Double-mechanical-arm dispatching system and method

Abstract

The invention relates to the technical field of industrial automation and intelligent manufacturing, and discloses a double-mechanical-arm dispatching system and method.The double-mechanical-arm dispatching system comprises an equipment management module, a walking control module, a communication interface module, an instruction management module, a priority calculation module, a basic setting module, a software encryption package and a graphical operation interface module; the equipment management module is used for basic configuration of RGVs and equipment Port hardware, the walking control module is used for controlling path walking of the two RGVs, and the communication interface module is used for interacting with an upper system MCS. According to the method, the range of the public area label of the two RGVs is configured, the public area is judged and processed when the carrying tasks are distributed, meanwhile, the two RGV mechanical arms are controlled to execute the carrying tasks at the same time without conflicts, the method is also compatible with cross-area carrying tasks, the efficiency, stability and safety of collaborative operation of the two RGVs are improved, and the method is suitable for popularization and application. And compatibility of cross-region carrying tasks is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation and intelligent manufacturing, and in particular to a dual-robot arm scheduling system and method. Background Art

[0002] Traditional single RGV control systems often lack efficient task scheduling and path planning capabilities, which may cause problems such as waiting, idleness or path conflicts when the RGV performs material handling tasks, thereby reducing overall operational efficiency. At the same time, in the face of sudden changes in material demand on the production line, the system responds slowly and it is difficult to quickly adjust the handling plan, affecting the flexibility and agility of production.

[0003] In a modern production environment, production lines are often composed of multiple devices and systems, which require a high degree of integration and collaborative operation. However, conventional single RGV control systems often lack the ability to integrate with other devices and systems, making it difficult to achieve information sharing and collaborative control. In addition, the system has poor scalability and is difficult to adapt to the needs of production line expansion or process adjustment, limiting the flexibility and scalability of the production line. Summary of the invention

[0004] In order to make up for the above shortcomings, the present invention provides a dual-robotic arm scheduling system and method, which aims to improve the overall operational efficiency caused by waiting, idleness or path conflicts, slow system response speed, difficulty in quickly adjusting the handling plan, difficulty in achieving information sharing and collaborative control, and poor system scalability.

[0005] In a first aspect, the present invention provides the following technical solutions: a dual-manipulator scheduling system, comprising: a device management module, a walking control module, a communication interface module, a command management module, a priority calculation module, a basic setting module, a software encryption package and a graphical operation interface module;

[0006] The device management module is used for basic configuration of RGV and device Port hardware;

[0007] The walking control module is used to control the path walking of the two RGVs;

[0008] The communication interface module is used to interact with the host system MCS;

[0009] The instruction management module is used for creating, canceling, terminating and handling exceptions of RGV tasks;

[0010] The priority calculation module is used to calculate the instruction priority and adjust the comprehensive priority by parameter weight;

[0011] The basic setting module is used to set the basic parameters of system operation and stipulate the scope of application and personnel authority;

[0012] The software encryption package is used to set the basic parameters required for the operation of the system itself, clarify the scope of application of the system, and stipulate the authority of users;

[0013] The graphical operation interface module is used to provide an intuitive graphical interface for operators.

[0014] Preferably, the device management module includes an RGV configuration unit and a device Port configuration unit, the RGV configuration unit is used to set the basic information of the IP and port of the RGV, the device Port configuration unit is used to set the setting work of the device Port, and the walking control module includes a path planning unit and an action control unit, the path planning unit is used to plan the walking path of the RGV, and the action control unit is used to control the walking shape and picking and releasing actions of the RGV.

[0015] Preferably, the communication interface module includes a protocol processing unit and a hardware communication unit, the protocol processing unit is used to process the interaction of the SECS / GEM protocol, and the hardware communication unit is used to communicate with the hardware and send and receive messages.

[0016] Preferably, the instruction management module includes a task creation unit, a task cancellation unit, a task termination unit and an exception handling unit, wherein the task creation unit is used to create RGV tasks, the task cancellation unit is used to cancel RGV tasks, the task termination unit is used to terminate RGV tasks, and the exception handling unit is used to handle exceptions of RGV tasks.

