Control method and device of transfer robot, electronic equipment and storage medium

Abstract

The invention provides a control method and device of a transfer robot, electronic equipment and a storage medium, and relates to the technical field of robot control. The control method of the transfer robot comprises the steps that based on obtained current task information, position information and a relative position relation corresponding to a current batch of satellite assemblies are determined; determining a first carrying route corresponding to a first satellite component in the current batch of satellite components; on the basis of the position information, the relative position relation and the first carrying route, carrying route compensation corresponding to a second satellite assembly in the current batch of satellite assemblies is determined; and under the condition that the first satellite assembly is carried on the basis of the first carrying route, the first carrying route is adjusted on the basis of the carrying route compensation, and the target robot is controlled to carry the second satellite assembly on the basis of the adjusted first carrying route. The efficiency of adjusting the carrying route of the robot can be improved.

Description

Technical Field

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

[0002] With the continuous development of satellite technology and the increasing demand for its applications, satellite production is becoming increasingly mass-produced. In the satellite production process, in order to speed up production, satellite production factories adopt automated assembly, that is, the automatic assembly of satellite components by intelligent robots. In the process of using intelligent robots to automatically assemble satellite components, due to the limitations of the size specifications and placement of satellite components, intelligent robots need to determine an appropriate transportation route before transporting satellite components to avoid collisions or scratches of satellite components during the transportation process of intelligent robots. The traditional way of transporting satellite components by intelligent robots is to collect environmental images through image acquisition equipment installed on the outside of the intelligent robot, and determine the route of the intelligent robot by analyzing the environmental images and with the help of navigation assistance.

[0003] However, the inventors of this application found that the process of determining the transportation route of a traditional intelligent robot requires the intelligent robot to collect and analyze environmental images and provide navigation assistance during each transportation process. That is to say, the intelligent robot needs to determine the next operating route in a timely manner during the return trip and transportation process, that is, the transportation route needs to be adjusted frequently, resulting in low efficiency in determining the transportation route. Summary of the Invention

[0004] In order to improve the efficiency of transport route adjustment, the present application provides a control method, device, electronic device and storage medium for a transport robot.

[0005] This application provides a control method for a transport robot, which adopts the following technical solutions:

[0006] A control method for a handling robot, comprising:

[0007] Based on the acquired current mission information, position information and relative position relationships corresponding to the current batch of satellite components are determined, wherein the current mission information is mission information requiring the transportation of the current batch of satellite components;

[0008] Determining a first transport route corresponding to a first satellite assembly in a current batch of satellite assemblies;

[0009] Determining a transport route compensation corresponding to a second satellite assembly in the current batch of satellite assemblies based on the position information, the relative position relationship, and the first transport route;

[0010] When the first satellite assembly is transported along the first transport route, the first transport route is adjusted based on the transport route compensation, and the target robot is controlled to transport the second satellite assembly along the adjusted first transport route.

[0011] According to some embodiments, the above-mentioned determination of the position information and relative position relationship corresponding to the current batch of satellite components based on the acquired current mission information includes: determining the component type of the current batch of satellite components and the number of components corresponding to the component type based on the current mission information; when the component type is the target component type and the number of components corresponding to the component type is not less than a preset number, determining the position information and relative position information of the satellite components belonging to the component type in the current batch of satellite components.

[0012] According to some embodiments, after determining the position information and relative position relationship corresponding to the current batch of satellite components based on the acquired current task information, the above-mentioned method also includes: when the component type is not the target component type and / or the number of components corresponding to the component type is less than the preset number, determining the third transport route corresponding to the satellite component belonging to the component type, and generating a priority transport instruction or a delayed transport instruction; and before the transportation of the satellite component corresponding to the component type belonging to the target component type begins, based on the priority transport instruction and the third transport route, controlling the target robot to transport the satellite component corresponding to the component type that is not the target component type; or after the transportation of the satellite component corresponding to the component type belonging to the target component type is completed, controlling the target robot to transport the satellite component corresponding to the component type that is not the target component type based on the delayed transport instruction and the third transport route.

[0013] According to some embodiments, the above-mentioned determination of the first transport route corresponding to the first satellite component in the current batch of satellite components includes: obtaining spatial information of the placement of the first satellite component, path information of the target robot in the spatial information, and component information of the first satellite component; based on the spatial information and the path information, determining multiple target points and subspace information corresponding to the multiple target points respectively; based on the component information and the subspace information, determining the operating position and operating posture of the target robot when it is located at multiple target points respectively; based on the operating position and the operating posture, determining the first transport route corresponding to the first satellite component.

