is located;

[0015] Get the map of each layer, insert the location of the department on that layer into the map, and get the department map of each layer;

[0016] The department maps of each layer are read and spliced ​​in increasing order of the layer number difference to obtain the final department map.

[0017] As a further solution of the present invention: the step of receiving the independent material requirements uploaded by each department and creating a material delivery path containing time intervals in the department map according to the material requirements includes:

[0018] Receive material requests uploaded by various departments in real time, including material quantity and urgency;

[0019] Determine the number of robots according to the amount of supplies and the urgency;

[0020] Determine a motion path pointing to the department based on the average motion speed of the robot; the motion path is a set of positions containing time points;

[0021] Based on the department map, the positions of all robots at each time point are counted, and the department maps containing the positions are arranged in chronological order to obtain an atlas;

[0022] Receive the time interval input by the administrator, read the map in the map set according to the time interval, and determine the material delivery path of each robot within the time interval.

[0023] As a further solution of the present invention: the step of extending the width of the material transportation path and determining the path expansion area includes:

[0024] Read the atlas and determine the remaining cargo capacity at the location of each robot in each department map according to the demand of each department;

[0025] Query the urgency of the department corresponding to each location;

[0026] determining a first expansion value according to the remaining cargo capacity and the urgency;

[0027] Taking each position as the center and the first extension value as the radius, an extension area is created, and the extension area is fitted to obtain the path extension area;

[0028] The calculation process of the first extension value is as follows:

[0029] ; In the formula, represents the first extended value, is the preset correction factor, is the remaining cargo capacity, represents the parameter determined by urgency, , It's the urgency. is the preset maximum urgency, It is the preset urgency threshold.

[0030] As a further solution of the present invention: when receiving the auxiliary material requirements uploaded by each department, the step of creating a department extension area with the department area as the original area based on the auxiliary material requirements includes:

[0031] When receiving a request for auxiliary materials from a department, read the required quantity and urgency;

[0032] When the urgency reaches a preset urgency threshold, determining a second expansion value according to the demand and the urgency;

[0033] Get the department area corresponding to the department as the original area;

[0034] Obtain the outline of the original area, use the second extension as the extension distance, and equidistantly extend the outline of the original area to obtain the department extension area;

[0035] The calculation process of the second extension value is as follows:

[0036] ; In the formula, ; Indicates the second extended value, is the preset correction factor, is the demand, represents the parameter determined by urgency, It's the urgency. is the preset maximum urgency, It is the preset urgency threshold.

[0037] As a further solution of the present invention: the step of updating the material transportation path according to the intersection of the path expansion area and the department expansion area includes:

[0038] Department extension area for any department;

[0039] Get the path extension area of ​​all robots corresponding to the current moment;

[0040] Calculate the intersection of the department expansion area and the path expansion areas of all robots corresponding to the current moment;

[0041] A robot is selected according to the intersection, the department location is obtained, the department location is used as a transfer point, and the material transportation path of the robot is updated.

[0042] The technical solution of the present invention also provides a robot control system based on department requirements, the method comprising:

[0043] The department map creation module is used to obtain the department location, perform two-dimensional processing on the department location, and obtain the department map;

[0044] The route planning module is used to receive the independent material requirements uploaded by each department, and create a material delivery route with time intervals in the department map according to the material requirements;

[0045] The path extension module is used to extend the width of the material transportation path and determine the path expansion area;

[0046] The department area extension module is used to create a department extension area with the department area as the original area based on the auxiliary material demand received from each department;

[0047] A path update module is used to update the material delivery path according to the intersection of the path extension area and the department extension area;

[0048] The control instruction generation module is used to generate control instructions in real time based on the material transportation path and send them to the robot.

[0049] As a further solution of the present invention: the department map creation module includes:

[0050] A location query unit is used to obtain the building data of the hospital area and query the location of the department in the building data;

[0051] A floor number difference calculation unit, used to query the floor number of the robot parking area, and calculate the floor number difference between the floor number of other floors and the floor number of the robot parking area;

[0052] Get the map of each layer, insert the location of the department on that layer into the map, and get the department map of each layer;

[0053] The department maps of each layer are read and spliced ​​in increasing order of the layer number difference to obtain the final department map.

