Robot control method, device, system, equipment, medium and program product

Abstract

The invention discloses a robot control method, device, system and equipment, a medium and a program product, and relates to the technical field of robots. The method comprises the steps of detecting whether a newly-added carrying task meets a priority processing condition or not when the carrying task is newly added, and matching a target carrying unit suitable for executing the newly-added carrying task according to machine position information and machine states of all carrying robots under the condition that the newly-added carrying task meets the priority processing condition; and after the transfer robot executes the current transfer task, the newly added transfer task is processed preferentially. Therefore, some sudden emergency carrying tasks can be processed preferentially, the carrying flexibility of the carrying robot is improved, and the collaborative operation efficiency between the carrying robots is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a control method, device, system, equipment, medium and program product for robots. Background Art

[0002] A handling robot is an automated device capable of performing the handling tasks of goods or materials. It has the characteristics of high intelligence, high working efficiency, high control precision, etc., and is widely used in product handling scenarios in the fields of industrial manufacturing, warehousing logistics, and medical treatment.

[0003] However, in the process of multiple handling robots performing product handling, the allocation method for the handling tasks of each handling robot is relatively simple. Generally, the user allocates tasks to each handling robot through the system according to the arrival order of the products to be handled. As a result, the handling flexibility and collaborative operation efficiency of the handling robots are greatly reduced. Summary of the Invention

[0004] In view of the technical problem that the current handling robots adopt a handling allocation method of handling in sequence according to the arrival order of materials, which reduces the handling flexibility and collaborative operation efficiency, the present invention is proposed to provide a control method, device, system, equipment, medium and program product for robots that can overcome or at least partially solve the above problems.

[0005] Based on the first aspect of the present invention, a control method for a robot is provided. The control method includes:

[0006] Determine a corresponding new handling task according to the newly added material-related information;

[0007] When it is detected that the new handling task meets the priority processing condition, obtain the machine position information and machine status of multiple handling robots;

[0008] Match a target handling robot group for executing the new handling task according to the machine position information and machine status of the multiple handling robots, where the target handling robot group includes at least one of the handling robots;

[0009] Send the new handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the new handling task.

[0010] An optional summary of the invention. The matching of a target handling robot group for executing the new handling task according to the machine position information and machine status of the multiple handling robots includes:

[0011] Determine a first handling robot group that can completely execute the new handling task based on the machine states of multiple said handling robots, where the first handling robot group includes multiple said handling robots;

[0012] Determine the position difference information between the machine position information of each handling robot in the first handling robot group and the material position information in the new handling task;

[0013] Based on the position difference information, match a target handling robot group for executing the new handling task from the first handling robot group.

[0014] An optional invention content, the determining a first handling robot group that can completely execute the new handling task based on the machine states of multiple said handling robots includes:

[0015] Remove the handling robots with abnormal working states from multiple said handling robots to obtain a first handling robot group that can completely execute the new handling task.

[0016] An optional invention content, the determining a first handling robot group that can completely execute the new handling task based on the machine states of multiple said handling robots includes:

[0017] Remove the handling robots with abnormal working states from multiple said handling robots to obtain a second handling robot group;

[0018] Based on the remaining power states and task execution states of the handling robots in the second handling robot group, determine a first handling robot group that can completely execute the new handling task.

[0019] An optional invention content, the matching a target handling robot group for executing the new handling task from the first handling robot group based on the position difference information includes:

[0020] According to the rule of nearest distance, based on the position difference information, match the handling robots with the target number of machines associated with the new handling task from the first handling robot group, and use them as the target handling robot group for executing the new handling task.

[0021] An optional invention content, detecting whether the new handling task meets the priority processing condition includes:

[0022] If the material handling level of the new handling task is higher than the material handling level of the handling task to be issued, it is determined that the priority processing condition is met.

[0023] An optional invention content, detecting whether the new handling task meets the priority processing condition includes:

[0024] If the material handling level of the newly added handling task is the same as that of the handling task to be dispatched, and the task completion time limit associated with the newly added handling task is earlier than the task completion time limit associated with the handling task to be dispatched, it is determined that the priority processing condition is met.

[0025] An optional aspect of the invention, the control method further includes:

[0026] When it is detected that the execution of the handling task ends, provide an interactive interface;

[0027] Based on the trigger of the operation of the task evaluation control in the interactive interface, obtain the completion evaluation result of the handling task;

[0028] According to the completion evaluation result, update the task determination rule of the handling task.