[0014] According to some embodiments, the above-mentioned determination of the first transport route corresponding to the first satellite component in the current batch of satellite components includes: obtaining the historical transport route, historical position information and historical component type of the last satellite component in the previous batch of satellite components corresponding to the current batch of satellite components; determining the distance information between the last satellite component and the first satellite component based on the position information and the historical position information; when the historical component type is the same as the first satellite component type and the distance information is less than the preset distance information, determining the first transport route based on the historical transport route and the distance information.

[0015] According to some embodiments, the above-mentioned second satellite component includes multiple second satellite components, and the second satellite component is a satellite component other than the first satellite component in the current batch of satellite components; based on the position information, the relative position relationship and the first transport route, the transport route compensation corresponding to the second satellite component in the current batch of satellite components is determined, including: based on the position information and the relative position relationship, determining the distance information between two adjacent groups of satellite components in the current batch of satellite components, and setting the sequence numbers of all satellite components in the current batch of satellite components, wherein the sequence numbers are set based on the front and back order that the target robot needs to transport; based on the distance information and the sequence numbers, determining the sub-transport route compensation of each satellite component in the current batch of satellite components; constructing the transport route compensation corresponding to the second satellite component by the sequence numbers and the sub-transport route compensation of each satellite component in the current batch of satellite components.

[0016] According to some embodiments, after determining the transportation route compensation corresponding to the second satellite component in the current batch of satellite components based on the position information, the relative position relationship and the first transportation route, the first transportation route is adjusted based on the transportation route compensation, including: when the first satellite component is transported based on the first transportation route, retrieving the target serial number adjacent to the successive serial number of the first satellite component; calling the target serial number into the transportation route compensation, and determining the target sub-transportation route compensation of the satellite component corresponding to the target serial number; and adjusting the first transportation route based on the target sub-transportation route compensation.

[0017] This application provides a control device for a transport robot, which adopts the following technical solutions:

[0018] A control device for a transport robot includes: a position determination module, a route determination module, a route compensation determination module, and a first control module, wherein:

[0019] A position determination module is used to determine the position information and relative position relationship corresponding to the current batch of satellite components based on the acquired current mission information, wherein the current mission information is the mission information requiring the transportation of the current batch of satellite components;

[0020] a route determination module, configured to determine a first transport route corresponding to a first satellite assembly in a current batch of satellite assemblies;

[0021] a route compensation determination module, configured to determine a transport route compensation corresponding to a second satellite assembly in a current batch of satellite assemblies based on the position information, the relative position relationship, and the first transport route;

[0022] The first control module is used to adjust the first transport route based on the transport route compensation when the first satellite component is transported based on the first transport route, and control the target robot to transport the second satellite component based on the adjusted first transport route.

[0023] According to some embodiments, the above-mentioned position determination module is specifically used to: determine the component type of the current batch of satellite components and the number of components corresponding to the component type based on the current mission information; when the component type is the target component type and the number of components corresponding to the component type is not less than a preset number, determine the position information and relative position information of the satellite components belonging to the component type in the current batch of satellite components.

[0024] According to some embodiments, the control device of the above-mentioned transport robot further includes: an instruction generation module and a second control module, wherein the instruction generation module is used to determine the third transport route corresponding to the satellite component belonging to the component type and generate a priority transport instruction or a delayed transport instruction when the component type is not the target component type and / or the number of components corresponding to the component type is less than a preset number; the second control module is used to control the target robot to transport the satellite component corresponding to the component type that is not the target component type based on the priority transport instruction and the third transport route before the transport of the satellite component corresponding to the component type belonging to the target component type begins; or control the target robot to transport the satellite component corresponding to the component type that is not the target component type based on the delayed transport instruction and the third transport route after the transport of the satellite component corresponding to the component type belonging to the target component type is completed.

[0025] According to some embodiments, the above-mentioned route determination module is specifically used to: obtain the spatial information of the placement of the first satellite component, the path information of the target robot in the spatial information, and the component information of the first satellite component; based on the spatial information and the path information, determine multiple target points and the subspace information corresponding to the multiple target points respectively; based on the component information and the subspace information, determine the operating position and operating posture of the target robot when it is located at the multiple target points respectively; based on the operating position and the operating posture, determine the first transportation route corresponding to the first satellite component.

[0026] According to some embodiments, the above-mentioned route determination module is specifically used to: obtain the historical transportation route, historical position information and historical component type of the last satellite component in the previous batch of satellite components corresponding to the current batch of satellite components; determine the distance information between the last satellite component and the first satellite component based on the position information and historical position information; when the historical component type is the same as the first satellite component type and the distance information is less than the preset distance information, determine the first transportation route based on the historical transportation route and distance information.