[0054] As a further solution of the present invention: the path planning module includes:

[0055] The request receiving unit is used to receive material requests uploaded by various departments in real time, including material quantity and urgency;

[0056] A quantity determination unit, used to determine the number of robots according to the amount of materials and the urgency;

[0057] A path generation unit, used to determine a motion path pointing to the department based on the average motion speed of the robot; the motion path is a set of positions containing time points;

[0058] A time domain regularization unit is used to count the positions of all robots at each time point based on the department map, and arrange the department maps containing the positions in chronological order to obtain an atlas;

[0059] The interval query unit is used to receive the time interval input by the administrator, read the map in the map set according to the time interval, and determine the material delivery path of each robot within the time interval.

[0060] As a further solution of the present invention: the path extension module includes:

[0061] The remaining quantity query unit is used to read the atlas and determine the remaining cargo quantity at the location of each robot in each department map according to the demand of each department;

[0062] An urgency query unit is used to query the urgency of the department corresponding to each position;

[0063] a calculation unit, configured to determine a first expansion value according to the remaining cargo capacity and the urgency;

[0064] An application unit is used to create an extension area with each position as the center and the first extension value as the radius, fit the extension area, and obtain the path extension area;

[0065] The calculation process of the first extension value is as follows:

[0066] ; In the formula, represents the first extended value, is the preset correction factor, is the remaining cargo capacity, represents the parameter determined by urgency, , It's the urgency. is the preset maximum urgency, It is the preset urgency threshold.

[0067] Compared with the prior art, the beneficial effects of the present invention are: the present invention extends the robot's working path to obtain a path extension area, and then extends the department that sends the task to obtain a department extension area, and determines whether there is an intersection between the path extension area and the department extension area. If there is an intersection, the corresponding department is used as a waypoint to adjust the robot's working path. The adjustment process is dynamic, which effectively improves the delivery efficiency of multiple robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0069] Figure 1 This is a flowchart of the robot control method based on department requirements.

[0070] Figure 2 This is a structural block diagram of the robot control system based on department requirements. DETAILED DESCRIPTION

[0071] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0072] Figure 1 The flowchart of the robot control method based on department requirements is shown in FIG. 1 . In an embodiment of the present invention, a robot control method based on department requirements includes:

[0073] Step S100: Acquire the location of the department, perform two-dimensional processing on the location of the department, and obtain a department map;

[0074] The application scenario of the present invention is the hospital area, where robots are used to deliver goods to various departments and obtain the location of the departments. Since the buildings in the hospital area are basically multi-story buildings, the locations of the departments may be distributed at different heights. It is more difficult to generate paths for the locations of departments at different heights. Therefore, this application first two-dimensionalizes the location of the department on each floor to obtain a department map. A relatively simple two-dimensional method is to analyze each floor separately and then splice them together.

[0075] Step S200: receiving independent material requirements uploaded by each department, and creating a material delivery route with time intervals in the department map according to the material requirements;

[0076] Receive independent material demands sent by staff from various departments in real time. Independent material demands indicate how much material is needed independently and are generally urgent. When sending independent material demands, staff are required to upload the demand and urgency simultaneously. The demand is used to select robots, and the urgency is used to determine how long it will take to arrange for robots to deliver the materials. After receiving the independent material demand, the robot manager obtains the location of the department that sent the independent material demand, selects a robot based on the demand, determines the start time of delivery based on the urgency, and then determines the initial position of the robot and the movement path between departments in the department map. The start time of delivery is used as the starting time point. Combined with the average movement speed of the robot, a position set can be determined, indicating at what time the robot arrives at which position, which is called the material delivery path.

[0077] It should be noted that the above time interval may include future time. For example, if the current time is 13:00, the time interval may be 12:50-13:10. This is because the process of generating the material transportation route is itself a kind of navigation information, and what is obtained is the future route.

[0078] Step S300: Extending the width of the material transportation path to determine the path expansion area;

[0079] The material transportation path refers to the positions to which the robot moves in a limited path within a period of time. The meaning of extending the material transportation path is to use the material transportation path as a baseline and determine an area based on the baseline. From the perspective of the image, it is equivalent to expanding an area based on the baseline. The expansion process can be to first set two symmetrical equidistant lines, and the area between the two equidistant lines is the path extension area; in an example of the technical solution of the present invention, the size of the path extension area is related to the remaining cargo capacity and the urgency. The remaining cargo capacity is the difference between the robot's carrying capacity and the required capacity. The size of the path extension area is directly proportional to the remaining cargo capacity and inversely proportional to the urgency.

