A robot control method, platform, device, and computer storage medium.

Abstract

This application proposes a robot control method, a robot control platform, a robot control device, and a computer storage medium. The robot control method includes: sequentially traversing each path point in the target real-time grid path, determining whether the current path point conflicts with other robots; if the current path point does not conflict with other robots, continuing to detect the next path point until a conflicting path point is identified or all path points have been traversed; when a conflicting path point exists, generating a control real-time grid path based on the starting path point of the target real-time grid path and the previous path point of the conflicting path point; and distributing the control real-time grid path to the target robot. Through this robot control method, a simplified traffic control logic replaces complex sequential task control, achieving the control of vehicle order on a loop road, exhibiting higher robustness, and effectively avoiding deadlocks caused by queue jumping.

Description

Technical Field

[0001] This 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 Technology

[0002] In loop-line projects, Automated Guided Vehicles (AGVs) run in a loop according to ordered tasks. Because the sequence of tasks is strictly required, the AGVs must be strictly ordered when tasks are assigned. If one AGV cuts in line at a branch intersection, the entire loop will be locked down and paralyzed. Current technologies have limitations in controlling the order of vehicles on loops, and network fluctuations and latency can cause subsequent vehicles to cut in line. Summary of the Invention

[0003] To address the aforementioned technical problems, this application proposes a robot control method, a robot control platform, a robot control device, and a computer storage medium.

[0004] To address the aforementioned technical problems, this application proposes a robot control method, which includes:

[0005] Obtain the real-time target lock path of the target robot;

[0006] Iterate through each path point in the real-time lock-grid path of the target in turn, and determine whether the current path point is in conflict with other robots;

[0007] If the current path point does not conflict with other robots, continue to detect the next path point until a conflicting path point is identified or all path points have been traversed.

[0008] When the conflicting path points exist, a control real-time grid-locking path is generated based on the starting path point of the target real-time grid-locking path and the previous path point of the conflicting path point.

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

[0010] The determination of whether the current path point conflicts with other robots includes:

[0011] Obtain other real-time grid lock paths for the other robots;

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

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

[0014] The current position of the other robots on the main loop road follows the current position of the target robot on the main loop road.

[0015] The determination of 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 related point of the main ring road and the branch ring road;

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

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

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

[0021] Read the key corner points and branch corner points of the loop from the log file;

[0022] Based on the key corner points of the loop, path points are filled in to generate the main road of the loop;

[0023] Based on the corner points of the loop branch, path points are filled in to generate the loop branch road.

[0024] Associate the path points of the main ring road with the branch roads of the ring road.

[0025] The robot control method further includes, after the real-time control grid path is sent to the target robot, the robot control method also includes:

[0026] The target robot is controlled to move to the end path point according to the control real-time grid path and then the movement of the target robot is stopped.

[0027] The system detects whether the real-time path points of other robots involved in the conflict are located on the main road of the loop and not on any of the branch roads of the loop.

[0028] If so, continue to issue the next real-time lock path for the target robot.

[0029] The robot control method further includes:

[0030] When no conflict path points exist, the target real-time lock path is sent to the target robot.

[0031] To address the aforementioned technical problems, this 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 real-time target lock path of the target robot;

[0034] The conflict module is used to sequentially traverse each path point in the target real-time grid path and determine whether the current path point is in conflict with other robots.

[0035] The conflict module is used to continue detecting the next path point until a conflicting path point is determined or all path points have been traversed, provided that the current path point does not conflict with other robots.

[0036] The update module is used to generate a control real-time grid-locking path based on 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 control real-time lock path to the target robot.

[0038] To address the aforementioned technical problems, this 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 described above.

[0039] To address the aforementioned technical problems, this application also proposes a computer storage medium for storing program data, which, when executed by a computer, is used to implement the aforementioned robot control method.