[0027] According to some embodiments, the above-mentioned second satellite component includes multiple second satellite components, and the second satellite component is a satellite component in the current batch of satellite components other than the first satellite component; the above-mentioned route compensation determination module is specifically used to: determine the distance information between two adjacent groups of satellite components in the current batch of satellite components based on the position information and the relative position relationship, and set the sequence numbers of all satellite components in the current batch of satellite components, wherein the sequence numbers are set based on the front and back order that the target robot needs to transport; determine the sub-transport route compensation of each satellite component in the current batch of satellite components based on the distance information and the sequence numbers; and construct the transportation route compensation corresponding to the second satellite component based on the sequence numbers and the sub-transport route compensation of each satellite component in the current batch of satellite components.

[0028] According to some embodiments, after determining the transport route compensation corresponding to the second satellite component in the current batch of satellite components based on the position information, the relative position relationship and the first transport route, the above-mentioned first control module is specifically used to: when the first satellite component is transported based on the first transport route, retrieve the target serial number adjacent to the successive serial number of the first satellite component; call the target serial number into the transport route compensation, and determine the target sub-transport route compensation of the satellite component corresponding to the target serial number; and adjust the first transport route based on the target sub-transport route compensation.

[0029] This application provides an electronic device, which adopts the following technical solution:

[0030] An electronic device, comprising:

[0031] processor;

[0032] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the control method of the transport robot.

[0033] This application provides a computer-readable storage medium, which adopts the following technical solution:

[0034] A computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to execute the control method of the transport robot.

[0035] According to the above-mentioned embodiment provided by the present application, the position information and relative position relationship of the current batch of satellite components that need to perform a semicircle are clarified based on the current task information. After determining the first transport route corresponding to the first satellite component of the current batch, the first transport route is used as a reference to determine the transport route compensation corresponding to the second satellite component in the current batch of satellite components using the position information and the relative position relationship. When the second satellite component needs to be transported, the first transport route is directly adjusted using its corresponding transport route compensation to obtain the adjusted first transport route. Subsequently, the adjusted first transport route is used to control the target robot to transport the second satellite component, thereby improving the efficiency of the transport route adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 1 is a block diagram of a control method for a handling robot according to an embodiment of the present application;

[0037] Figure 2 1 is a block diagram of a control device for a handling robot according to an embodiment of the present application;

[0038] Figure 3 It is a schematic diagram of an electronic device according to an embodiment of the present application.

[0039] Description of reference numerals:

[0040] 20: Control device of the handling robot; 201: Position determination module; 202: Route determination module; 203: Route compensation determination module; 204: First control module; 30: Electronic device; 301: Processor; 302: Bus; 303: Memory; 304: Transceiver. DETAILED DESCRIPTION

[0041] The following is combined with Figure 1-Figure 3 This application is described in further detail.

[0042] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] An embodiment of the present application provides a control method for a transport robot, which can be executed by an electronic device, wherein the electronic device can be a server, wherein the server can be an independent physical server, or a server cluster or distributed device composed of multiple physical servers, or a cloud server providing cloud computing services; the server can be installed in a ground communication terminal, or can be installed in a transport robot used to transport satellite components.

[0044] Reference Figure 1 A control method for a transport robot includes steps S101, S102, S103, and S104, wherein:

[0045] S101, based on the acquired current mission information, determining the position information and relative position relationship corresponding to the current batch of satellite components.

[0046] In some embodiments, the current task information is the task information that requires moving the current batch of satellite components; the position information is the position information corresponding to all satellite components in the current batch of satellite components; and the relative position relationship is the relative position relationship between two adjacent satellite components of the same component type in the current batch of satellite components.

[0047] Based on the current progress of satellite assembly, technicians send the current task information from the operating terminal to the electronic device. The electronic device receives the task information and determines the current batch of satellite components that need to be moved based on the task information, and then retrieves the position information of all satellite components in the current batch of satellite components, where the position information is spatial position information. The electronic device determines the relative position relationship between two adjacent satellite components of the same component type by comparing and analyzing the position information of all satellite components.

[0048] S102, determining a first transport route corresponding to a first satellite assembly in a current batch of satellite assemblies.

[0049] In some embodiments, the first satellite assembly is a first-in-line satellite assembly in a current batch of satellite assemblies.

[0050] The electronic device analyzes the task information, determines the first satellite component to be transported during this transportation process and the component information of the satellite component, and simultaneously obtains the spatial information of the space in which the first satellite component to be transported is located, wherein the spatial information includes the satellite component placement space and the aisle space. The electronic device obtains the path information of the target robot based on the aisle space. Subsequently, the electronic device imports the spatial information, path information and component information into the three-dimensional space model to simulate the transportation of the target robot, thereby determining the first transportation route of the first satellite component.