[0029] Based on the second aspect of the present invention, there is also provided a control device for a handling robot, which is applied to a server, and the control device includes:

[0030] A task determination module, configured to determine a corresponding newly added handling task according to the newly added material-related information;

[0031] An information acquisition module, configured to acquire the machine position information and machine status of multiple handling robots when it is detected that the newly added handling task meets the priority processing condition;

[0032] A crew determination module, configured to match a target handling crew for executing the newly added handling task according to the machine position information and machine status of multiple handling robots, where the target handling crew includes at least one of the handling robots;

[0033] A task dispatch module, configured to dispatch the newly added handling task to each handling robot in the target handling crew, so that the handling robot preferentially executes the newly added handling task when it reaches the handling idle state.

[0034] Based on the third aspect of the present invention, there is also provided a control system for a robot, and the control system includes a server and a handling robot in communication with the server, where:

[0035] The server is configured to determine a corresponding newly added handling task according to the newly added material-related information; when it is detected that the newly added handling task meets the priority processing condition, issue an information upload instruction;

[0036] The handling robot is configured to respond to the information upload instruction, detect its own machine position information and machine status and transmit them back;

[0037] The server is further configured to match a target handling robot group for executing the new handling task according to the machine position information and machine states of a plurality of the handling robots, where the target handling robot group includes at least one of the handling robots; and send the new handling task to each handling robot in the target handling robot group.

[0038] The handling robot is further configured to preferentially execute the new handling task when it reaches the handling idle state.

[0039] Based on the fourth aspect of the present invention, there is also provided an electronic device, including:

[0040] One or more processors;

[0041] A memory;

[0042] One or more programs, where the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute any of the methods described in the above invention content.

[0043] Based on the fifth aspect of the present invention, there is also provided a computer-readable storage medium storing a computer program for use in combination with an electronic device, characterized in that the computer program can be executed by a processor to complete any of the methods described in the above invention content.

[0044] Based on the sixth aspect of the present invention, there is also provided a computer program product including a computer program / computer-executable instructions, characterized in that the computer program / computer-executable instructions, when executed by a processor in an electronic device, implement any of the methods described in the above invention content.

[0045] Compared with the prior art, the present invention includes first determining corresponding new handling tasks according to the newly added material-related information. And when it is detected that the new handling task meets the priority processing condition, obtaining the machine position information and machine status of multiple handling robots. Then, according to the machine position information and machine status of the multiple handling robots, matching a target handling robot group for executing the new handling task, where the target handling robot group includes at least one of the handling robots. Finally, issuing the new handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the new handling task. Thus, in the case of a new handling task, it can be detected whether it meets the priority processing condition. If it meets, a target handling robot group suitable for executing the new handling task can be matched according to the machine position information and machine status of all handling robots, and the new handling task can be preferentially processed after the handling robot executes the current handling task. Therefore, some sudden and urgent handling tasks can be preferentially processed, improving the handling flexibility of the handling robots and the collaborative operation efficiency among the handling robots.

[0046] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically described below. Brief Description of the Drawings

[0047] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components.

[0048] In the drawings:

[0049] Figure 1 is a schematic flow chart of the steps of a control method for a robot provided by an embodiment of the present invention;

[0050] Figure 2 is a schematic system architecture diagram of a control system for a robot provided by an embodiment of the present invention;

[0051] Figure 3 is a schematic flow chart of the steps of another control method for a robot provided by an embodiment of the present invention;

[0052] Figure 4 is a schematic structural diagram of a control device for a handling robot provided by an embodiment of the present invention. Detailed Description of the Embodiments

[0053] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be completely conveyed to those skilled in the art.

[0054] A handling robot is an automated device capable of performing the handling tasks of goods or materials. It has the characteristics of high intelligence, high working efficiency, high control precision, etc., and is widely used in product handling scenarios in industrial manufacturing, warehousing logistics, and medical fields.

[0055] However, in the process of multiple handling robots performing product handling tasks, the allocation method for the handling tasks of each handling robot is relatively simple. Generally, the user assigns tasks to each handling robot through the system according to the arrival order of the products to be handled. As a result, the handling flexibility and collaborative operation efficiency of the handling robots are greatly reduced.