[0017] Preferably, the priority calculation module includes a parameter setting unit and a calculation execution unit, wherein the parameter setting unit is used to set parameters for priority calculation, and the calculation execution unit is used to execute priority calculation;

[0018] The basic setting module includes a scope setting unit and a permission management unit. The scope setting unit is used to set the applicable scope of the system, and the permission management unit is used to manage the permissions of users.

[0019] Preferably, the software encryption package includes an application database, an encryption unit, a decryption unit and a log recording unit, the application database is used to store relevant data of the entire system, the encryption unit is used to encrypt communication messages, the decryption unit is used to decrypt encrypted messages, and the log recording unit is used to record the system operation status.

[0020] Preferably, the graphical operation interface module includes a business process management unit and a parameter setting unit, wherein the business process management unit is used to manage the process of the transport task, and the parameter setting unit is used to set the parameters of the system operation.

[0021] In a second aspect, the present invention provides the following technical solution, a dual-manipulator scheduling method, the method comprising the following steps:

[0022] S1. Configure the movement labels of the two RGVs, the binding relationship between the ports and labels, the location information of the ports, and the label range of the common areas of the two RGVs;

[0023] S2, receiving the transport instruction sent by the upper system MCS, checking whether the basic information of the task is correct, if it is correct, the task will be queued, if not, the error reason will be returned and the task will be rejected;

[0024] S3, after calculating the priorities of the tasks in the queue according to the priority calculation method and sorting them, determine whether they can be executed in turn;

[0025] S4. Determine whether one RGV can complete the task based on the labels of the starting point and the end point. If so, directly send the task to the RGV for transportation. If not, determine whether there are vacant storage spaces in the public area. If so, split the current task into two instructions. The first section is from the starting point to the public area, and the second section is from the public area to the end point. These instructions are sent to the two RGVs in sequence to complete the transportation of the materials.

[0026] S4. Check whether there are any abnormal alarms during the task transfer process. For severe alarms, human intervention is required to control the RGV to reset. After resetting, you can click the retry function to transfer the material again. For mild alarms, you can continue to execute after they are automatically or manually cleared.

[0027] S5. After the task is completed, the task execution result is reported to the upper MCS system.

[0028] In a third aspect, the invention provides the following technical solution: a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned dual-robotic arm scheduling method when executing the computer program.

[0029] In a fourth aspect, the present invention provides the following technical solution: a readable storage medium having a computer program stored thereon, and the computer program implements the above-mentioned dual-robotic arm scheduling method when executed by a processor.

[0030] The present invention has the following beneficial effects:

[0031] 1. In the present invention, the equipment management module flexibly configures the RGV and the equipment port to provide a basis for collaborative operation. The walking control module controls the path walking and movement of the RGV to prevent collisions. The priority calculation module reasonably calculates the task priority, optimizes the task allocation and execution order, configures the label range of the common area of ​​the two RGVs, and judges and processes the common area when allocating the transport task. At the same time, the two RGV robotic arms are controlled to perform the transport tasks at the same time without conflict, and are also compatible with cross-regional transport tasks, thereby improving the efficiency, stability and safety of the collaborative operation of the two RGVs and realizing the compatibility of cross-regional transport tasks.

[0032] 2. In the present invention, the instruction management module is responsible for the abnormal handling operation of the task of controlling the RGV, detects abnormal alarms during the transportation process, and takes corresponding processing measures for alarms of different degrees. For example, human intervention is performed to control the RGV to reset a severe alarm, and the execution continues after the mild alarm is automatically or manually cleared. This can cope with various abnormal conditions that may occur during unmanned control and ensure the health of the system.