[0051] S103 , determining a transport route compensation corresponding to a second satellite assembly in the current batch of satellite assemblies based on the position information, the relative position relationship, and the first transport route.

[0052] In some embodiments, in order to facilitate the placement and search of satellite components, generally, multiple satellite components belonging to the same component type will be placed together. In this case, in the process of transporting multiple satellite components of the same component type, the positions where the multiple satellite components are placed will have different influences, which will cause the transport routes corresponding to different transport cycles of the target robot to have different routes. Therefore, in order to enable the target robot to achieve accurate and efficient transport, it is possible to consider determining the transport route compensation when the target robot performs the next transport cycle to transport the second satellite component based on the position information, relative position relationship and the first transport route. Subsequently, when the target robot completes transporting the first satellite component, the electronic device can adjust the first transport route based on the transport route compensation to obtain the transport route corresponding to the second satellite component, so that the target robot can transport the second satellite component based on the adjusted transport route.

[0053] S104 , when the first satellite assembly is transported along the first transport route, the first transport route is adjusted based on the transport route compensation, and the target robot is controlled to transport the second satellite assembly along the adjusted first transport route.

[0054] In some embodiments, after the target robot transports the first satellite component to the destination, the target robot sends the first satellite component transportation completion information to the electronic device. When the electronic device obtains the first satellite component completion information based on the first transportation route, the electronic device adjusts the first transportation route based on the transportation route compensation to obtain the adjusted first transportation route; then, the electronic device sends the adjusted first transportation route to the target robot, and the target robot responds to the adjusted first transportation route and returns to the second satellite component placement position corresponding to the adjusted first transportation route, and starts to carry the second satellite component based on the adjusted first transportation route, thereby directly adjusting the first transportation route using the position information and relative position relationship of the satellite components in the current batch of satellite components to obtain the adjusted transportation route, avoiding the repeated process of re-determining the transportation route after the target robot fails to complete the transportation of a satellite component, thereby improving the efficiency of the target robot's transportation route determination.

[0055] In order to facilitate the storage and registration of satellite components, satellite components belonging to the same component type are generally placed together. In the process of transporting satellite components belonging to the same component type, the transport route of the target robot is affected by the storage of satellite components. The difference between the transport routes corresponding to satellite components belonging to the same component type of the target robot is small, and the difference between the transport routes corresponding to satellite components that do not belong to the same component type is large. Therefore, in the process of determining the transport routes of satellite components in the current batch of satellite components, it is necessary to take into account the component type of the current batch of satellite components, that is, in step S101, based on the current task information obtained, determine the position information and relative position relationship corresponding to the current batch of satellite components, including: based on the current task information, determine the component type of the current batch of satellite components and the number of components corresponding to the component type; when the component type is the target component type and the number of components corresponding to the component type is not less than the preset number, determine the position information and relative position information of the satellite components belonging to the component type in the current batch of satellite components.

[0056] In some embodiments, the electronic device analyzes and processes the current mission information to determine the component type of the satellite components in the current batch of satellite components and the number of components corresponding to each component type. Subsequently, the electronic device compares the component type with the target component type and compares the component number with the preset number.

[0057] When the electronic device determines that the component type is the target component type, it indicates that the position distance between the satellite components corresponding to the component type is large, and the transportation route of the target robot will change during the transportation process. Therefore, the satellite components corresponding to the component type can be used as satellite components for determining the transportation route compensation. When the electronic device determines that the number of components corresponding to the component type is not less than the preset number, it indicates that the target robot needs to make multiple round trips when transporting the satellite components of the component type, which meets the requirements for determining the transportation route compensation. Therefore, when the electronic device determines that the component type is the target component type and the number of components corresponding to the component type is not less than the preset number, it determines the simple position information and relative position information of the satellite group belonging to the component type in the current batch of satellite components.

[0058] In some embodiments, the target component type can be determined by technicians based on the size and shape rules of the satellite component, which is not specifically limited in the embodiments of this application; the preset number can be subjectively set by technicians, which is not specifically limited in the embodiments of this application.

[0059] In some embodiments, after determining the position information and relative position relationship corresponding to the current batch of satellite components based on the acquired current task information, it also includes: when the component type is not the target component type and / or the number of components corresponding to the component type is less than a preset number, determining the third transport route corresponding to the satellite component belonging to the component type, and generating a priority transport instruction or a delayed transport instruction; and before the transportation of the satellite component corresponding to the component type belonging to the target component type begins, based on the priority transport instruction and the third transport route, controlling the target robot to transport the satellite component corresponding to the component type that is not the target component type; or after the transportation of the satellite component corresponding to the component type belonging to the target component type is completed, controlling the target robot to transport the satellite component corresponding to the component type that is not the target component type based on the delayed transport instruction and the third transport route.