[0056] Based on the above technical problems, the embodiments of the present invention are proposed. The embodiments of the present invention provide a control method for a robot. The control method may include first determining a corresponding new handling task according to the newly added material-related information. And when it is detected that the new handling task meets the priority processing condition, obtaining the machine position information and machine status of multiple handling robots. Then, according to the machine position information and machine status of the multiple handling robots, a target handling robot group for executing the new handling task is matched, where the target handling robot group includes at least one of the handling robots. Finally, the new handling task is sent to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the new handling task. Thus, in the case of a new handling task, it can be detected whether it meets the priority processing condition. If it meets, a target handling robot group suitable for executing the new handling task can be matched according to the machine position information and machine status of all handling robots, and the new handling task can be preferentially processed after the handling robot finishes the current handling task. Therefore, some sudden and urgent handling tasks can be preferentially processed, improving the handling flexibility of the handling robots and the collaborative operation efficiency among the handling robots.

[0057] The control method for a robot described in the following embodiments of the present invention can be widely used in scenarios such as goods management in the logistics and warehousing field, campus material handling in the industrial manufacturing field, laboratory material handling, and drug handling in the medical field, etc. The above application scenarios are only examples of the application scenarios of the embodiments of the present invention and do not constitute a limitation on the application scenarios of the present invention.

[0058] Referring to Figure 1 , a control method for a robot provided by an embodiment of the present invention is shown. The control method is applied to a server, and the control method may include:

[0059] S101. Determine a corresponding new handling task according to the newly added material-related information.

[0060] In the embodiment of the present invention, the material-related information can be understood as the material itself and the related information involved in the handling link. Among them, the material-related information may include: material name, material type, material quantity, material location information, and material handling time limit, etc. For example, the material location information may include the initial position and the end position of the material. Among them, the material may include materials and products.

[0061] In some embodiments, for each piece of material-related information to be handled, a corresponding handling task may be generated respectively. Each time a piece of material-related information is newly added, the server will correspondingly generate an associated new handling task. Among them, for each handling task, the handling task may at least include a material handling level, material location information, material quantity, material weight, material handling time limit, and the number of target machines. The number of target machines refers to the number of handling robots that can complete the handling of this quantity of materials within a set time. That is to say, the handling task contains the key material information corresponding to the material-related information, and the key material information affects the handling time and handling path of the handling robot. For example, the key material information includes material location information, material quantity, material weight, and material handling time limit, etc. In some embodiments, the material handling level may be obtained by pre-dividing each material name according to the material type. Those skilled in the art can also determine the specific information of the material-related information according to different material handling scenarios, which is not limited in this embodiment.

[0062] In some alternative embodiments, the material-related information may be obtained by scanning an information traceability code associated with the material. For example, it may be obtained by scanning a traceability code such as a barcode or a QR code.

[0063] S102. When it is detected that the new handling task meets the priority processing conditions, obtain the machine location information and machine status of multiple handling robots.

[0064] In the embodiments of the present invention, the priority processing condition can be understood as the relevant condition for determining whether a handling task is to be processed with priority. In some embodiments, the priority processing condition may include: the material handling level of the newly added handling task is higher than that of the currently to-be-issued handling task. The material handling level can be determined by the material handling completion time limit. For example, the higher the material handling level, the earlier the corresponding material handling completion time limit (which can be understood as the set time when all materials are handled). That is to say, the higher the material handling level of a handling task, the higher its urgency, and it can be determined as a handling task that needs to be processed with priority. Correspondingly, the earlier the material handling completion time limit, the earlier the corresponding task completion time limit.

[0065] When the newly added handling task meets the priority processing condition, it can be determined that the material handling level of the newly added handling task is higher than that of the currently to-be-issued handling task. And it can be determined that the handling urgency of the new to-be-handled materials is higher than that of the to-be-handled materials associated with the currently to-be-issued handling task.

[0066] In other embodiments, the priority processing condition may include: the material handling level of the newly added handling task is equal to that of the currently to-be-issued handling task, and the task completion time limit associated with the newly added handling task is shorter than the task completion time limit associated with the currently to-be-issued handling task. Among them, the material handling level can be associated with the material type. For example, the material type may include but is not limited to dangerous goods, flammable and explosive goods, fragile goods, and home appliance finished products, etc. For example, the material handling level of flammable and explosive goods is the highest. The management personnel can preset the material handling level corresponding to each handling task according to the material name in the material-related information involved in daily work. Thus, when generating a handling task based on the material-related information, the material handling level can be matched according to the material-related information.

