Robot control method, platform and device and computer storage medium

Abstract

The invention provides a robot control method, a robot control platform, a robot control device and a computer storage medium. The robot control method comprises the steps that all path point locations in a target real-time lattice locking path are traversed in sequence, and whether the current path point location conflicts with other robots or not is judged; under the condition that the current path point location does not conflict with other robots, continuing to detect the next path point location until the conflict path point location is determined or all the path point locations are traversed; when the conflict path point location exists, generating a control real-time lattice locking path according to a starting path point location of the target real-time lattice locking path and a previous path point location of the conflict path point location; and the control real-time lattice locking path is issued to the target robot. According to the robot control method, complex front and back sequence task control is replaced with simple traffic control logic, loop vehicle sequence control is achieved, higher robustness is achieved, and deadlock caused by queue jumping can be effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a robot control method, a robot control platform, a robot control device and a computer storage medium. Background Art

[0002] In the loop process project, the Automated Guided Vehicle (AGV) will run in circles according to the ordered tasks. Because the process sequence has strict requirements, the AGVs need to be strictly sorted when issuing tasks. If one of the vehicles cuts in line at a branch intersection, the entire loop will be deadlocked and paralyzed. However, existing technologies have certain limitations in controlling the order of loop vehicles, and network fluctuations and delays will cause problems such as the rear vehicle cutting in line. Summary of the invention

[0003] In order to solve the above technical problems, the present application proposes a robot control method, a robot control platform, a robot control device and a computer storage medium.

[0004] In order to solve the above technical problems, the present application proposes a robot control method, which includes:

[0005] Get the target real-time locking path of the target robot;

[0006] Traversing each path point in the target real-time grid-locking path in turn to determine whether the current path point conflicts with other robots;

[0007] If the current path point does not conflict with other robots, continue to detect the next path point until the conflicting path point is determined or all path points are traversed;

[0008] When the conflicting path point exists, generating a control real-time grid locking path according to the starting path point of the target real-time grid locking path and the previous path point of the conflicting path point;

[0009] The real-time grid locking path of the control is sent to the target robot.

[0010] Wherein, the step of determining whether the current path point conflicts with other robots includes:

[0011] Obtaining other real-time grid-locking paths of the other robots;

[0012] Determine whether the current path point is a path point on the other real-time locked path;

[0013] If so, determine whether the current path point conflicts with the other robots.

[0014] The path sequence of the current position point of the other robots on the main road of the loop is after the path sequence of the current position point of the target robot on the main road of the loop.

[0015] Wherein, the step of determining whether the current path point conflicts with other robots includes:

[0016] Obtain the main ring road and the branch ring roads;

[0017] Determine whether the current path point is a correlation point between the main road of the loop line and the branch road of the loop line;

[0018] If so, determining whether there is the other robot on the branch road of the loop where the current path point is located;

[0019] If so, determine whether the current path point conflicts with the other robots.

[0020] The obtaining of the main ring road and the branch ring roads includes:

[0021] Read the loop key corner points and loop branch corner points in the record file;

[0022] Filling in the path points based on the key corner points of the loop line to generate the main road of the loop line;

[0023] Completing the path points based on the loop branch corner points to generate the loop branch roads;

[0024] The associated path points of the ring line main road and the ring line branch road are associated.

[0025] Wherein, after sending the real-time grid-locking path to the target robot, the robot control method further includes:

[0026] Control the target robot to move to the end path point according to the real-time locking path and stop the movement of the target robot;

[0027] Detecting whether the real-time path points of other robots in conflict are located on the main road of the loop line and not on the branch road of the loop line;

[0028] If so, continue to send the next real-time locking path of the target robot.

[0029] Wherein, the robot control method further includes:

[0030] When the conflicting path point does not exist, the target real-time grid-locking path is sent to the target robot.

[0031] In order to solve the above technical problems, the present application also proposes a robot control platform.

[0032] The robot control platform includes: an acquisition module, a conflict module, an update module, and a control module; wherein,

[0033] The acquisition module is used to acquire the target real-time locking path of the target robot;

[0034] The conflict module is used to traverse each path point in the target real-time lock path in turn to determine whether the current path point conflicts with other robots;

[0035] The conflict module is used to continue detecting the next path point until the conflicting path point is determined or all path points are traversed when the current path point does not conflict with other robots;

[0036] The updating module is used to generate a control real-time grid locking path according to the starting path point of the target real-time grid locking path and the previous path point of the conflicting path point when the conflicting path point exists;

[0037] The control module is used to send the real-time grid locking path to the target robot.