[0080] Step S400: when receiving the auxiliary material requirements uploaded by each department, creating a department extension area with the department area as the original area based on the auxiliary material requirements;

[0081] After the path extension area is determined, it indicates whether each robot is capable of carrying other distribution needs. The larger the area of ​​the path extension area, the greater the ability to carry other distribution needs. Specifically:

[0082] Receiving the material demand of the department is actually step S200. Under normal conditions, robots need to be arranged to deliver goods. Step S400 receives the demand for auxiliary materials, indicating that the department needs to select a robot from the robots being delivered to deliver goods. Specifically, the department expansion area is determined according to the demand for auxiliary materials and the urgency. The size of the department expansion area is proportional to the urgency, that is, the higher the urgency, the larger the department expansion area. There are two types of relationships between the size of the department expansion area and the demand. If the size of the department expansion area is proportional to the demand, it means that the designer believes that departments with more demand are more important and the department expansion area is larger. If the size of the department expansion area is inversely proportional to the demand, it means that the designer believes that departments with less demand are easier to transport, are considered more important, and have larger department expansion areas. The two methods achieve different results and are used to meet different needs.

[0083] For example, if the designer believes that when the demand is large, a part of it needs to be transported with the assistance of a robot, the size of the department expansion area will be set to be in direct proportion to the demand. If the designer believes that when the demand is small, it is easy to transport and there is no need to use an independent robot to work again, the size of the department expansion area will be set to be in inverse proportion to the demand to improve convenience.

[0084] Step S500: updating the material transportation path according to the intersection of the path extension area and the department extension area;

[0085] When receiving the auxiliary material demand of a certain department, a department extension area with the department as the center is created, and the intersection of the department extension area and the path extension area is obtained. If the department extension area of ​​a certain department intersects with the path extension area of ​​the material transportation path of a certain robot, that is, the intersection is not empty, it is considered that the department and the robot are matched successfully. At this time, the department is used as the transfer point of the robot, and the material transportation path is updated; when the material transportation path is updated, the corresponding path extension area will also be updated. This is a recursive dynamic update process.

[0086] Step S600: Generate control instructions in real time based on the material transportation path and send them to the robot;

[0087] The material transportation path is equivalent to the navigation information of the robot, which can be converted into control instructions and sent to the robot; the control instructions generally include direction control instructions to ensure that the robot moves along the material transportation path, and may also include minimum speed control instructions to ensure that the robot arrives at the department on time.

[0088] In one example of the technical solution of the present invention, the process of determining the path expansion zone and the process of determining the department expansion zone can be macro-limited. When creating the path expansion zone, the task weight of the robot is obtained in real time, and the extension size of the path expansion zone is determined according to the task weight of the robot. The task weight is used to characterize the importance of the independent material demand it faces. When creating the department expansion zone, the radius of the department expansion zone is determined according to the urgency of the auxiliary material demand. The data structure of the auxiliary material demand is the same as the data structure of the independent material demand.

[0089] Regarding step S100, the steps of obtaining the department location, performing two-dimensional processing on the department location, and obtaining a department map include:

[0090] Obtain the building data of the hospital area and query the location of the department in the building data;

[0091] Query the number of floors in the robot parking area, and calculate the difference between the number of floors in other floors and the number of floors where the robot parking area is located;

[0092] Get the map of each layer, insert the location of the department on that layer into the map, and get the department map of each layer;

[0093] The department maps of each layer are read and spliced ​​in increasing order of the layer number difference to obtain the final department map.

[0094] In an example of the technical solution of the present invention, a specific solution for two-dimensional processing of department locations is provided, the building data of the hospital area is obtained, and the department location is queried in the building data. It is worth mentioning that when querying the department location, the building model can be displayed, and then the location entered by the user is received as the department location. This means that the user can independently add or delete the location of the robot service, which is equivalent to the delivery point, greatly improving the flexibility.

[0095] Query the number of floors in the robot parking area, which is generally the material management room. Calculate the difference between the number of floors in other floors and the number of floors where the robot parking area is located. After analyzing each floor separately, obtain the department map of each floor. Splice the department maps of each floor from left to right in ascending order of the number of floor differences to obtain the final department map.