[0067] Refer to Figure 2 As shown, a control system of a robot is provided. The control system may include a server 201 and at least one handling robot 202 in communication with the server 201. A server-side is loaded in the server 201, and a robot terminal is loaded in the terminal device corresponding to the handling robot 202.

[0068] During the movement of each of the handling robots, it can detect the current machine position information of the handling robot through a position acquisition device. For example, the position acquisition device may include, but is not limited to, a lidar and a GPRS (General Packet Radio Service) module, etc. After receiving the machine position information, the robot terminal will upload the machine position information to the server. Based on the machine position information of all the handling robots, the server can facilitate subsequent task allocation for all the handling robots. Among them, the machine position information may be the coordinates of the robot within a preset handling movement space.

[0069] The robot terminal can also monitor its own machine state. The machine state can be understood as the relevant state that affects the handling of materials by the robot. For example, the machine state may include a working state, a remaining battery state, and a task execution state, etc., and then upload the robot state to the server.

[0070] S103. Based on the machine position information and machine states of multiple handling robots, match a target handling robot group for executing the new handling task, where the target handling robot group includes at least one of the handling robots.

[0071] In an embodiment of the present invention, after receiving the machine position information and machine states of each handling robot, the server can comprehensively evaluate whether each handling robot can execute the new handling task that meets the priority processing conditions after completing the current handling task or in the current handling idle state (a standby state without material handling) according to the machine position information and machine states. Thus, the handling robots in the target handling robot group can execute the new handling task alone or collaboratively.

[0072] S104. Send the new handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the new handling task.

[0073] In an embodiment of the present invention, the server sends the new handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the new handling task. Thus, some urgent handling tasks can be preferentially processed, which can improve the flexibility of task allocation for handling robots, and at the same time improve the handling flexibility of handling robots, and further improve the collaborative operation efficiency among handling robots.

[0074] Refer to Figure 3, which shows another control method for a robot provided by an embodiment of the present invention and is applied to a server. The control method may include:

[0075] S301. Determine a corresponding new handling task according to the newly added material-related information.

[0076] S302. Detect whether the new handling task meets the priority processing conditions.

[0077] If it meets the priority processing conditions, execute the following step S303; if it does not meet the priority processing conditions, it is determined that there is no urgent handling task during the current time period, and continue to determine a corresponding new handling task according to the newly added material-related information, that is, repeat step S301.

[0078] S303. Obtain the machine position information and machine status of multiple handling robots.

[0079] In the embodiment of the present invention, for the description content of steps S301 - S303, refer to the description content of the above steps S201 and S202.

[0080] S304. Determine a first handling robot group that can completely execute the new handling task according to the machine status of multiple handling robots, where the first handling robot group includes multiple handling robots.

[0081] In the embodiment of the present invention, the machine status can be understood as the related status that affects the material handling of the robot. For example, the machine status may include the working status, remaining battery status, and task execution status, etc. After the server receives the machine position information and machine status of each handling robot, it can overall evaluate whether each handling robot has an operation failure, sufficient power, or sufficient time to execute the new handling task that meets the priority processing conditions according to the machine status. Thus, based on the evaluation result, a first handling robot group that executes the new handling task that meets the priority processing conditions is matched, where the first handling robot group may include at least one handling robot. And each handling robot in the target handling robot group can have sufficient time limit and power to execute the new handling task.

[0082] In some alternative embodiments, the determining a first handling robot group that can completely execute the new handling task according to the machine status of multiple handling robots may further include:

[0083] Remove the handling robots with abnormal working status among the multiple handling robots to obtain a second handling robot group. For example, when a handling robot fails and cannot continue to work, its corresponding working status is determined to be abnormal. After the server obtains all the associated handling robots, it can remove the handling robots with abnormal working status, so as to form a first handling robot group from the remaining handling robots. Among them, the handling robots in the first handling robot group have the ability to execute the new handling tasks.

[0084] In some other alternative embodiments, determining the first handling robot group that can completely execute the new handling task according to the machine status of the multiple handling robots may further include:

[0085] Remove the handling robots with abnormal working status among the multiple handling robots to obtain a second handling robot group. For example, when a handling robot fails and cannot continue to work, its corresponding working status is determined to be abnormal. After the server obtains all the associated handling robots, it can remove the handling robots with abnormal working status, so as to form a second handling robot group from the remaining handling robots. Among them, the handling robots in the second handling robot group have the ability to execute the new handling tasks.