[0038] In order to solve the above technical problems, the present application also proposes a robot control device, which includes a memory and a processor coupled to the memory; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the robot control method as described above.

[0039] In order to solve the above technical problems, the present application also proposes a computer storage medium, which is used to store program data. When the program data is executed by a computer, it is used to implement the above robot control method.

[0040] Compared with the prior art, the beneficial effects of the present application are: the robot control platform obtains the target real-time grid-locking path of the target robot; traverses each path point in the target real-time grid-locking path in turn, and determines whether the current path point conflicts with other robots; when the current path point does not conflict with other robots, continue to detect the next path point until the conflicting path point is determined or all path points are traversed; when the conflicting path point exists, the control real-time grid-locking path is generated according to the starting path point of the target real-time grid-locking path and the previous path point of the conflicting path point; the control real-time grid-locking path is sent to the target robot. Through the above-mentioned robot control method, the complex sequential task control is replaced by simple traffic control logic to realize the control of the loop vehicle sequence, which has higher robustness and can effectively avoid deadlock caused by queue jumping. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] in:

[0043] Figure 1 This is the loop line provided by this application Figure 1 A schematic diagram of an embodiment;

[0044] Figure 2 It is a flowchart of an embodiment of a robot control method provided by the present application;

[0045] Figure 3 It is a schematic diagram of an embodiment of loop map traffic control provided by the present application;

[0046] Figure 4 is a flow chart of another embodiment of the robot control method provided by the present application;

[0047] Figure 5 It is a structural schematic diagram of an embodiment of a robot control platform provided by the present application;

[0048] Figure 6 is a structural schematic diagram of an embodiment of a robot control device provided by the present application;

[0049] Figure 7 It is a structural diagram of an embodiment of a computer storage medium provided by the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only 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.

[0051] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] In order to solve the problems of the prior art, this application proposes a traffic control strategy that can ignore factors such as network delays and perform strongly correlated sequential control of loop vehicles. It mainly solves the problem of vehicle operation sequence of AGVs in loop scenarios and avoids deadlock caused by queue jumping.

[0053] AGV has similar Figure 1 The loop production project, among which, Figure 1 This is the loop line provided by this application Figure 1 Schematic diagram of an embodiment. There are n processes on the loop line, and process n-1 must be completed before entering process n. Therefore, the AGV cart needs to run at a fixed rhythm, and the order of vehicles in the loop line needs to be strictly maintained. In the field environment, AGVs often overtake on the main loop line because the front vehicle enters the branch road, resulting in a disordered sequence of vehicles on the loop line. Therefore, the robot control method of the present application mainly realizes how to carry out strict traffic control at the branch intersection to ensure that the rear vehicle does not overtake the front vehicle, so that the vehicles of the entire loop line can be transported in an orderly manner.

[0054] Combine the following Figure 1 The technical concepts involved in this application are explained as follows:

[0055] Loop: Figure 1 , ACGINQA forms a loop.

[0056] Branches: Figure 1 There are branch roads extending from e, l, u, and x.

[0057] Queue-jumping: There is a fixed order for getting on the circular line. When the front car enters a branch, the rear car directly overtakes the front car from the rear, which is considered queue-jumping.

[0058] Real-time lock grid: The lock grid occupied by the real-time segment path (a small segment of the path that is about to be sent).

[0059] Please continue to read Figure 2 , Figure 2 It is a flow chart of an embodiment of a robot control method provided by the present application.

[0060] The robot control method of the present application is applied to a robot control device, wherein the robot control device of the present application can be a server, a terminal device, or a system in which a server and a terminal device cooperate with each other. Accordingly, the various parts of the robot control device, such as various units, subunits, modules, and submodules, can all be set in the server, can all be set in the terminal device, or can be set in the server and the terminal device respectively.

[0061] Furthermore, the above-mentioned server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules, such as software or software modules used to provide distributed servers, or it can be implemented as a single software or software module, which is not specifically limited here.