[0060] In some embodiments, when the electronic device determines that the component type is not the target component type, it indicates that the placement distance between the satellite components corresponding to the component type is too small. During the process of the target robot transporting the satellite components of the component type, its transport route basically does not change. Therefore, the transport route for the satellite components of the component type does not need to be adjusted; when the electronic device determines that the number of components corresponding to the component is less than the preset number, it indicates that the number of round trips for transporting the satellite components of the component type is too small, and there is no need to determine subsequent transport route compensation. Therefore, when the electronic device determines that the component type is not the target component type and / or the number of components corresponding to the component type is less than the preset number, the electronic device determines the third transport route corresponding to the satellite components of the component type based on the acquired position information of the satellite components of the component type, the transport destination information, and the spatial information of the space where the satellite components of the component type are located, and at the same time generates a priority transport instruction or a subsequent transport instruction.

[0061] When the electronic device generates a priority transport instruction, before the transportation of the component corresponding to the component type belonging to the target component type begins, the electronic device sends the priority transport instruction and the third transport route to the target robot. The target robot responds to the priority transport instruction and the third transport route and transports the satellite component corresponding to the component type that is not the target component.

[0062] When the electronic device generates a delayed transport instruction, after the transportation of the component corresponding to the component type belonging to the target component type is completed, the electronic device sends the delayed transport instruction and the third transport route to the target robot. The target robot responds to the delayed transport instruction and the third transport route and transports the satellite component corresponding to the component type that is not the target component.

[0063] In step S102, the first transport route corresponding to the first satellite component in the current batch of satellite components is determined, including: obtaining the spatial information of the placement of the first satellite component, the path information of the target robot in the spatial information, and the component information of the first satellite component; based on the spatial information and the path information, determining multiple target points and the subspace information corresponding to the multiple target points respectively; based on the component information and the subspace information, determining the operating position and the operating posture of the target robot when it is located at the multiple target points respectively; based on the operating position and the operating posture, determining the first transport route corresponding to the first satellite component.

[0064] In some embodiments, the electronic device obtains spatial information of the first satellite component and component information of the first satellite component, wherein the component information includes the size and shape specifications of the satellite component, and imports the spatial information and component information into a three-dimensional model to construct a spatial model, wherein the spatial information includes shelf placement information on which the first satellite component is placed and road information for the target robot to travel, and the electronic device obtains the path information of the target robot from the spatial model; then, the electronic device calls a preset target point determination rule, and based on the target point determination rule, calibrates multiple target points on the path information in the spatial model, wherein the target point is the midpoint on the path width line, and at the same time, the electronic device uses the target point as a reference point to make multi-directional scattered virtual lines, and uses the area not blocked by the shelves on both sides of the path as the subspace information corresponding to the target, wherein the setting of multiple target points and the distance between multiple target points can be subjectively set by technical personnel, and the embodiments of the present application do not make specific limitations.

[0065] Subsequently, the electronic device substitutes the component size and shape specifications in the component information and the size and shape rules of the target robot into the subspace information for simulation, thereby determining the operating position and operating posture of the target robot when the target robot grasps the satellite component located at the position of the subspace information; thereafter, the electronic device integrates and analyzes the operating positions and operating postures based on the operating positions and operating postures corresponding to multiple target points, thereby determining the first transport route corresponding to the first satellite component.

[0066] In some embodiments, in step S102, determining a first transport route corresponding to a first satellite component in a current batch of satellite components includes: obtaining a historical transport route, historical position information, and historical component type of a last satellite component in a previous batch of satellite components corresponding to the current batch of satellite components; determining distance information between the last satellite component and the first satellite component based on the position information and historical position information; and determining a first transport route based on the historical transport route and distance information when the historical component type is the same as the first satellite component type and the distance information is less than a preset distance information.

[0067] In some embodiments, when determining a first transport route for a first satellite assembly, in order to improve the efficiency of determining the first transport route while ensuring the accuracy of the first transport route, it may be considered, under certain requirements, to obtain the first transport route by directly adjusting a historical transport route. Therefore, when determining the first transport route corresponding to the first satellite assembly, the electronic device may first obtain the historical transport route of the last satellite assembly in a previous batch of satellite assemblies adjacent to the current batch of satellite assemblies, and use this historical transport route as a basis for determining the first transport route. Subsequently, the electronic device compares and analyzes the location information with the historical location information to determine the distance information between the last satellite assembly and the second satellite assembly. Thereafter, the electronic device compares the historical assembly type with the first satellite assembly type, and compares the distance information with preset distance information. If it is determined that the assembly type is the same as the historical assembly and the distance information is less than the preset distance information, it indicates that the last satellite assembly and the first satellite assembly are of the same assembly type and are placed in substantially the same position. The electronic device then adjusts the historical transport route using the distance information to obtain the first transport route.