[0086] Then, determine the first handling robot group that can completely execute the new handling task according to the remaining power status and task execution status of each handling robot in the second handling robot group. Considering that the new handling tasks that meet the priority processing conditions need to be processed urgently, if a handling robot fails to complete an urgent handling task on time due to insufficient remaining power during the execution of the handling task, it will cause losses to the user.

[0087] Therefore, the required power of each handling robot for executing the new handling task can be determined according to the quantity or weight of the materials in the new handling task and the target number of robots required. Or, the power screening threshold preset for the urgent handling task by the handling robot can be used. The task execution status may include the handling in-progress status and the handling idle status. The handling in-progress status can be understood as that the handling robot is currently executing a material handling task. The handling idle status can be understood as that the handling robot is currently not performing material handling and is in a standby state waiting for a new handling task to be issued for execution.

[0088] In some embodiments, if the handling robot in the second handling robot group is in the handling in-progress status, it is necessary to consider both the power required for the handling robot to continue to execute the current handling task until completion and the power required for the current handling robot to completely execute the new handling task.

[0089] When the transfer robot in the second transfer unit is in an idle transfer state, only the power required for the current transfer robot to completely execute the new transfer task needs to be considered. Thus, a first transfer unit capable of completely executing the new transfer task is selected from the transfer robots in the second transfer unit. Among them, the transfer robots in the first transfer unit have the ability to execute the new transfer task and have sufficient power to individually or collaboratively execute and complete the new transfer task that meets the priority processing conditions.

[0090] In some embodiments, the number of robots in the first transfer unit is greater than or equal to the number of robots required for the new transfer task. That is to say, after the current transfer task of the transfer robots in the first transfer unit is completed, or in the current idle transfer state (standby state without material transfer). The server can control the same number of robots as required for the new transfer task, or a greater number of robots, to quickly execute the new transfer task with a higher urgency.

[0091] S305. Determine the position difference information between the machine position information of each transfer robot in the first transfer unit and the material position information in the new transfer task.

[0092] S306. Based on the position difference information, match a target transfer unit for executing the new transfer task from the first transfer unit, where the target transfer unit includes at least one of the transfer robots.

[0093] In the embodiment of the present invention, the machine position information and the material position information can be calibrated using a common coordinate system. Thus, the moving distance difference between each transfer robot in the first transfer unit can be calculated based on the machine coordinates of the transfer robot and the initial coordinates of the materials in the material position information. The moving distance can be determined according to the set moving path of each transfer robot in the material transfer environment.

[0094] In some embodiments, to improve the deployment efficiency of the handling robot and the efficiency of handling materials, according to the nearest distance rule, the handling robots with the target number of machines associated with the new handling task can be matched from the first handling robot group based on the position difference information, and used as the target handling robot group for executing the new handling task. Among them, the nearest distance rule can be understood as preferentially selecting the handling robot closest to the initial position of the materials to be handled in the new handling task. Thus, according to the nearest distance rule, the handling robots with the target number of machines are sequentially matched, and the handling robots with the target number of machines are determined as the target handling robot group for executing the new handling task. Among them, at least one of the handling robots is included in the target handling robot group, and the handling robots in the target handling robot group have the ability to execute tasks, have sufficient power, and the shortest moving distance to the materials to be handled, and can complete the new handling task alone or collaboratively. Thus, the machine handling plan for each new handling task reaches the optimal, and it is ensured that each issued handling task can be completed efficiently in a short time.

[0095] S307. Issue the new handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the new handling task.

[0096] In the embodiment of the present invention, the server issues the new handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the new handling task. Thus, some urgent handling tasks can be preferentially processed, the flexibility of task allocation for the handling robot can be improved, the handling flexibility of the handling robot can be improved, and the collaborative operation efficiency among the handling robots can be further improved. In addition, when allocating urgent handling tasks, the machine state of the handling robot can be fully considered to avoid losses caused by delays in the time limit of urgent handling tasks due to failures or insufficient power of the handling robot.

[0097] For example, applying the above control method to the laboratory material handling scenario can improve the efficiency of handling experimental equipment and samples. For another example, applying the above control method to the goods management scenario of a warehouse can achieve automatic handling of goods, improve the outbound or inbound efficiency of goods, and reduce the dependence on manpower and the operating energy consumption of the robot.