[0096] Regarding step S200, the step of receiving the independent material requirements uploaded by each department and creating a material transportation route containing time intervals in the department map according to the material requirements includes:

[0097] Receive material requests uploaded by various departments in real time, including material quantity and urgency;

[0098] Determine the number of robots according to the amount of supplies and the urgency;

[0099] Determine a motion path pointing to the department based on the average motion speed of the robot; the motion path is a set of positions containing time points;

[0100] Based on the department map, the positions of all robots at each time point are counted, and the department maps containing the positions are arranged in chronological order to obtain an atlas;

[0101] Receive the time interval input by the administrator, read the map in the map set according to the time interval, and determine the material delivery path of each robot within the time interval.

[0102] In an example of the technical solution of the present invention, a specific description is given of the process of generating a material delivery route. First, a distribution request containing demand and urgency uploaded by each department is received, the demand and urgency are analyzed, and the number of robots is determined. Under normal circumstances, for departments whose urgency is less than the urgency threshold, only one robot is selected at a time. For departments whose urgency is greater than the urgency threshold, enough robots are selected based on the demand so that the demand can be met with one distribution. The selection process is completed by dividing the demand by the rated remaining cargo capacity of the robot. Generally, one robot is sufficient to complete the distribution work.

[0103] Then, the motion path pointing to the department is obtained. Combined with the average motion speed of the robot, it is possible to determine which time point each point in the motion path corresponds to relative to the departure time, that is, the motion path containing time information. This process is executed repeatedly so that each department can obtain a motion path containing time information.

[0104] Finally, based on the department map obtained by two-dimensional processing, all locations at each moment are counted and sorted in chronological order to obtain an atlas. The atlas is actually similar to an image sequence. The administrator pre-sets a time interval, such as from a certain time to a certain time, and obtains a subset of the atlas within the time interval. The location is counted with each department as an index, and the movement paths corresponding to all departments within half an hour are obtained to obtain the final material transportation path. This process is equivalent to filtering data in the atlas. An atlas can be a collection of maps of a day. Obtaining a subset of the atlas within the time interval is equivalent to obtaining an atlas within a certain half hour, which is a subset.

[0105] Regarding step S300, the step of extending the width of the material transportation path and determining the path expansion area includes:

[0106] Read the atlas and determine the remaining cargo capacity at the location of each robot in each department map according to the demand of each department;

[0107] Query the urgency of the department corresponding to each location;

[0108] determining a first expansion value according to the remaining cargo capacity and the urgency;

[0109] Taking each position as the center and the first extension value as the radius, an extension area is created, and the extension area is fitted to obtain the path extension area;

[0110] In an example of the technical solution of the present invention, a specific solution for extending the material distribution path is provided. There are many extension solutions. The simplest way is that when the robot moves toward the department, the extension distance is zero. When returning, the extension distance is determined according to the remaining load. The remaining load is the amount of goods that the robot can still carry. The larger the remaining load, the larger the extension distance, and the resulting path extension area is a rectangle.

[0111] In the above content, the density of analysis is improved, that is, the position at each moment is analyzed, and the remaining cargo capacity at each moment is obtained. In combination with the corresponding urgency of the robot, the first extension value is determined according to the remaining cargo capacity and the urgency. The first extension value is the distance between the boundary and the center of the path extension area. At this time, an extension area is created with each position as the center and the first extension value as the radius, and the extension areas corresponding to multiple positions are fitted. The shape of the obtained extension area is no longer a rectangle. In other words, its edge is a curve, which is more consistent with the actual situation.

[0112] The calculation process of the first extension value is as follows:

[0113] ; In the formula, represents the first extended value, is the preset correction factor, is the remaining cargo capacity, represents the parameter determined by urgency, , It's the urgency. is the preset maximum urgency, It is the preset urgency threshold.

[0114] The first extension value is inversely proportional to the urgency, which actually means that the higher the urgency, the more urgent the goods delivered by the robot, the smaller the possibility of intersection with the department, and the higher the probability of completing the delivery according to the original trajectory. On the contrary, the smaller the urgency, the easier it is to intersect with the department extension area of ​​other departments, the easier it is to receive auxiliary distribution requests sent by another department, and the easier it is to add waypoints and update the delivery trajectory; Correspondingly, the first extension value is proportional to the remaining cargo capacity. The higher the remaining cargo capacity, the larger the path extension area, and the lower the remaining cargo capacity, the smaller the path extension area; among them, if the urgency is high enough, it is necessary to take the maximum value. At this time, the second extension value will be very small, so small that it is almost impossible to intersect with other departments, and naturally no waypoints will be added.