[0062] like Figure 2 As shown, the specific steps are as follows:

[0063] Step S11: Obtain the target real-time locking path of the target robot.

[0064] In the embodiment of the present application, before generating the target real-time grid locking path of the target robot, the robot control platform needs to generate the following Figure 1 The loop map shown in the figure, and the target real-time grid-locked path is the path planned for the subsequent operation of the target robot on the loop map.

[0065] Specifically, the staff records the key corner points and branch corner points of the loop line in a json (JavaScript Object Notation) file in advance. Figure 1The loop line shown has 6 key corner points, namely ACGINQ. The loop line branch corner points represent 5 branch roads, namely e-e3, l-l2, l-l4, u-u2, x-x2. The record format is as follows, where the content of the first part keyPoint is the corner point of the main road of the loop line, and the content of the second part parallelPoint is the loop line branch.

[0066]

[0067]

[0068] After the robot control platform reads the key corner points of the loop and the loop branch corner points in the json file, it uses the Astar algorithm to complete the path points, and finally obtains a complete loop main road and loop branch roads.

[0069] Then, the robot control platform associates the points on the branch road of the loop with the points on the main road of the loop, such as Figure 1 In , u2 and u1 are associated with point u.

[0070] Finally, the robot confirms the location information of each vehicle and the real-time lock location information of each vehicle.

[0071] Step S12: traverse each path point in the target real-time grid locking path in turn to determine whether the current path point conflicts with other robots.

[0072] In the embodiment of the present application, the robot control platform traverses each path point of the target robot, i.e., the target AGV or the target vehicle, in the real-time locked path on the loop map, and needs to detect whether each path point has the possibility of conflict with other robots. Among them, the definition of conflict in the present application is: the target robot moving to the path point where the conflict occurs will cause the target robot to jump the queue.

[0073] When the robot control platform traverses each path point of the target robot's real-time grid path, it needs to obtain the current position or real-time grid path of other robots that may conflict. Among them, the traffic order of other robots that may conflict on the main road of the loop should be before the traffic order of the target robot on the main road of the loop, and only then is it necessary to determine whether the target robot is likely to cut in line.

[0074] When other robots are located on the branch roads of the loop, the robot control platform needs to determine whether the path point has an associated branch point when detecting each path point on the real-time grid-locked path of the target robot. Whether the path points on the loop map have an associated relationship is confirmed in step S11, which will not be repeated here.

[0075] Please combine the specific Figure 1 See the loop map shown below Figure 3 , Figure 3 It is a schematic diagram of an embodiment of loop map traffic control provided by this application.

[0076] like Figure 3 As shown in the figure, the real-time segment path of the vehicle ② is part a. First, point v is detected, and then point u is detected. When point u is detected, it is determined that there is a vehicle on the branch road, so the point detection is dangerous. Point u is determined to be a conflict path point where the target robot will conflict with other robots, and step S14 is entered. If no association with the branch road is detected at the current point, or there are no other robots on the branch road with an association relationship, step S13 is entered to continue traversing subsequent path points.

[0077] When other robots are located on the main road of the loop, the robot control platform detects each path point on the real-time grid-locking path of the target robot and needs to determine whether the path point conflicts with the real-time grid-locking path of other robots, that is, whether it appears on the real-time grid-locking path of other robots.

[0078] For details, please continue to see Figure 3 , the normal real-time segment safety detection on the loop line is as follows Figure 3 The real-time segment lock grid of car ③ is shown in the figure. Figure 3 b) and the real-time segment lock of the ④ car ( Figure 3 The c part of the detection is mutual collision, and then the detection is dangerous. The real-time segment of the ④ car locks the grid and detects forward, and there is no danger.

[0079] Step S13: When the current path point does not conflict with other robots, continue to detect the next path point until the conflicting path point is determined or all path points are traversed.

[0080] In an embodiment of the present application, when the robot control platform determines that the current path point does not conflict with other robots, it continues to traverse the next path point of the current real-time lock path until a conflicting path point is detected or all path points are traversed.

[0081] If all path points are traversed and the robot control platform does not detect any conflicting path points, there is no need to perform traffic control, and the target real-time locked path is directly sent to the target robot for motion control.

[0082] like Figure 3 As shown, there is no danger in the real-time segment lock of vehicle ④, so the real-time lock path of vehicle ④ can be directly sent down.

