Intelligent park automatic transportation system based on robot

Abstract

The invention relates to the technical field of robot control, in particular to an intelligent park automatic transportation system based on a robot. The robot comprises an upper-layer machine unit and a lower-layer machine unit, the upper-layer machine unit is used for carrying an upper-layer platform, and the lower-layer machine unit is used for executing a transportation task; a lower-layer platform is carried on the lower-layer machine unit; the upper-layer platform is used for acquiring an upper-layer instruction in a transportation task and decomposing the upper-layer instruction into lower-layer instructions according to an execution type; and the lower-layer platform is used for receiving the lower-layer instruction corresponding to the execution type of the lower-layer platform and executing the lower-layer instruction through the lower-layer machine unit. The manual platform only needs to interact with the upper platforms, more interactions are distributed on the upper platforms, so that the workload of the manual platform is reduced, meanwhile, the manual platform only interacts with the upper platforms, instruction information does not need to be operated separately and is processed in a unified mode, and the workload of the manual platform is reduced. And the error probability of the upper-layer instruction is reduced.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and more specifically, to a robot-based automated transportation system for smart parks. Background Technology

[0002] A smart park is an information technology-based park management model. In this model, all facilities and resources within the park are digitized and connected to a cloud platform. By comprehensively utilizing technologies such as the Internet of Things (IoT), big data, and smart terminals, it achieves comprehensive monitoring, intelligent identification, data analysis, and precise matching of all elements within the park (including enterprises, personnel, facilities, and goods), enabling effective management and services. This model significantly improves the park's operational efficiency and management level, thereby attracting more enterprises and promoting regional economic development.

[0003] Robots are now widely used in smart parks. To improve efficiency, a smart park may have a variety of robots with different types of tasks. In other words, there may be different divisions of labor among the robots. When performing a task, the human platform may need to input instructions to different robots multiple times to control them to perform different types of tasks. This requires each robot to establish a connection with the human platform, which undoubtedly increases the human burden. Moreover, all control instructions are exchanged between the human platform and the robot, which can easily lead to errors in the sending or receiving of instructions and reduce the robustness of the instructions. Summary of the Invention

[0004] The purpose of this invention is to provide a robot-based automated transportation system for smart parks to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, a robot-based intelligent park automated transportation system is provided, which includes an upper-level machine unit and a lower-level machine unit. The upper-level machine unit is used to carry an upper-level platform, and the lower-level machine unit is used to execute transportation tasks. The lower-level machine unit is equipped with a lower-level platform; The upper-level platform is used to obtain upper-level instructions in transportation tasks and decompose the upper-level instructions into lower-level instructions according to the execution type. The lower-level platform is used to receive lower-level instructions corresponding to its execution type, and to execute the lower-level instructions through the lower-level machine unit.

[0006] As a further improvement to this technical solution, the upper-level instructions are obtained from the transportation tasks transmitted from the upper-level platform via the manual platform.

[0007] As a further improvement to this technical solution, the upper-level instructions are decomposed into lower-level instructions according to the execution type.

[0008] As a further improvement to this technical solution, the upper-level machine unit is composed of at least one upper-level robot; the lower-level machine unit is composed of multiple lower-level robots.

[0009] As a further improvement to this technical solution, the upper-layer platform includes an instruction processing unit, a location acquisition unit, and a lower-layer machine integration unit; The location acquisition unit is used to acquire the location where the transportation task is executed; The instruction processing unit is used to decompose the upper-level instructions to obtain the lower-level instructions; The lower-level machine integration unit is used to determine the lower-level robot with the execution type corresponding to the lower-level instruction, and to integrate the determined lower-level robots.

[0010] As a further improvement to this technical solution, the lower-level platform includes an instruction receiving unit and an instruction execution unit; The instruction receiving unit is used to establish a unique interaction with the upper-level robot in order to receive lower-level instructions that match those instructions from the upper-level robot. The instruction execution unit is used to control the lower-level robot to execute the received lower-level instructions.

[0011] As a further improvement to this technical solution, the lower-level platform also includes a feedback unit, which is used to provide real-time feedback of the operating status of its corresponding lower-level robot to the upper-level robot, so as to provide an integration reference for the lower-level robot integration unit.

[0012] As a further improvement to this technical solution, the upper-level robot moves with the location where the transportation task is performed as its destination; The lower-level robot integration unit integrates the lower-level robots around the location where the transportation task is performed and that have the capability to perform the task. The integrated lower-level robots move to the location where the transportation task is performed.