[0098] In an alternative embodiment of the invention, the control method may further include:

[0099] When it is detected that the execution of the handling task is completed, an interactive interface is provided. A task evaluation control is provided in the interactive interface, and the task evaluation control can be understood as a control for inputting the completion evaluation result of the current handling task of the robot. For example, the completion evaluation result may include information such as execution quality or execution effect. The user can input the completion evaluation result based on the operation of the task evaluation control. The server obtains the completion evaluation result of the handling task triggered by the operation of the task evaluation control. In some embodiments, the completion evaluation result may include results such as excellent, good, and poor. Alternatively, the completion evaluation result may include a first level and a second level, and this embodiment does not make too many limitations here.

[0100] According to the completion evaluation result, update the task determination rule of the handling task. Updating the task determination rule of the handling task is to better allocate robots and execute the handling task with higher quality. For example, when the completion evaluation result is poor, it is determined that the completion evaluation effect of the handling task does not meet the expected setting. Therefore, the server can update the task determination rule of the handling task according to the time difference between the actual completion time and the set completion time of the handling task, the handling accuracy rate of the material end position, and the actual power consumption generated by the handling.

[0101] In some embodiments, the number of robots executing such handling tasks can be increased or decreased according to information such as the time difference and the actual power consumption. Alternatively, according to the handling accuracy rate, the reference coordinate system for determining the material position of the handling task is corrected, so that the updated task determination rule has a higher accuracy in generating the material position information of the handling task based on the material-related information.

[0102] In summary, the embodiment of the present invention discloses a control method for a robot. The control method may include first determining a corresponding new handling task according to the newly added material-related information. And when it is detected that the new handling task meets the priority processing condition, obtaining the machine position information and machine status of multiple handling robots. Then, according to the machine position information and machine status of the multiple handling robots, matching a target handling robot group for executing the new handling task, where the target handling robot group includes at least one of the handling robots. Finally, issuing the new handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the new handling task. Thus, in the case of a new handling task, it can be detected whether it meets the priority processing condition. If it meets, according to the machine position information and machine status of all handling robots, a target handling robot group suitable for executing the new handling task can be matched, and the new handling task can be preferentially processed after the handling robot executes the current handling task. Therefore, some sudden and urgent handling tasks can be preferentially processed, improving the handling flexibility of the handling robot and the collaborative operation efficiency among handling robots.

[0103] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present application are not limited by the described action sequence, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present application.

[0104] Referring to Figure 4 , there is shown a control device for a robot provided by an embodiment of the present invention. The control device may include:

[0105] A task determination module 401, configured to determine a corresponding new handling task according to the newly added material-related information.

[0106] An information acquisition module 402, configured to obtain the machine position information and machine status of multiple handling robots when it is detected that the new handling task meets the priority processing condition.

[0107] A robot group determination module 403, configured to match a target handling robot group for executing the new handling task according to the machine position information and machine status of the multiple handling robots, where the target handling robot group includes at least one of the handling robots.

[0108] The task distribution module 404 is used to distribute the newly added handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the newly added handling task.

[0109] In an alternative embodiment of the invention, the robot group determination module 403 includes:

[0110] The first robot group determination sub-module is used to determine a first handling robot group that can completely execute the newly added handling task according to the machine states of multiple handling robots, where the first handling robot group includes multiple handling robots.

[0111] The difference information determination sub-module is used to determine the position difference information between the machine position information of each handling robot in the first handling robot group and the material position information in the newly added handling task;

[0112] The target robot group determination sub-module is used to match a target handling robot group that executes the newly added handling task from the first handling robot group according to the position difference information.

[0113] In an alternative embodiment of the invention, the first robot group determination sub-module is further used to:

[0114] Remove the handling robots with abnormal working states among the multiple handling robots to obtain a first handling robot group that can completely execute the newly added handling task.

[0115] In an alternative embodiment of the invention, the first robot group determination sub-module is further used to:

[0116] Remove the handling robots with abnormal working states among the multiple handling robots to obtain a second handling robot group.

[0117] Determine a first handling robot group that can completely execute the newly added handling task according to the remaining power states and task execution states of each handling robot in the second handling robot group.