[0068] In some embodiments, the second satellite component includes multiple second satellite components, and the second satellite component is a satellite component other than the first satellite component in the current batch of satellite components; then in step S103, based on the position information, the relative position relationship and the first transport route, the transport route compensation corresponding to the second satellite component in the current batch of satellite components is determined, including: based on the position information and the relative position relationship, determining the distance information between two adjacent groups of satellite components in the current batch of satellite components, and setting the sequence numbers of all satellite components in the current batch of satellite components, wherein the sequence numbers are set based on the front and back order that the target robot needs to transport; based on the distance information and the sequence numbers, determining the sub-transport route compensation of each satellite component in the current batch of satellite components; and constructing the transport route compensation corresponding to the second satellite component by the sequence numbers and the sub-transport route compensation of each satellite component in the current batch of satellite components.

[0069] In some embodiments, the electronic device determines the distance information between two adjacent groups of satellite assemblies in the current batch of satellite assemblies based on the position information and relative positional relationships of the satellite assemblies in the current batch of satellite assemblies. The electronic device also sets sequential serial numbers for all satellite assemblies in the current batch of satellite assemblies based on the position information of the satellite assemblies. Subsequently, the electronic device sequentially determines transport route compensations for the satellite assemblies in the current batch of satellite assemblies based on the sequential serial numbers, and determines specific values of the transport route compensations based on the distance information. For example, if the distance information between the second satellite assembly with serial number 1 and the first satellite assembly is 5 and the first transport route is 30, and the second satellite assembly with serial number 1 is located on the side of the first satellite assembly closer to the transport direction of the target robot, the sub-transport route compensation for the second satellite assembly is -5. If the second satellite assembly with serial number 1 is located on the side of the first satellite assembly farther from the transport direction of the target robot, the sub-transport route compensation for the second satellite assembly is +5. Subsequently, the electronic device constructs the transport route compensation corresponding to the second satellite assembly based on the sequential serial numbers and the sub-transport route compensations for each satellite assembly in the current batch of satellite assemblies.

[0070] In some embodiments, after determining the transport route compensation corresponding to the second satellite component in the current batch of satellite components based on the position information, the relative position relationship and the first transport route, adjusting the first transport route based on the transport route compensation also includes: when the first satellite component is transported based on the first transport route, retrieving the target serial number adjacent to the successive serial number of the first satellite component; calling the target serial number into the transport route compensation, determining the target sub-transport route compensation of the satellite component corresponding to the target serial number; and adjusting the first transport route based on the target sub-transport route compensation.

[0071] In some embodiments, after the electronic device controls the target robot to complete the transportation of the first satellite component based on the first transportation route, the electronic device retrieves the target serial number adjacent to the serial number of the first satellite component, and substitutes the target serial number into the transportation route compensation, and selects the target sub-transportation route compensation of the corresponding satellite component from the transportation route compensation. Subsequently, the electronic device adjusts the first transportation route based on the target sub-transportation route compensation to obtain the adjusted first transportation route.

[0072] Subsequently, the electronic device sends the adjusted first transport route to the target robot, and the target robot responds to the adjusted first transport route and returns to the placement position of the satellite component corresponding to the target serial number. After the target robot grabs the satellite component corresponding to the target serial number, it transports it according to the adjusted first transport route until it is transported to the destination.

[0073] This application provides a control device for a transport robot, which adopts the following technical solutions:

[0074] Reference Figure 2 A control device 20 for a transport robot includes: a position determination module 201, a route determination module 202, a route compensation determination module 203, and a first control module 204, wherein:

[0075] A position determination module 201 is configured to determine position information and relative position relationships corresponding to a current batch of satellite components based on the acquired current mission information, wherein the current mission information is mission information requiring the transportation of the current batch of satellite components;

[0076] A route determination module 202 is configured to determine a first transport route corresponding to a first satellite assembly in a current batch of satellite assemblies;

[0077] A route compensation determination module 203 is configured to determine a transport route compensation corresponding to a second satellite assembly in a current batch of satellite assemblies based on the position information, the relative position relationship, and the first transport route;

[0078] The first control module 204 is configured to adjust the first transport route based on the transport route compensation when the first satellite assembly is transported along the first transport route, and control the target robot to transport the second satellite assembly along the adjusted first transport route.

[0079] In some embodiments, the above-mentioned position determination module 20 is specifically used to: determine the component type of the current batch of satellite components and the number of components corresponding to the component type based on the current mission information; when the component type is the target component type and the number of components corresponding to the component type is not less than a preset number, determine the position information and relative position information of the satellite components belonging to the component type in the current batch of satellite components.