[0115] Regarding step S400, when receiving the auxiliary material requirements uploaded by each department, the step of creating a department extension area with the department area as the original area based on the auxiliary material requirements includes:

[0116] When receiving a request for auxiliary materials from a department, read the required quantity and urgency;

[0117] When the urgency reaches a preset urgency threshold, determining a second expansion value according to the demand and the urgency;

[0118] Get the department area corresponding to the department as the original area;

[0119] The outline of the original area is obtained, and the second extension is used as the extension distance to equidistantly extend the outline of the original area to obtain the department extension area.

[0120] In an example of the technical solution of the present invention, the process of determining the department expansion area is limited. When an auxiliary distribution request is received from a department, it indicates that it needs to mobilize the currently running robot. Specifically, the demand and urgency of the auxiliary distribution request are read. When the urgency reaches a preset urgency threshold, the auxiliary distribution request is considered valid. At this time, the second extension value is determined according to the demand and the urgency. A department expansion area is created with the department as the center and the second extension value as the radius. The meaning of the department expansion area is how large an area can be affected by the demand of the department.

[0121] The calculation process of the second extension value is as follows:

[0122] ; In the formula, ; Indicates the second extended value, is the preset correction factor, is the demand, represents the parameter determined by urgency, It's the urgency. is the preset maximum urgency, It is the preset urgency threshold.

[0123] Regarding the second expansion area, it is opposite to the first expansion area. It is proportional to the urgency. The higher the urgency, the larger the expansion area (second expansion area) centered on the point, and the easier it is to produce an intersection. The relationship between the second expansion area and the distribution quantity is determined in advance by the management. If the size of the second expansion area is proportional to the distribution quantity, it means that the management believes that the larger the distribution quantity, the more auxiliary distribution is needed. The above formula provides a proportional solution. In addition, the size of the second expansion area can also be inversely proportional to the distribution quantity. At this time, it is believed that the smaller the distribution quantity, the more auxiliary distribution is needed (no need to add robots).

[0124] Regarding step S500, the step of updating the material transportation path according to the intersection of the path extension area and the department extension area includes:

[0125] Department extension area for any department;

[0126] Get the path extension area of ​​all robots corresponding to the current moment;

[0127] Calculate the intersection of the department expansion area and the path expansion areas of all robots corresponding to the current moment;

[0128] A robot is selected according to the intersection, the department location is obtained, the department location is used as a transfer point, and the material transportation path of the robot is updated.

[0129] Calculate whether there is an intersection between the department expansion area and the path expansion area. If so, it means that the needs of the department can be met by the robot corresponding to the trajectory with the intersection. Take the department as a waypoint and update the delivery trajectory of the corresponding robot, thereby realizing the function of meeting needs "along the way".

[0130] It is worth mentioning that when calculating the size of the department expansion area, since different sub-areas (the sub-areas in the splicing process correspond to different floors, that is, the process of "reading and splicing the department maps of each layer in increasing order of the difference in the number of floors to obtain the final department map" in step S100) actually correspond to different floors, if the arrangement order is from left to right, then the adjacent sub-areas in the left and right directions are actually adjacent, and the floor difference between adjacent sub-areas in the up and down directions is actually large. Therefore, when creating the department expansion area, the part of other sub-areas in the up and down directions can be eliminated, that is, the department expansion area only extends in the left and right directions.

[0131] Figure 2 The structure diagram of the robot control system based on department requirements is shown in FIG. As a preferred embodiment of the technical solution of the present invention, the present invention also provides a robot control system based on department requirements. The system 10 includes:

[0132] The department map creation module 11 is used to obtain the department location, perform two-dimensional processing on the department location, and obtain a department map;

[0133] The route planning module 12 is used to receive the independent material requirements uploaded by each department, and create a material transportation route with time intervals in the department map according to the material requirements;

[0134] The path extension module 13 is used to extend the width of the material transportation path and determine the path extension area;

[0135] The department area extension module 14 is used to create a department extension area with the department area as the original area based on the auxiliary material demand when receiving the auxiliary material demand uploaded by each department;

[0136] A path updating module 15, used for updating the material delivery path according to the intersection of the path extension area and the department extension area;

[0137] The control instruction generation module 16 is used to generate control instructions in real time based on the material transportation path and send them to the robot.