[0118] In an alternative embodiment of the invention, the target robot group determination sub-module is further used to:

[0119] According to the nearest distance rule, match a target number of handling robots associated with the newly added handling task from the first handling robot group according to the position difference information, and use them as the target handling robot group that executes the newly added handling task.

[0120] In an alternative embodiment of the invention, the control device further includes a condition determination module, and the condition determination module is used to:

[0121] If the material handling level of the newly added handling task is higher than that of the handling task to be dispatched, it is determined that the priority handling condition is met.

[0122] In an alternative embodiment of the invention, the control device further includes a condition determination module, and the condition determination module is configured to:

[0123] If the material handling level of the newly added handling task is the same as that of the handling task to be dispatched, and the task completion time limit associated with the newly added handling task is earlier than the task completion time limit associated with the handling task to be dispatched, it is determined that the priority handling condition is met.

[0124] In an alternative embodiment of the invention, the control device may further include a result evaluation module, and the result evaluation module is configured to:

[0125] In the case where it is detected that the execution of the handling task ends, provide an interaction interface.

[0126] Based on the trigger of an operation on a task evaluation control in the interaction interface, obtain a completion evaluation result of the handling task.

[0127] According to the completion evaluation result, update the task determination rule of the handling task.

[0128] In summary, the embodiment of the present invention discloses a control device for a robot. The control device may first determine a corresponding newly added handling task according to newly added material-related information. And in the case where it is detected that the newly added handling task meets the priority handling condition, obtain the machine position information and machine status of multiple handling robots. Then, according to the machine position information and machine status of the multiple handling robots, match a target handling robot group for executing the newly added handling task, where the target handling robot group includes at least one of the handling robots. Finally, send the newly added handling task to each handling robot in the target handling robot group, so that when the handling robot reaches the handling idle state, it preferentially executes the newly added handling task. Thus, in the case of a newly added handling task, it can be detected whether it meets the priority handling condition. In the case of meeting the condition, a target handling robot group suitable for executing the newly added handling task can be matched according to the machine position information and machine status of all handling robots, and the newly added handling task is preferentially processed after the handling robot executes the current handling task. Thereby, some sudden and urgent handling tasks can be preferentially processed, improving the handling flexibility of the handling robot and the collaborative operation efficiency among handling robots.

[0129] Each embodiment in this specification is described in a progressive manner. The key points of each embodiment are the differences from other embodiments. The same and similar parts among the embodiments can be referred to each other.

[0130] It is easy for those skilled in the art to think that any combination application of the above-mentioned various embodiments is feasible. Therefore, any combination among the above-mentioned various embodiments is an implementation scheme of the present invention. However, due to space limitations, this specification will not elaborate on each of them here.

[0131] In the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0132] Similarly, it should be understood that, in order to streamline the present invention and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those expressly recited in each claim. Rather, as reflected by the claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into the detailed description, where each claim itself serves as a separate embodiment of the present invention.

[0133] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and arranged in one or more devices different from that of the embodiment. The modules or units or components in the embodiments can be combined into a module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0134] An electronic device, comprising:

[0135] One or more processors;

[0136] A memory;

[0137] One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the methods described in the above embodiments.

[0138] A computer-readable storage medium stores a computer program for use in conjunction with an electronic device, and the computer program can be executed by a processor to implement the method described in the above embodiments.

[0139] A computer program product includes a computer program / computer-executable instructions, and when the computer program / computer-executable instructions are executed by a processor in an electronic device, the method described in any one of the above invention embodiments is implemented.

[0140] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, an apparatus, or a computer program product. Therefore, the embodiments of the present invention can take the form of an all-hardware embodiment, an all-software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0141] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the specified function in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0142] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the specified function in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0143] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable terminal device provide for implementing the specified function in one Figure 1 one process or multiple processes and / or blocksFigure 1 Steps of the functions specified in one or more boxes.

[0144] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments as well as all changes and modifications that fall within the scope of the embodiments of the present invention.

[0145] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

[0146] The above has introduced in detail a control method for a robot, a control device for a robot, and a control system for a robot provided by the present invention. Specific examples are used in this text to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A robot control method, characterized in that: The control method comprises: Determine the corresponding new handling tasks based on the newly added material-related information; When it is detected that the newly added transport task meets the priority processing condition, the machine position information and machine status of the multiple transport robots are obtained; According to the machine position information and machine status of the plurality of the transport robots, a target transport group for performing the newly added transport task is matched, wherein the target transport group includes at least one of the transport robots; The newly added transport task is sent to each transport robot in the target transport group, so that the transport robot can preferentially execute the newly added transport task when reaching a transport idle state.