[0083] Step S14: when there are conflicting path points, a control real-time grid locking path is generated according to the starting path point of the target real-time grid locking path and the previous path point of the conflicting path point.

[0084] In the embodiment of the present application, when the robot control platform detects that there is a conflicting path point on the real-time grid-locking path of the target robot, it is necessary to split a point forward to update the real-time grid-locking path of the target robot. For example, if any point of the current point and its associated branch points is occupied by other vehicles, then the point is detected as dangerous and needs to be split a point forward.

[0085] Specifically, Figure 3 As shown in the figure, when the real-time segment path of vehicle ② detects that point u is a conflicting path point, the robot control platform needs to split the lock grid of the real-time segment path of vehicle ② forward to point v. Finally, the split real-time segment lock grid of vehicle ② is sent to v, and the vehicle stays at point v.

[0086] like Figure 3 As shown in the figure, the real-time segment lock grid of car ③ and the real-time segment lock grid of car ④ collide with each other. The robot control platform determines that the conflict path point of car ③ is point i. Therefore, the robot control platform needs to split the real-time segment lock grid of car ③ forward to point i.

[0087] Step S15: Send the control real-time locking path to the target robot.

[0088] In the present application, the robot control platform obtains the target real-time grid-locking path of the target robot; traverses each path point in the target real-time grid-locking path in turn, and determines whether the current path point conflicts with other robots; if the current path point does not conflict with other robots, continue to detect the next path point until the conflicting path point is determined or all path points are traversed; when the conflicting path point exists, generate a control real-time grid-locking path according to the starting path point of the target real-time grid-locking path and the previous path point of the conflicting path point; send the control real-time grid-locking path to the target robot. Through the above robot control method, the complex sequential task control is replaced by simple traffic control logic to realize the control of the loop vehicle sequence, which has higher robustness and can effectively avoid deadlock caused by queue jumping.

[0089] exist Figure 2 Based on the robot control method shown, please continue to refer to Figure 4 , Figure 4 It is a flow chart of another embodiment of the robot control method provided by the present application.

[0090] like Figure 4 As shown, the specific steps are as follows:

[0091] Step S21: Control the target robot to move to the end path point according to the real-time locking path and then stop the movement of the target robot.

[0092] In an embodiment of the present application, the robot control platform controls the target robot to move to the end path point according to the segmented real-time lock path and then stops the target robot at the end path point.

[0093] Step S22: Detect whether the real-time path points of other robots in conflict are located on the main road of the loop and not on the branch roads of the loop.

[0094] In the embodiment of the present application, the robot control platform continuously detects the real-time positions of other robots, and when other robots leave the conflicting branch road of the ring line, or continue to move forward on the ring main road, step S23 is entered.

[0095] Step S23: Continue to send the next real-time grid-locking path of the target robot.

[0096] The robot control method of the present application performs safety detection by associating branch roads, strictly ensures the orderliness of vehicles on the loop line, and avoids deadlock of the one-way loop road due to queue cutting by the rear vehicle.

[0097] The robot control method of the present application replaces complex sequential task control with simple traffic control logic to achieve control of the sequence of vehicles on a loop line with higher robustness.

[0098] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0099] In order to implement the above robot control method, this application also proposes a robot control platform, please refer to Figure 5 , Figure 5 It is a structural schematic diagram of an embodiment of a robot control platform provided by the present application.

[0100] The robot control platform 500 of this embodiment includes: an acquisition module 51 , a conflict module 52 , an update module 53 , and a control module 54 .

[0101] The acquisition module 51 is used to acquire the target real-time grid locking path of the target robot.

[0102] The conflict module 52 is used to traverse each path point in the target real-time locking path in turn to determine whether the current path point conflicts with other robots.

[0103] The conflict module 52 is used to continue detecting the next path point until a conflicting path point is determined or all path points are traversed when the current path point does not conflict with other robots.

[0104] The updating module 53 is used to generate a control real-time grid locking path according to the starting path point of the target real-time grid locking path and the previous path point of the conflicting path point when the conflicting path point exists.

[0105] The control module 54 is used to send the real-time grid locking path to the target robot.