[0013] As a further improvement to this technical solution, the upper-level robot searches for the lower-level robot around its current location. The lower-level machine integration unit determines the lower-level robots to participate in the execution based on the feedback from the found lower-level robots.

[0014] As a further improvement to this technical solution, the lower-level instruction includes a pre-instruction, which is issued to the unselected lower-level robot according to the execution type of the lower-level instruction, so as to make the unselected lower-level robot move closer to the location where the transportation task is performed.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this robot-based smart park automated transportation system, the human platform only needs to assign transportation tasks to the upper-level platform. Then, the upper-level machine unit transmits the decomposed lower-level instructions to the corresponding lower-level machine unit on the lower-level platform. Finally, the lower-level machine unit executes the lower-level instructions. Throughout the process, the human platform only needs to interact with the upper-level platform, while most interactions are distributed across the various upper-level platforms, thereby reducing the workload of the human platform. At the same time, because the human platform only interacts with the upper-level platform, it does not need to process the instruction information separately, but rather handles it uniformly. This reduces the probability of errors in the upper-level instructions. Moreover, the interaction with the robot is not completed through the human platform, thus avoiding the reduction in the robustness of the upper-level instructions due to centralized convergence.

[0016] 2. In this robot-based smart park automated transportation system, the upper-level robot is used as the center to search for lower-level robots in the surrounding area. Then, the lower-level robot integration unit determines the lower-level robots to participate in the execution based on the feedback from the found lower-level robots. At this time, the learning network of the upper-level robot can be used to select lower-level robots, which can minimize the number of selected lower-level robots and reduce the execution cost of transportation tasks. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the unit and platform structure of the present invention; Figure 2 This is a schematic diagram of the internal unit structure of the platform of the present invention.

[0018] The meanings of the labels in the diagram are as follows: 100. Upper-level machine unit; 200. Lower-level machine unit; 300. Upper-level platform; 400. Lower-level platform; 310. Instruction processing unit; 320. Position acquisition unit; 330. Lower-level machine integration unit; 410. Instruction receiving unit; 420. Instruction execution unit; 430. Feedback unit. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Robots are now widely used in smart parks. To improve efficiency, a smart park has a variety of robots with different types of tasks. In other words, there are different divisions of labor among the robots. At this time, to perform a task, the human platform may need to input instructions to different robots multiple times to control them to perform different types of tasks.

[0021] Therefore, this embodiment provides a robot-based automated transportation system for smart parks, such as... Figure 1 As shown, it includes an upper-level machine unit 100 and a lower-level machine unit 200. The upper-level machine unit 100 is mainly responsible for receiving, analyzing and transmitting information, while the lower-level machine unit 200 is responsible for executing tasks, that is, executing transportation tasks through the lower-level machine unit 200.

[0022] The upper-level machine unit 100 is used to mount the upper-level platform 300, and the lower-level machine unit 200 is used to mount the lower-level platform 400. The upper-level platform 300 is used to acquire upper-level instructions in the transportation task and decompose the upper-level instructions into lower-level instructions according to the execution type. The lower-level platform 400 is used to receive the lower-level instructions corresponding to its execution type and execute the lower-level instructions through the lower-level machine unit 200.

[0023] It should be noted that lower-level instructions are derived from upper-level instructions, specifically according to different task execution types. Upper-level instructions are obtained from the transportation tasks transmitted from the human platform to the upper-level platform 300. Thus, the human platform only needs to assign the transportation tasks to the upper-level platform 300, and then transmit the derived lower-level instructions to the corresponding lower-level platform 400 via the upper-level machine unit 100. Finally, the lower-level machine unit 200 executes the lower-level instructions. Throughout the process, the human platform only needs to interact with the upper-level platform 300, while most interactions are distributed across the various upper-level platforms 300, thereby reducing the workload of the human platform. Furthermore, since the human platform only interacts with the upper-level platform 300, it does not need to process the instruction information separately but rather handles it uniformly. This reduces the probability of errors in the upper-level instructions. Moreover, since the interaction with the robot is not completed through the human platform, the robustness of the upper-level instructions is not reduced due to centralized convergence.