[0040] Compared with existing technologies, the beneficial effects of this application are as follows: The robot control platform acquires the target real-time grid path of the target robot; it sequentially traverses each path point in the target real-time grid path, determining whether the current path point conflicts with other robots; if the current path point does not conflict with other robots, it continues to detect the next path point until a conflicting path point is identified or all path points have been traversed; when a conflicting path point exists, a control real-time grid path is generated based on the starting path point of the target real-time grid path and the previous path point of the conflicting path point; the control real-time grid path is then sent to the target robot. Through the above robot control method, a simplified traffic control logic replaces the complex sequential task control, achieving the control of the vehicle sequence on a loop road, exhibiting higher robustness, and effectively avoiding deadlocks caused by queue jumping. Attached Figure Description

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

[0042] in:

[0043] Figure 1 The ring road provided in this application Figure 1 A schematic diagram of the embodiment;

[0044] Figure 2 This is a flowchart illustrating an embodiment of the robot control method provided in this application;

[0045] Figure 3 This is a schematic diagram of an embodiment of traffic control on a ring road map provided in this application;

[0046] Figure 4 This is a flowchart illustrating another embodiment of the robot control method provided in this application;

[0047] Figure 5 This is a schematic diagram of the structure of an embodiment of the robot control platform provided in this application;

[0048] Figure 6 This is a schematic diagram of an embodiment of the robot control device provided in this application;

[0049] Figure 7 This is a schematic diagram of the structure of an embodiment of the computer storage medium provided in this application. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0051] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0052] To address the problems of existing technologies, this application proposes a traffic control strategy that can ignore factors such as network latency and perform strong correlation sequential control of vehicles on a loop. It mainly solves the problem of vehicle operation sequence of AGVs in a loop scenario, avoiding deadlock caused by queue jumping.

[0053] AGVs have similar features Figure 1 The circular production project, among which, Figure 1 The ring road provided in this application Figure 1 The diagram illustrates an embodiment. There are n processes on the loop, and n-1 processes must be completed before entering process n. Therefore, the AGV (Automated Guided Vehicle) needs to operate at a fixed pace, strictly maintaining the vehicle sequence on the loop. In the actual environment, AGVs often overtake on the main loop because the preceding vehicle enters a branch road, causing chaos in the vehicle sequence. Therefore, the robot control method of this application mainly aims to implement strict traffic control at branch intersections, ensuring that following vehicles do not overtake preceding vehicles, allowing the vehicles on the entire loop to be transported in an orderly manner.

[0054] The following is combined Figure 1 The technical concepts involved in this application are described below:

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

[0056] Branching: such as Figure 1 There are branching paths extending out from e, l, u, and x.

[0057] Cutting in line: On a ring road, there is a fixed order for vehicles to enter. When the vehicle in front enters a branch, the vehicle behind can directly overtake the vehicle in front from behind, which is considered cutting in line.

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

[0059] Please continue reading for details. Figure 2 , Figure 2 This is a flowchart illustrating an embodiment of the robot control method provided in this application.

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

[0061] Furthermore, the aforementioned server can be either hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When the server is software, it can be implemented as multiple software programs or software modules, such as software or software modules used to provide distributed server functionality, or as a single software program or software module; no specific limitations are made here.

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

[0063] Step S11: Obtain the target robot's real-time lock-on path.

[0064] In this embodiment of the application, before generating the target real-time grid-locking path for the target robot, the robot control platform needs to first generate, as follows: Figure 1 The loop map shown is the real-time target grid path, which is the path planned for the subsequent operation of the target robot on the loop map.

[0065] Specifically, staff pre-recorded the key corner points and branch corner points of the loop in a JSON (JavaScript Object Notation) file. Figure 1The loop shown has 6 key points, denoted as ACGINQ. There are 5 branch points representing different paths: e-e3, l-l2, l-l4, u-u2, and x-x2. The recording format is shown below, where the first part (keyPoint) contains the key points of the main loop path, and the second part (parallelPoint) contains the branch points of the loop.

[0066]

[0067]

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

[0069] Then, the robot control platform correlates the data of the points on the branch roads of the ring road with the points on the main road of the ring road, such as... Figure 1 In this context, u2 and u1 are associated with point u.

[0070] Finally, the robot confirms the location information of each vehicle, as well as the real-time locked grid pre-occupied location information of each vehicle.

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

[0072] In this embodiment, the robot control platform traverses every path point in the real-time grid path of the target robot (i.e., the target AGV or target vehicle) on the loop map, and needs to detect whether there is a possibility of conflict with other robots at each path point. Here, this application defines a conflict as: if moving the target robot to a conflicting path point would cause the target robot to cut in line.

[0073] When traversing each point on the target robot's real-time grid-locked path, the robot control platform needs to obtain the current position or real-time grid-locked path of other robots that may potentially clash. Specifically, the traffic order of other potentially clashing robots on the main ring road should be before that of the target robot on the main ring road before it is necessary to determine whether the target robot might cut in line.