[0106] In order to implement the above robot control method, this application also proposes a robot control device, please refer to Figure 6 , Figure 6 It is a structural schematic diagram of an embodiment of a robot control device provided by the present application.

[0107] The robot control device 400 of this embodiment includes a processor 41 , a memory 42 , an input / output device 43 , and a bus 44 .

[0108] The processor 41 , the memory 42 , and the input / output device 43 are respectively connected to the bus 44 . The memory 42 stores program data, and the processor 41 is used to execute the program data to implement the robot control method described in the above embodiment.

[0109] In the embodiment of the present application, the processor 41 may also be referred to as a CPU (Central Processing Unit). The processor 41 may be an integrated circuit chip having the ability to process signals. The processor 41 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or the processor 41 may also be any conventional processor, etc.

[0110] This application also provides a computer storage medium, please continue to refer to Figure 7 , Figure 7 It is a structural diagram of an embodiment of a computer storage medium provided in the present application. The computer storage medium 600 stores a computer program 61. When the computer program 61 is executed by a processor, it is used to implement the robot control method of the above embodiment.

[0111] When the embodiments of the present application are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0112] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A robot control method, characterized in that: The robot control method comprises: Get the target real-time locking path of the target robot; Traversing each path point in the target real-time grid-locking path in turn to determine whether the current path point conflicts with other robots; If the current path point does not conflict with other robots, continue to detect the next path point until the conflicting path point is determined or all path points are traversed; When the conflicting path point exists, generating a control real-time grid locking path according to the starting path point of the target real-time grid locking path and the previous path point of the conflicting path point; The real-time grid locking path of the control is sent to the target robot.

2. The robot control method according to claim 1, characterized in that: The step of judging whether the current path point conflicts with other robots includes: Obtaining other real-time grid-locking paths of the other robots; Determine whether the current path point is a path point on the other real-time locked path; If so, determine whether the current path point conflicts with the other robots.

3. The robot control method according to claim 2, characterized in that: in, The path sequence of the current position point of the other robots on the main road of the loop is after the path sequence of the current position point of the target robot on the main road of the loop.

4. The robot control method according to claim 1, characterized in that: The step of judging whether the current path point conflicts with other robots includes: Obtain the main ring road and the branch ring roads; Determine whether the current path point is a correlation point between the main road of the loop line and the branch road of the loop line; If so, determining whether there is the other robot on the branch road of the loop where the current path point is located; If so, determine whether the current path point conflicts with the other robot.

5. The robot control method according to claim 4, characterized in that: The obtaining of the main ring road and the branch ring road comprises: Read the loop key corner points and loop branch corner points in the record file; Filling in the path points based on the key corner points of the loop line to generate the main road of the loop line; Filling the path points based on the loop branch corner points to generate the loop branch roads; The associated path points of the ring line main road and the ring line branch road are associated.

6. The robot control method according to claim 4, characterized in that: After sending the real-time grid-locking path to the target robot, the robot control method further includes: Control the target robot to move to the end path point according to the real-time locking path and stop the movement of the target robot; Detecting whether the real-time path points of other robots in conflict are located on the main road of the loop line and not on the branch road of the loop line; If so, continue to send the next real-time locking path of the target robot.

7. The robot control method according to claim 1, characterized in that: The robot control method further comprises: When the conflicting path point does not exist, the target real-time grid-locking path is sent to the target robot.

8. A robot control platform, characterized in that: The robot control platform includes: an acquisition module, a conflict module, an update module, and a control module; wherein, The acquisition module is used to acquire the target real-time locking path of the target robot; The conflict module is used to traverse each path point in the target real-time lock path in turn to determine whether the current path point conflicts with other robots; The conflict module is used to continue detecting the next path point until the conflicting path point is determined or all path points are traversed when the current path point does not conflict with other robots; The updating module is used to generate a control real-time grid locking path according to the starting path point of the target real-time grid locking path and the previous path point of the conflicting path point when the conflicting path point exists; The control module is used to send the real-time grid locking path to the target robot.

9. A robot control device, characterized in that: The robot control device includes a memory and a processor coupled to the memory; Wherein, the memory is used to store program data, and the processor is used to execute the program data to implement the robot control method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium is used to store program data, and when the program data is executed by a computer, it is used to implement the robot control method according to any one of claims 1 to 7.

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