[0033] 3. In the present invention, based on the standard SECS / GEM protocol and in compliance with international standards, the communication interface module uses the mainstream SECS / GEM protocol to complete the information interaction between the present system and the upper system MCS, thereby ensuring consistency and compatibility with international standards and achieving this effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the composition of a multi-RGV control system software of a dual-manipulator scheduling system proposed by the present invention;

[0035] Figure 2 A schematic diagram of a priority calculation formula for a dual-manipulator scheduling system proposed by the present invention;

[0036] Figure 3 A dual-robotic-arm task allocation and execution flow chart of a dual-robotic-arm scheduling method proposed in the present invention. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Embodiment 1

[0039] Reference Figure 1, In a first embodiment of the present invention, the present invention provides a dual-manipulator scheduling system, including: an equipment management module, a walking control module, a communication interface module, an instruction management module, a priority calculation module, a basic setting module, a software encryption package and a graphical operation interface module;

[0040] The device management module is used to perform some basic configurations on the RGV and device port hardware. It can mainly set the IP, port, whether to enable, and device port information accessible to the RGV controlled by this system, flexibly configure the hardware, and facilitate user operation;

[0041] The travel control module is used to control the path of the two RGVs, dock the hardware, control the movement of the RGVs and the picking and placing of goods to prevent the two RGVs from colliding.

[0042] The communication interface module uses the mainstream SECS / GEM protocol to complete the information interaction between this system and the upper system MCS, ensuring the real-time and effectiveness of the interaction between the two systems. The system communicates with the hardware through sockets, and the message content changes according to different actions to achieve motion control of RGV;

[0043] The instruction management module is responsible for the management of the tasks that control the RGV, including creation, cancellation, termination and exception handling of tasks;

[0044] The priority management module is responsible for calculating the priority of instructions. By setting different parameter weights to control the influence of distance, creation time, and initial priority on the comprehensive priority, the priority calculation can be controlled to meet the different needs of different scenarios.

[0045] The basic setting module is the setting of the basic parameters required for the system to operate itself, which stipulates the scope of application of the system and the authority of users;

[0046] The software encryption package is the core module, which handles the encryption and decryption of messages communicating with other devices, encapsulates the core program of the system software architecture, and records the system's operating status and processing efficiency in the system log in the form of logs;

[0047] The application database is responsible for recording the data of the entire system, including the data storage of materials, transport tasks, RGV, and equipment port information;

[0048] The graphical operation interface module is used for the manual operation graphical interface of the logistics dispatching control system. Personnel can manage the entire transportation business process and set the necessary system operation parameters through the graphical interface.

[0049] The equipment management module includes an RGV configuration unit and an equipment port configuration unit. The RGV configuration unit is used to set the basic information of the RGV's IP and port, and the equipment port configuration unit is used to set the equipment port settings. The walking control module includes a path planning unit and an action control unit. The path planning unit is used to plan the walking path of the RGV, and the action control unit is used to control the walking shape and picking and releasing actions of the RGV.

[0050] The communication interface module includes a protocol processing unit and a hardware communication unit. The protocol processing unit is used to process the interaction of the SECS / GEM protocol, and the hardware communication unit is used to communicate with the hardware and send and receive messages.

[0051] The instruction management module includes a task creation unit, a task cancellation unit, a task termination unit and an exception handling unit. The task creation unit is used to create RGV tasks, the task cancellation unit is used to cancel RGV tasks, the task termination unit is used to terminate RGV tasks, and the exception handling unit is used to handle exceptions of RGV tasks.

[0052] The priority calculation module includes a parameter setting unit and a calculation execution unit, the parameter setting unit is used to set the parameters of the priority calculation, and the calculation execution unit is used to execute the priority calculation;

[0053] The basic setting module includes a scope setting unit and a permission management unit. The scope setting unit is used to set the applicable scope of the system, and the permission management unit is used to manage the permissions of users.

[0054] The software encryption package includes an application database, an encryption unit, a decryption unit and a log recording unit. The application database is responsible for recording the data of the entire system, including data storage of materials, handling tasks, RGV, and equipment Port information. The encryption unit is used to encrypt communication messages, the decryption unit is used to decrypt encrypted messages, and the log recording unit is used to record the system operation status.