[0074] When other robots are located on branching paths of a loop, the robot control platform needs to determine whether each path point on the target robot's real-time grid path is associated with any branch points. The correlation between path points on the loop map is confirmed in step S11 and will not be elaborated further here.

[0075] Please refer to the specific details. Figure 1 Please refer to the loop map shown below. Figure 3 , Figure 3 This is a schematic diagram of an embodiment of traffic control for a loop map provided in this application.

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

[0077] When other robots are located on the main loop road, the robot control platform needs to determine whether each path point on the target robot's real-time grid path conflicts with the real-time grid paths of other robots, i.e., whether it appears on the real-time grid paths of other robots, when detecting each path point on the target robot's real-time grid path.

[0078] For details, please continue reading Figure 3 Normal real-time segment security detection on the ring line, such as Figure 3 Cars ③ and ④ are shown in the diagram. The real-time segment lock of car ③ is... Figure 3 Part b) and the real-time segment lock grid of vehicle ④ ( Figure 3 If a collision is detected in part c, then a hazard is detected. However, if the real-time segment lock of vehicle ④ detects a forward collision, then there is no hazard.

[0079] Step S13: If the current path point does not conflict with other robots, continue to detect the next path point until a conflicting path point is identified or all path points have been traversed.

[0080] In this embodiment, the robot control platform continues to traverse the next path point of the current real-time grid path after determining that the current path point does not conflict with other robots, until a conflicting path point is detected or all path points have been traversed.

[0081] If the robot control platform does not detect any conflicting path points after traversing all path points, then there is no need to implement traffic control; the target real-time lock path can be 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 issued.

[0083] Step S14: When there are conflicting path points, generate a control real-time grid-locking path based on the starting path point of the target real-time grid-locking path and the previous path point of the conflicting path point.

[0084] In this embodiment, when the robot control platform detects a conflicting path point on the real-time grid path of the target robot, it needs to split the path forward by one point to update the real-time grid path of the target robot. For example, if any point of the current point and its associated branch points is occupied by another vehicle, a hazard is detected at that point, and the path needs to be split forward by one point.

[0085] Specifically, such as Figure 3 As shown, when vehicle ② detects a conflict point at point u in its real-time segment path, the robot control platform needs to segment the lock grid of vehicle ②'s real-time segment path forward to point v. Finally, the segmented real-time segment lock grid of vehicle ② is sent to v, and the vehicle stops at point v.

[0086] like Figure 3 As shown, the real-time segment lock grids of vehicle ③ and vehicle ④ collide with each other. The robot control platform determines the conflict path point of vehicle ③ as point i. Therefore, the robot control platform needs to divide the real-time segment lock grids of vehicle ③ forward to point i.

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

[0088] In this application, the robot control platform acquires the target real-time grid path of the target robot; it sequentially traverses each path point in the target real-time grid path, determining whether the current path point conflicts with other robots; if the current path point does not conflict with other robots, it continues to detect the next path point until a conflicting path point is identified or all path points have been traversed; when a conflicting path point exists, a control real-time grid path is generated based on the starting path point of the target real-time grid path and the previous path point of the conflicting path point; the control real-time grid path is then sent to the target robot. Through this robot control method, a simplified traffic control logic replaces complex sequential task control, achieving the control of vehicle order on a loop road, exhibiting higher robustness, and effectively avoiding deadlocks caused by queue jumping.

[0089] exist Figure 2 Based on the robot control method shown, please refer to [further details]. Figure 4 , Figure 4 This is a flowchart illustrating another embodiment of the robot control method provided in this 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 control grid path and then stop the target robot's movement.

[0092] In this embodiment, the robot control platform controls the target robot to move to the end path point according to the segmented real-time grid 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 involved in the conflict are located on the main loop road and not on the branch loop road.

[0094] In this embodiment, the robot control platform continuously monitors the real-time position of other robots. When other robots leave the branch road of the loop where the conflict occurs, or continue to move forward on the main loop road, the process proceeds to step S23.

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

[0096] The robot control method of this application performs safety detection by associating branch roads, which strictly ensures the orderliness of vehicles on the ring road and avoids deadlock of the one-way ring road caused by vehicles cutting in line.