[0138] Furthermore, the department map creation module 11 includes:

[0139] A location query unit is used to obtain the building data of the hospital area and query the location of the department in the building data;

[0140] A floor number difference calculation unit, used to query the floor number of the robot parking area, and calculate the floor number difference between the floor number of other floors and the floor number of the robot parking area;

[0141] Get the map of each layer, insert the location of the department on that layer into the map, and get the department map of each layer;

[0142] The department maps of each layer are read and spliced ​​in increasing order of the layer number difference to obtain the final department map.

[0143] Specifically, the path planning module 12 includes:

[0144] The request receiving unit is used to receive material requests uploaded by various departments in real time, including material quantity and urgency;

[0145] A quantity determination unit, used to determine the number of robots according to the amount of materials and the urgency;

[0146] A path generation unit, used to determine a motion path pointing to the department based on the average motion speed of the robot; the motion path is a set of positions containing time points;

[0147] A time domain regularization unit is used to count the positions of all robots at each time point based on the department map, and arrange the department maps containing the positions in chronological order to obtain an atlas;

[0148] The interval query unit is used to receive the time interval input by the administrator, read the map in the map set according to the time interval, and determine the material delivery path of each robot within the time interval.

[0149] Furthermore, the path extension module 13 includes:

[0150] The remaining quantity query unit is used to read the atlas and determine the remaining cargo quantity at the location of each robot in each department map according to the demand of each department;

[0151] An urgency query unit is used to query the urgency of the department corresponding to each position;

[0152] a calculation unit, configured to determine a first expansion value according to the remaining cargo capacity and the urgency;

[0153] An application unit is used to create an extension area with each position as the center and the first extension value as the radius, fit the extension area, and obtain the path extension area;

[0154] The calculation process of the first extension value is as follows:

[0155] ; In the formula, represents the first extended value, is the preset correction factor, is the remaining cargo capacity, represents the parameter determined by urgency, , It's the urgency. is the preset maximum urgency, It is the preset urgency threshold.

[0156] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot control method based on department needs, characterized in that: The method comprises: Obtain the location of the department, perform two-dimensional processing on the location of the department, and obtain a department map; Receive independent material requirements uploaded by each department, and create material delivery routes with time intervals in the department map according to the material requirements; Extend the width of the material transportation route and determine the route expansion area; When receiving the auxiliary material requirements uploaded by each department, a department extension area is created based on the auxiliary material requirements with the department area as the original area; Update the material delivery route according to the intersection of the route expansion area and the department expansion area; Generate control instructions in real time based on the material delivery path and send them to the robot; The step of extending the width of the material transportation path and determining the path expansion area comprises: Read the atlas and determine the remaining cargo capacity at the location of each robot in each department map according to the demand of each department; Query the urgency of the department corresponding to each location; determining a first expansion value according to the remaining cargo capacity and the urgency; Taking each position as the center and the first extension value as the radius, an extension area is created, and the extension area is fitted to obtain the path extension area; The calculation process of the first extension value is: ; In the formula, Indicates the first extended value, is the preset correction factor, is the remaining cargo capacity, represents the parameter determined by urgency, , It's the urgency. is the preset maximum urgency, is the preset urgency threshold; When receiving the auxiliary material requirements uploaded by each department, the step of creating a department extension area with the department area as the original area based on the auxiliary material requirements includes: When receiving a request for auxiliary materials from a department, read the required quantity and urgency; When the urgency reaches a preset urgency threshold, determining a second expansion value according to the demand and the urgency; Get the department area corresponding to the department as the original area; The outline of the original area is obtained, and the second extension is used as the extension distance to equidistantly extend the outline of the original area to obtain the department extension area; The calculation process of the second extension value is as follows: ; In the formula, ; Indicates the second extended value, is the preset correction factor, is the demand, represents the parameter determined by urgency, It's the urgency. is the preset maximum urgency, It is the preset urgency threshold.

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