[0055] The graphical operation interface module includes a business process management unit and a parameter setting unit. The business process management unit is used to manage the process of the transport task, and the parameter setting unit is used to set the parameters of the system operation.

[0056] Reference Figure 2 , the priority calculation formula of the priority calculation module is as follows:

[0057] 1: (P1) upper priority, when the upper system sends a transport instruction to the dual-arm scheduling system, the instruction comes with the default priority;

[0058] 2: (P2) The distance difference between the RGV and the starting position of the transport instruction will be included in the priority calculation. The greater the distance, the lower the priority.

[0059] 3: (P3) The distance difference between the starting point and the end point of the transport instruction will be included in the priority calculation. The greater the distance, the lower the priority.

[0060] 4: (P4) The waiting time for the transport instruction. The waiting time will also be included in the priority calculation. The longer the waiting time, the higher the priority will be, to prevent the instruction from waiting too long;

[0061] 5: (P5) (1-99) Port priority, the priority set on the port;

[0062] 6: (Wn) Coefficient ratio of each priority calculation parameter.

[0063] W1 (0-99): When the coefficient ratio instruction is issued, the priority of the transport instruction itself will be included in the instruction priority calculation;

[0064] W2 (0-60000): When the coefficient ratio instruction is issued, the distance from the current position of RGV to the starting point of the transport instruction is calculated;

[0065] W3 (0-60000): Coefficient ratio, when the instruction is issued, the distance from the starting point to the end point of the transport instruction;

[0066] W4 (0-60000): Coefficient of transport instruction waiting time;

[0067] W5 (0-6000): Coefficient ratio Port setting priority;

[0068] The formula for transport priority is: TP = W1×P1+W2 / P2+W3 / P3+W4×P4+W5×P5. By controlling the values ​​of the above parameters, the instruction priority can be adjusted to execute the transport task.

[0069] Embodiment 2:

[0070] Reference Figure 3 In a second embodiment of the present invention, the present invention provides a dual-manipulator scheduling method, the method comprising the following steps:

[0071] S1. Configure the movement labels of the two RGVs, the binding relationship between the ports and labels, the location information of the ports, and the label range of the common areas of the two RGVs;

[0072] S2, receiving the transport instruction sent by the upper system MCS, checking whether the basic information of the task is correct, if it is correct, the task will be queued, if not, the error reason will be returned and the task will be rejected;

[0073] S3, after calculating the priorities of the tasks in the queue according to the priority calculation method and sorting them, determine whether they can be executed in turn;

[0074] S4. Determine whether one RGV can complete the task based on the labels of the starting point and the end point. If so, directly send the task to the RGV for transportation. If not, determine whether there are vacant storage spaces in the public area. If so, split the current task into two instructions. The first section is from the starting point to the public area, and the second section is from the public area to the end point. These instructions are sent to the two RGVs in sequence to complete the transportation of the materials.

[0075] S4. Check whether there are any abnormal alarms during the task transfer process. For severe alarms, human intervention is required to control the RGV to reset. After resetting, you can click the retry function to transfer the material again. For mild alarms, you can continue to execute after they are automatically or manually cleared.

[0076] S5. After the task is completed, the task execution result is reported to the upper MCS system.

[0077] Embodiment 3

[0078] The third embodiment of the present invention is based on the same inventive concept and proposes a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of a dual-robotic arm scheduling method of the above embodiment are implemented.

[0079] Embodiment 4

[0080] The fourth embodiment of the present invention is based on the same inventive concept. The present invention proposes a computer device, which includes: a processor and a memory; the processor and the memory communicate with each other; the memory is used to store instructions; the processor is used to execute the instructions in the memory, and execute a dual-robotic arm scheduling method of the above embodiment.