[0097] The robot control method of this application replaces the complex sequential task control with simplified traffic control logic, realizing the control of the vehicle sequence on a ring road and exhibiting higher robustness.

[0098] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0099] To implement the above-mentioned robot control method, this application also proposes a robot control platform, which can be found in the following details. Figure 5 , Figure 5 This is a schematic diagram of the structure of an embodiment of the robot control platform provided in this application.

[0100] The robot control platform 500 in 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 real-time target lock path of the target robot.

[0102] The conflict module 52 is used to sequentially traverse each path point in the target real-time grid path and determine whether the current path point is in conflict 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 have been traversed, provided that the current path point does not conflict with other robots.

[0104] The update module 53 is used to generate a control real-time grid-locking path based on 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 control real-time lock path to the target robot.

[0106] To implement the above-mentioned robot control method, this application also proposes a robot control device, for details please refer to [link / reference needed]. Figure 6 , Figure 6 This is a schematic diagram of an embodiment of the robot control device provided in this application.

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

[0108] The processor 41, memory 42, and 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 embodiments.

[0109] In this embodiment, processor 41 can also be referred to as a CPU (Central Processing Unit). Processor 41 may be an integrated circuit chip with signal processing capabilities. Processor 41 can 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 gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or processor 41 can be any conventional processor.

[0110] This application also provides a computer storage medium; please refer to the following: Figure 7 , Figure 7 This is a schematic diagram of a computer storage medium according to an embodiment of the present application. The computer storage medium 600 stores a computer program 61, which, when executed by a processor, is used to implement the robot control method of the above embodiment.

[0111] When the embodiments of this application are implemented as 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 this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0112] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A robot control method, characterized in that, The robot control method includes: Obtain the real-time target lock path of the target robot; Each path point in the target real-time grid-locked path is traversed sequentially to determine whether the current path point conflicts with other robots; the target real-time grid-locked path is the path planned for the subsequent operation of the target robot on the loop map; If the current path point does not conflict with other robots, continue to detect the next path point until a conflicting path point is identified or all path points have been traversed. When conflicting path points exist, a control real-time grid path is generated based on the starting path point of the target real-time grid path and the previous path point of the conflicting path point; the control real-time grid path is a real-time grid path that is segmented forward by one point update when a conflicting path point is detected on the target robot's real-time grid path. The control real-time lock path is sent to the target robot.

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

3. The robot control method according to claim 2, characterized in that, in, The current location of the other robots on the main loop road follows the current location of the target robot on the main loop road.

4. The robot control method according to claim 1, characterized in that, The determination of 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 related point of the main ring road and the branch ring road; If so, determine whether the other robot exists on the loop branch road where the current path point is located; If so, determine if the current path point conflicts with other robots.

5. The robot control method according to claim 4, characterized in that, The acquisition of the main ring road and the branch ring roads includes: Read the key corner points and branch corner points of the loop from the log file; Based on the key corner points of the loop, path points are filled in to generate the main road of the loop; Based on the corner points of the loop branch, path points are filled in to generate the loop branch road. Associate the path points of the main ring road with the branch roads of the ring road.

6. The robot control method according to claim 4, characterized in that, After the real-time control lock path is sent to the target robot, the robot control method further includes: The target robot is controlled to move to the end path point according to the control real-time grid path and then the movement of the target robot is stopped. The system detects whether the real-time path points of other robots involved in the conflict are located on the main road of the loop and not on any of the branch roads of the loop. If so, continue to issue the next real-time lock path for the target robot.

7. The robot control method according to claim 1, characterized in that, The robot control method further includes: When no conflict path points exist, the target real-time lock 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 real-time target lock path of the target robot; The conflict module is used to sequentially traverse each path point in the target real-time grid-locked path and determine whether the current path point conflicts with other robots; the target real-time grid-locked path is the path planned for the subsequent operation of the target robot on the loop map; The conflict module is used to continue detecting the next path point until a conflicting path point is determined or all path points have been traversed, provided that the current path point does not conflict with other robots. The update module is used to generate a control real-time grid path based on the starting path point of the target real-time grid path and the previous path point of the conflicting path point when the conflicting path point exists; the control real-time grid path is a real-time grid path that is updated by splitting one point forward when a conflicting path point is detected on the real-time grid path of the target robot. The control module is used to send the control real-time lock 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; 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 in 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, which, when executed by the computer, is used to implement the robot control method as described in any one of claims 1 to 7.

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