2. The robot control method according to claim 1, characterized in that: The step of matching a target transporting group that performs the newly added transporting task based on the machine position information and machine status of the plurality of transporting robots comprises: Determine a first transport unit that fully executes the newly added transport task according to the machine states of the plurality of transport robots, wherein the first transport unit includes the plurality of transport robots; Determine the position difference information between the machine position information of each transport robot in the first transport group and the material position information in the newly added transport task; According to the position difference information, a target transporting machine group that performs the newly added transporting task is matched from the first transporting machine groups.

3. The robot control method according to claim 2, characterized in that: The step of determining a first transporting unit that completely performs the newly added transporting task based on the machine states of the plurality of transporting robots comprises: The transport robots with abnormal working status among the multiple transport robots are removed to obtain a first transport unit that can fully perform the newly added transport task.

4. The robot control method according to claim 2, characterized in that: The step of determining a first transporting unit that completely performs the newly added transporting task based on the machine states of the plurality of transporting robots comprises: Removing the transport robots with abnormal working status from the plurality of transport robots to obtain a second transport unit; According to the remaining power status and task execution status of each transport robot in the second transport group, a first transport group that completely executes the newly added transport task is determined.

5. The robot control method according to claim 4, characterized in that: The step of matching a target transporting machine group that performs the newly added transporting task from the first transporting machine group according to the position difference information includes: According to the proximity rule, a target number of transport robots associated with the newly added transport task is matched from the first transport group based on the position difference information, and used as the target transport group to execute the newly added transport task.

6. The robot control method according to claim 1, characterized in that: Check whether the newly added handling tasks meet the priority processing conditions, including: If the material handling level of the newly added handling task is higher than the material handling level of the handling task to be issued, it is determined to meet the priority processing conditions.

7. The robot control method according to claim 1, characterized in that: Check whether the newly added handling tasks meet the priority processing conditions, including: If the material handling level of the newly added handling task is the same as the material handling level of the handling task to be issued, and the task completion deadline associated with the newly added handling task is earlier than the task completion deadline associated with the handling task to be issued, it is determined that the priority processing conditions are met.

8. The robot control method according to claim 1, characterized in that: The control method further comprises: When the completion of the transport task is detected, an interactive interface is provided; Based on triggering the operation of the task evaluation control in the interactive interface, obtaining a completion evaluation result of the transport task; The task determination rule of the transport task is updated according to the completion evaluation result.

9. A control device for a handling robot, characterized in that: The device comprises: The task determination module is used to determine the corresponding new handling tasks based on the newly added material related information; An information acquisition module, configured to acquire machine position information and machine status of a plurality of transport robots when it is detected that the newly added transport task meets the priority processing condition; A unit determination module, used for matching a target transport unit for performing the newly added transport task according to the machine position information and machine status of the plurality of transport robots, wherein the target transport unit includes at least one of the transport robots; The task issuing module is used to issue the newly added transport task to each transport robot in the target transport unit, so that the transport robot can preferentially execute the newly added transport task when reaching a transport idle state.

10. A robot control system, characterized in that: The control system includes a server and a handling robot communicating with the server, wherein: The server is used to determine the corresponding newly added handling task based on the newly added material-related information; and issue an information upload instruction when it is detected that the newly added handling task meets the priority processing condition; The transport robot is used to detect its own machine position information and machine status and transmit them back in response to the information upload instruction; The server is further configured to match a target transport group that executes the newly added transport task according to the machine position information and machine status of the plurality of transport robots, wherein the target transport group includes at least one of the transport robots; and send the newly added transport task to each transport robot in the target transport group; The transport robot is further configured to preferentially execute the newly added transport task when reaching an idle transport state.

11. An electronic device, characterized in that: include: one or more processors; Memory; One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1 to 8.

12. A computer-readable storage medium storing a computer program for use in conjunction with an electronic device, characterized in that: The computer program can be executed by a processor to implement the method according to any one of claims 1 to 8.

13. A computer program product comprising a computer program / computer executable instructions, characterized in that: The computer program / computer executable instructions, when executed by a processor in an electronic device, implement the method according to any one of claims 1 to 8.

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