[0080] In some embodiments, the control device 20 of the above-mentioned transport robot further includes: an instruction generation module and a second control module, wherein the instruction generation module is used to determine the third transport route corresponding to the satellite component belonging to the component type and generate a priority transport instruction or a delayed transport instruction when the component type is not the target component type and / or the number of components corresponding to the component type is less than a preset number; the second control module is used to control the target robot to transport the satellite component corresponding to the component type that is not the target component type based on the priority transport instruction and the third transport route before the transport of the satellite component corresponding to the component type belonging to the target component type begins; or control the target robot to transport the satellite component corresponding to the component type that is not the target component type based on the delayed transport instruction and the third transport route after the transport of the satellite component corresponding to the component type belonging to the target component type is completed.

[0081] In some embodiments, the route determination module 202 is specifically used to: obtain the spatial information of the placement of the first satellite component, the path information of the target robot in the spatial information, and the component information of the first satellite component; determine multiple target points and the subspace information corresponding to the multiple target points based on the spatial information and the path information; determine the operating position and operating posture of the target robot when it is located at the multiple target points based on the component information and the subspace information; and determine the first transport route corresponding to the first satellite component based on the operating position and the operating posture.

[0082] In some embodiments, the route determination module 202 is specifically used to: obtain the historical transportation route, historical location information, and historical component type of the last satellite component in the previous batch of satellite components corresponding to the current batch of satellite components; determine the distance information between the last satellite component and the first satellite component based on the location information and historical location information; and determine the first transportation route based on the historical transportation route and distance information when the historical component type is the same as the first satellite component type and the distance information is less than the preset distance information.

[0083] In some embodiments, the above-mentioned second satellite component includes multiple second satellite components, and the second satellite component is a satellite component in the current batch of satellite components other than the first satellite component; the above-mentioned route compensation determination module 203 is specifically used to: determine the distance information between two adjacent groups of satellite components in the current batch of satellite components based on the position information and the relative position relationship, and set the sequence numbers of all satellite components in the current batch of satellite components, wherein the sequence numbers are set based on the front and back order that the target robot needs to transport; determine the sub-transport route compensation of each satellite component in the current batch of satellite components based on the distance information and the sequence numbers; construct the transportation route compensation corresponding to the second satellite component by the sequence numbers and the sub-transport route compensation of each satellite component in the current batch of satellite components.

[0084] In some embodiments, after determining the transport route compensation corresponding to the second satellite component in the current batch of satellite components based on the position information, the relative position relationship and the first transport route, the first control module 204 is specifically used to: when the first satellite component is transported based on the first transport route, retrieve the target serial number adjacent to the sequential serial number of the first satellite component; call the target serial number into the transport route compensation to determine the target sub-transport route compensation of the satellite component corresponding to the target serial number; and adjust the first transport route based on the target sub-transport route compensation.

[0085] In some embodiments, the location determination module 201 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array contained in an electronic device; the route determination module 202 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array contained in an electronic device; the route compensation determination module 203 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array contained in an electronic device; the first control module 204 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array contained in an electronic device.

[0086] In some embodiments, the instruction generation module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array contained in an electronic device; the second control module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array contained in an electronic device.

[0087] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0088] An embodiment of the present application discloses an electronic device, comprising: a processor; and a memory storing a computer program. When the computer program is executed by the processor, the processor executes the control method of the transport robot.

[0089] For example, refer to Figure 3 , Figure 3 The electronic device 30 shown includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 30 may further include a transceiver 304. It should be noted that in practice, the number of transceivers 304 is not limited to one, and the structure of the electronic device 30 does not constitute a limitation on the embodiments of the present invention.

[0090] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in the disclosure of the present invention. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0091] The bus 302 may include a path for transmitting information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0092] The memory 303 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other storage medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0093] The memory 303 is used to store application code for executing the solution of the present invention, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the above method embodiment.

[0094] Figure 3 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0095] An embodiment of the present application discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes a method for controlling a transport robot.

[0096] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0097] The above are only some of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A control method for a transport robot, characterized in that: include: Determining position information and relative position relationships corresponding to a current batch of satellite components based on the acquired current mission information, wherein the current mission information is mission information requiring the transportation of the current batch of satellite components; Determining a first transport route corresponding to a first satellite assembly in the current batch of satellite assemblies; Determining a transport route compensation corresponding to a second satellite assembly in the current batch of satellite assemblies based on the position information, the relative position relationship, and the first transport route; When the first satellite component is transported based on the first transport route, the first transport route is adjusted based on the transport route compensation, and the target robot is controlled to transport the second satellite component based on the adjusted first transport route.