[0081] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0082] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual-manipulator scheduling system, characterized in that: include: Equipment management module, travel control module, communication interface module, instruction management module, priority calculation module, basic setting module, software encryption package and graphical operation interface module; The device management module is used for basic configuration of RGV and device Port hardware; The walking control module is used to control the path walking of the two RGVs; The communication interface module is used to interact with the host system MCS; The instruction management module is used for creating, canceling, terminating and handling exceptions of RGV tasks; The priority calculation module is used to calculate the instruction priority and adjust the comprehensive priority by parameter weight; The basic setting module is used to set the basic parameters of system operation and stipulate the scope of application and personnel authority; The software encryption package is used to set the basic parameters required for the operation of the system itself, clarify the scope of application of the system, and stipulate the authority of users; The graphical operation interface module is used to provide an intuitive graphical interface for operators.

2. A dual-manipulator dispatching system according to claim 1, characterized in that: The device management module includes an RGV configuration unit and a device Port configuration unit. The RGV configuration unit is used to set the basic information of the IP and port of the RGV, and the device Port configuration unit is used to set the setting work of the device Port. The walking control module includes a path planning unit and an action control unit. The path planning unit is used to plan the walking path of the RGV, and the action control unit is used to control the walking shape and picking and releasing actions of the RGV.

3. A dual-manipulator dispatching system according to claim 1, characterized in that: The communication interface module includes a protocol processing unit and a hardware communication unit. The protocol processing unit is used to process the interaction of the SECS / GEM protocol, and the hardware communication unit is used to communicate with the hardware and send and receive messages.

4. A dual-manipulator dispatching system according to claim 1, characterized in that: The instruction management module includes a task creation unit, a task cancellation unit, a task termination unit and an exception handling unit. The task creation unit is used to create RGV tasks, the task cancellation unit is used to cancel RGV tasks, the task termination unit is used to terminate RGV tasks, and the exception handling unit is used to handle exceptions of RGV tasks.

5. A dual-manipulator dispatching system according to claim 1, characterized in that: The priority calculation module includes a parameter setting unit and a calculation execution unit, wherein the parameter setting unit is used to set the parameters of the priority calculation, and the calculation execution unit is used to execute the priority calculation; The basic setting module includes a scope setting unit and a permission management unit. The scope setting unit is used to set the applicable scope of the system, and the permission management unit is used to manage the permissions of users.

6. A dual-manipulator dispatching system according to claim 1, characterized in that: The software encryption package includes an application database, an encryption unit, a decryption unit and a log recording unit. The application database is used to store relevant data of the entire system, the encryption unit is used to encrypt communication messages, the decryption unit is used to decrypt encrypted messages, and the log recording unit is used to record the system operation status.

7. A dual-manipulator dispatching system according to claim 1, characterized in that: The graphical operation interface module includes a business process management unit and a parameter setting unit. The business process management unit is used to manage the process of the transport task, and the parameter setting unit is used to set the parameters of the system operation.

8. A dual-manipulator scheduling method, characterized in that: A dual-manipulator scheduling system according to any one of claims 1 to 7, the method comprising the following steps: S1. Configure the movement labels of the two RGVs, the binding relationship between the ports and labels, the location information of the ports, and the label range of the common areas of the two RGVs; S2, receiving the transport instruction sent by the upper system MCS, checking whether the basic information of the task is correct, if it is correct, the task will be queued, if not, the error reason will be returned and the task will be rejected; S3, after calculating the priorities of the tasks in the queue according to the priority calculation method and sorting them, determine whether they can be executed in turn; S4. Determine whether one RGV can complete the task based on the labels of the starting point and the end point. If so, directly send the task to the RGV for transportation. If not, determine whether there are vacant storage spaces in the public area. If so, split the current task into two instructions. The first section is from the starting point to the public area, and the second section is from the public area to the end point. These instructions are sent to the two RGVs in sequence to complete the transportation of the materials. S4. Check whether there are any abnormal alarms during the task transfer process. For severe alarms, human intervention is required to control the RGV to reset. After resetting, you can click the retry function to transfer the material again. For mild alarms, you can continue to execute after they are automatically or manually cleared. S5. After the task is completed, the task execution result is reported to the upper MCS system.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the dual-robotic-arm scheduling method according to claim 8 is implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by the processor, the dual-robotic-arm scheduling method according to claim 8 is implemented.

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