[0024] In addition, the robot is divided into upper-level robot and lower-level robot according to the upper-level machine unit 100 and the lower-level machine unit 200. Since the upper-level machine unit 100 is mainly responsible for interacting with the human platform, only one upper-level machine unit 100 needs to be set up. However, the more upper-level machine units 100 are set up, the more tasks can be executed at the same time. On the other hand, multiple lower-level robots need to be set up to ensure that the tasks can be executed normally.

[0025] The specific working principle is as follows: Figure 2As shown, the upper platform 300 includes an instruction processing unit 310, a location acquisition unit 320, and a lower-level machine integration unit 330. Therefore, the upper platform 300 is mainly responsible for receiving, analyzing, and transmitting information. First, the location acquisition unit 320 acquires the location where the transportation task is executed. Then, the upper robot carrying the upper platform 300 moves to that location using its autonomous navigation capabilities. At the same time, the instruction processing unit 310 decomposes the upper-level instructions in the transportation task to obtain lower-level instructions. The lower-level machine integration unit 330 determines which types of lower-level robots need to execute the lower-level instructions and then integrates these lower-level robots.

[0026] Continue reading Figure 2 As shown, the lower platform 400 includes an instruction receiving unit 410 and an instruction execution unit 420. Each lower robot has its own lower platform 400. Therefore, when performing a transportation task, one upper platform 300 has multiple lower platforms 400 attached to it. During execution, the instruction receiving unit 410 corresponding to the integrated lower robot establishes a dedicated interaction form with the upper robot, which facilitates the mutual transmission of data information between the upper robot and the lower platform 400. It also further improves the robustness of lower instructions during transmission. Specifically, in large-scale data interaction, a unified transmission format and data processing method can effectively reduce the interface differences between the two parties, reduce errors and mistakes in the data transmission process, and also reduce system overhead and the probability of anomalies during data transmission, thereby improving the robustness of the interaction.

[0027] Furthermore, using a unified data format and processing method can improve data portability and compatibility, enabling data to be exchanged and shared between upper-level robots and lower-level platforms. This facilitates data integration and utilization by different application scenarios and data processors, thereby reducing the cost of repeated data collection and processing and increasing the value and utility of the data.

[0028] In addition, the lower platform 400 also includes a feedback unit 430, which is used to provide real-time feedback of the operating status of its corresponding lower robot to the upper robot, so as to provide an integration reference for the lower robot integration unit 330.

[0029] The first implementation method In a transportation task, the upper-level robot obtains the location where the transportation task is to be executed through its onboard position acquisition unit 320, and then moves to this location as its destination. At the same time, the instruction processing unit 310 decomposes the upper-level instructions in the transportation task to obtain lower-level instructions. The lower-level machine integration unit 330 determines which types of lower-level robots are required to execute the lower-level instructions, and then integrates the lower-level robots within a 30-100m radius around the location where the transportation task is to be executed that are capable of participating in the execution. These lower-level robots also move to the location where the transportation task is to be executed as their destination.

[0030] Because the upper-level robot and the lower-level robot move simultaneously to the location where the transportation task is to be performed, and during this process, the upper-level robot and the lower-level robot will also interact, such as sharing data on road conditions, their own operating status, and environmental information, a partially consistent model is adopted to improve the performance of the interaction in order to ensure the efficiency of data transmission. The model formula is as follows: ; In the formula, For the tightness, tightness is to ensure a certain degree of closeness between the upper-level robot and the lower-level robot, rather than requiring complete consistency. Otherwise, if some lower-level robots are too far apart, it will lead to a breakdown in the overall interaction performance. In this case, it is sufficient to ensure that some lower-level robots are consistent with the upper-level robots. This represents the current position of the lower-level robot. ; This is the current position of the upper-level robot; This defines the interaction range of the upper-level robot. The location where the transportation task is performed; It is a constant.

[0031] When both the upper-level robot and the lower-level robot arrive at the location where the transportation task is to be performed, the upper-level robot begins to transmit the lower-level instructions to the corresponding lower-level robot's instruction receiving unit 410. Then, the instruction execution unit 420 controls the lower-level robot to execute the received lower-level instructions. The selection of the lower-level robot is determined based on the operating status of the lower-level robot fed back to the upper-level robot.

[0032] The second implementation method, The lower-level robot does not move simultaneously with the upper-level robot. Instead, after the upper-level robot reaches the location where the transportation task is to be performed, the lower-level robot searches for lower-level robots around the location of the upper-level robot. Then, the lower-level robot integration unit 330 determines the lower-level robots to participate in the execution based on the feedback from the found lower-level robots. At this time, the learning network of the upper-level robot can be used to select lower-level robots, which can minimize the number of selected lower-level robots and reduce the execution cost of the transportation task.