2. The method according to claim 1, characterized in that The determining of the position information and relative position relationship corresponding to the current batch of satellite components based on the acquired current mission information includes: Determining, based on the current mission information, a component type of the current batch of satellite components and a quantity of components corresponding to the component type; When the component type is a target component type and the number of components corresponding to the component type is not less than a preset number, the position information and relative position information of the satellite components belonging to the component type in the current batch of satellite components are determined.

3. The method according to claim 2, characterized in that After determining the position information and relative position relationship corresponding to the current batch of satellite components based on the acquired current mission information, the method further includes: If the component type is not the target component type and / or the number of components corresponding to the component type is less than the preset number, determining a third transport route corresponding to a satellite component belonging to the component type, and generating a priority transport instruction or a delayed transport instruction; and Before the transportation of a satellite component corresponding to a component type belonging to the target component type begins, based on the priority transportation instruction and the third transportation route, controlling the target robot to transport a satellite component corresponding to a component type that is not the target component type; or After the satellite components corresponding to the component types belonging to the target component type are transported, based on the delayed transport instruction and the third transport route, the target robot is controlled to transport the satellite components corresponding to the component types that are not the target component type.

4. The method according to claim 1, wherein Determining a first transport route corresponding to a first satellite assembly in the current batch of satellite assemblies includes: Acquire spatial information where the first satellite assembly is placed, path information of the target robot in the spatial information, and assembly information of the first satellite assembly; Determining, based on the spatial information and the path information, a plurality of target points and subspace information corresponding to the plurality of target points; Determining, based on the component information and the subspace information, the operating positions and operating postures of the target robot when the target robot is located at the multiple target points respectively; Based on the operating position and the operating posture, a first transport route corresponding to the first satellite assembly is determined.

5. The method according to claim 1, wherein Determining a first transport route corresponding to a first satellite assembly in the current batch of satellite assemblies includes: Obtaining a historical transport route, historical location information, and historical component type of the last satellite component in a previous batch of satellite components corresponding to the current batch of satellite components; Determining distance information between the last satellite assembly and the first satellite assembly based on the position information and the historical position information; When the historical component type is the same as the first satellite component type and the distance information is less than preset distance information, the first transport route is determined based on the historical transport route and the distance information.

6. The method according to any one of claims 1 to 5, characterized in that The second satellite assembly includes a plurality of second satellite assemblies, and the second satellite assemblies are satellite assemblies in the current batch of satellite assemblies except the first satellite assembly; The determining, based on the position information, the relative position relationship, and the first transport route, a transport route compensation corresponding to a second satellite assembly in the current batch of satellite assemblies includes: Determine, based on the position information and the relative position relationship, distance information between two adjacent groups of satellite assemblies in the current batch of satellite assemblies, and set sequential serial numbers for all satellite assemblies in the current batch of satellite assemblies, wherein the sequential serial numbers are set based on a front-to-back order that the target robot needs to carry; Determining a sub-transport route compensation for each satellite assembly in the current batch of satellite assemblies based on the distance information and the sequential serial numbers; The transport route compensation corresponding to the second satellite assembly is constructed based on the sequential serial numbers and the sub-transport route compensation of each satellite assembly in the current batch of satellite assemblies.

7. The method according to claim 6, characterized in that After determining a transport route compensation corresponding to a second satellite assembly in the current batch of satellite assemblies based on the position information, the relative position relationship, and the first transport route, adjusting the first transport route based on the transport route compensation includes: When the first satellite assembly is transported along the first transport route, retrieving a target serial number adjacent to the sequential serial number of the first satellite assembly; Transferring the target serial number into the transport route compensation to determine the target sub-transport route compensation of the satellite assembly corresponding to the target serial number; The first transport route is adjusted based on the target sub-transport route compensation.

8. A control device for a transport robot, characterized in that: include: A position determination module, configured to determine position information and relative position relationships corresponding to a current batch of satellite assemblies based on the acquired current mission information, wherein the current mission information is mission information requiring the transportation of the current batch of satellite assemblies; a route determination module, configured to determine a first transport route corresponding to a first satellite assembly in the current batch of satellite assemblies; a route compensation determining module, configured to determine a transport route compensation corresponding to a second satellite assembly in the current batch of satellite assemblies based on the position information, the relative position relationship, and the first transport route; The first control module is used to adjust the first transport route based on the transport route compensation when the first satellite component is transported based on the first transport route, and control the target robot to transport the second satellite component based on the adjusted first transport route.

9. An electronic device, characterized in that: include: processor; A memory storing a computer program, which, when executed by the processor, causes the processor to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 7.

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