[0033] Furthermore, in this embodiment, the lower-level instruction includes a pre-instruction, which is sent to the unselected lower-level robots according to the execution type of the lower-level instruction. The purpose is to make the unselected lower-level robots move closer to the location where the transportation task is executed, thereby avoiding too many lower-level robots piling up at the location where the transportation task is executed, and also ensuring the arrival speed of subsequent lower-level robots.

[0034] This implementation method is more suitable for situations where the upper-level robot does not move, meaning the upper-level robot is precisely at the location where the transportation task is to be performed. Another scenario is where the upper-level robot also needs to move. In this case, the moving upper-level robot uses a learning network to analyze the lower-level robots along the path that match the execution type, and marks the lower-level robots that meet the requirements. Then, pre-processing instructions are issued to these lower-level robots to reduce the number of lower-level robots that need to move, and to improve the transportation efficiency of subsequent lower-level robots. Because these lower-level robots are determined in advance through the learning network, the lower-level robots that arrive later are highly efficient in executing the task.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot-based automated transportation system for smart parks, characterized in that: It includes an upper machine unit (100) and a lower machine unit (200), wherein the upper machine unit (100) is used to carry an upper platform (300) and the lower machine unit (200) is used to perform transportation tasks; The lower-level machine unit (200) is equipped with a lower-level platform (400). The upper-level platform (300) is used to obtain upper-level instructions in the transportation task and decompose the upper-level instructions into lower-level instructions according to the execution type; The lower-level platform (400) is used to receive lower-level instructions corresponding to its execution type and execute the lower-level instructions through the lower-level machine unit (200).

2. The robot-based smart park automated transportation system according to claim 1, characterized in that: The upper-level instructions are obtained from the transportation tasks transmitted to the upper-level platform (300) through the manual platform.

3. The robot-based smart park automated transportation system according to claim 1 or 2, characterized in that: The upper-level instructions are broken down into lower-level instructions according to the execution type.

4. The robot-based smart park automated transportation system according to claim 1, characterized in that: The upper-level machine unit (100) consists of at least one upper-level robot; the lower-level machine unit (200) consists of multiple lower-level robots.

5. The robot-based smart park automated transportation system according to claim 4, characterized in that: The upper-layer platform (300) includes an instruction processing unit (310), a location acquisition unit (320), and a lower-layer machine integration unit (330). The location acquisition unit (320) is used to acquire the location where the transportation task is performed; The instruction processing unit (310) is used to decompose the upper-level instruction to obtain the lower-level instruction; The lower-level machine integration unit (330) is used to determine the lower-level robot with the execution type corresponding to the lower-level instruction, and to integrate the determined lower-level robots.

6. The robot-based smart park automated transportation system according to claim 4, characterized in that: The lower-level platform (400) includes an instruction receiving unit (410) and an instruction execution unit (420). The instruction receiving unit (410) is used to establish a unique interaction with the upper-level robot to receive lower-level instructions that match the upper-level robot. The instruction execution unit (420) is used to control the lower-level robot to execute the received lower-level instructions.

7. The robot-based smart park automated transportation system according to claim 6, characterized in that: The lower platform (400) also includes a feedback unit (430), which is used to provide real-time feedback of the operating status of its corresponding lower robot to the upper robot, so as to provide an integration reference to the lower robot integration unit (330).

8. The robot-based smart park automated transportation system according to claim 7, characterized in that: The upper-level robot moves with the location where the transportation task is performed as its destination; The lower-level machine integration unit (330) integrates the lower-level robots around the location where the transportation task is performed and which have the ability to perform the task. The integrated lower-level robots move to the location where the transportation task is performed.

9. The robot-based smart park automated transportation system according to claim 7, characterized in that: The upper-level robot searches for the lower-level robot from its current location. The lower-level machine integration unit (330) determines the lower-level robots to participate in the execution based on the feedback from the found lower-level robots.

10. The robot-based smart park automated transportation system according to claim 9, characterized in that: The lower-level instruction includes a pre-instruction, which is issued to the unselected lower-level robot according to the execution type of the lower-level instruction, so as to make the unselected lower-level robot move closer to the location where the transportation task is performed.

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