Control network for mobile robots in a facility

Abstract

A control network (100) is provided for supporting multiple mobile robots (130) operable in a facility (190) with a fixed access point (140) configured to operate a base RAN (145) conforming to a first radio access technology (RAT). The control network includes: a network management system (120) for configuring and executing network resource allocation in the base RAN; and a queue management system (110) for performing path planning and path execution for the mobile robots, thereby enabling robot actions. The mobile robots include one or more hotspot-supporting mobile robots (130), each equipped with a mobile AP (134) configured to operate a supplementary RAN (135) conforming to the first RAT, thereby relaying network services between other mobile robots and the base RAN. The queue management system is configured to perform path planning and path execution based on the location of the hotspot-supporting mobile robots.

Description

Technical Field

[0001] This disclosure relates to the field of mobile robot control. In particular, it discloses a control network for supporting mobile robots operating in a facility with an underlying radio access network (RAN), wherein some of the mobile robots carry mobile access points operable to provide supplemental RAN. A method for operating such a control network is also disclosed. Background Technology

[0002] The technical background of this disclosure is similar to that of the applicant's earlier application WO2022214193A1, which discloses a control network including a queue management system (FMS) and a network management system (NMS). The FMS and NMS have separate responsibilities but coordinate and exchange information in a well-defined manner. The NMS manages the RAN (Radio Area Network) providing cellular or non-cellular radio coverage for a set of fixed access points (APs) in at least a portion of a facility. For example, the facility could be a factory, warehouse, port, or container terminal. The FMS is configured to plan routes for queues of mobile robots operating within the facility and can perform planning based on quality of service (QoS) predictions for the RAN. Conversely, the FMS can request a specific QoS level from the NMS before instructing the mobile robots to execute the planned path.

[0003] The common practice is to plan the RAN in a way that accommodates the communication requirements of customers and applications that will use this network before commissioning. This planning may involve considering the envisioned number of devices and their operating areas. To extend the communication range of a wireless network, multiple fixed attachment points are typically required, such as Wi-Fi™ access points or 4G / 5G base stations. Adding more and more dedicated access points or base stations is not always feasible and is not cost-effective.

[0004] Furthermore, in many cases, fixed access points (APs) cannot handle intermittent so-called radio coverage dead zones. These "dead zones" are areas of low or insufficient signal quality, caused by reflectors or other obstacles to signal propagation that can periodically block the usable propagation path between the autonomous mobile robot and the RAN's APs. Such reflectors and obstacles can include structural components in a factory or workshop, mobile equipment, or even people carrying metal objects. If a mobile robot encounters poor or lost wireless connectivity, the queue management system may become unable to control the robot or even track its location. This, in turn, will interfere with the operation of the mobile robot and may even cause it to shut down.

[0005] Prior art includes various proposals for locally improving RAN coverage, ultimately to prevent the occurrence of such coverage blind spots. For example, EP3669612A1 proposes equipping each mobile robot in a facility with the ability to act as a mobile hotspot when needed. This document discloses an autonomous vehicle that, in addition to a conventional vehicle platform and motion processor, carries a multi-functional radio module. This radio module is operable to: communicate with a fixed LTE network or other fixed radio network for backhaul purposes; and provide signals to users in the autonomous vehicle's coverage area when the autonomous vehicle acts as a base station; and further, to communicate point-to-point with other autonomous vehicles for backhaul or coordination purposes. Other disclosures relate to vehicles having: a radio interface adapted to communicate with an underlying network using a first radio access technology (e.g., cellular 5G); and another radio interface that allows it to communicate with other vehicles using a different second radio access technology (e.g., Wi-Fi™).

[0006] As another example, US20170164423A1 discloses an autonomous vehicle (AV) platoon, whose vehicles are centrally coordinated by a backend system to perform delivery and other tasks. The routes traveled by the AVs can be optimized relative to communication needs, available network conditions, etc. Given that the AVs have the freedom to resolve their assigned transportation tasks, they can utilize up-to-date network maps to plan their own optimal routes. In fact, cellular coverage in the areas where the AVs operate is not only variable but sometimes insufficient or absent; to address this issue, each AV in the platoon is equipped to establish a local mesh network for relaying communication between a cellular base station and nearby AVs located in network-limited areas and too far from the base station. To facilitate this relaying, the backend system can transmit a dedicated network configuration for establishing the mesh network, and it can also dispatch or reroute AVs to assist AVs that have moved out of network coverage.

[0007] In addition to the fully hotspot-enabled robot queues and fully conventional robot queues described above, it is foreseeable that hybrid queues (some of which are hotspot-enabled and some are conventional robots) will be operational in the near future. From an economic perspective, upgrading existing mobile robot systems by adding hotspot-enabled mobile robots without any modifications to existing robots is highly attractive. Protecting investments in so-called "brownfield equipment" in this way can potentially save significant effort and costs. However, the prior art has not adequately analyzed and addressed the control issues of hybrid robot queues. To solve a given robot task, such control may include a combination of robot path generation and decision-making regarding how a limited number of hotspot-enabled robots should be utilized. These issues will be addressed in this disclosure. Summary of the Invention

[0008] One objective of this disclosure is to provide a control network for supporting multiple mobile robots in a facility with fixed access points, provided that some of these mobile robots are equipped with mobile access points (i.e., mobile robots supporting hotspots). Another objective is to provide a method for controlling a queue of mobile robots, some (but not all) of which support hotspots. A specific objective is to perform path planning and path execution based on the location of the mobile robots supporting hotspots. Another specific objective is to optimize the use of a limited number of mobile robots supporting hotspots in the queue. Yet another specific objective is to propose a systematic path planning method for solving a given robot task using a hybrid robot queue.

[0009] At least some of these objectives are achieved by the invention as defined in the independent claims. The dependent claims relate to advantageous embodiments.

[0010] In a first aspect of this disclosure, a control network is provided for supporting a plurality of mobile robots operable in a facility in which one or more fixed access points are deployed. The one or more fixed access points are configured to operate at least one basic radio access network (RAN) conforming to a first radio access technology (RAT). The control network includes: a network management system (NMS) having authority to configure and perform network resource allocation in the at least one basic RAN; and a queue management system (FMS) having authority to perform path planning and path execution for the mobile robots, thereby executing one or more robot actions. The respective authority of the FMS and NMS is mutually exclusive. According to the first aspect, the plurality of mobile robots includes one or more hotspot-supporting mobile robots, each of which is equipped with a mobile access point configured to operate a supplementary RAN conforming to the first RAT, thereby relaying network services between other mobile robots and the basic RAN. Furthermore, the FMS is configured to perform path planning and / or path execution based on the location of the hotspot-supporting mobile robots.

[0011] The control network in the first aspect can be said to have solved the connectivity problem at its core, that is, the location of the mobile robot supporting the hotspot has been considered in the path planning stage or the path execution stage, or in both stages.

[0012] According to some embodiments herein, the location of a supporting hotspot mobile robot is considered using a facility connectivity map that indicates the Quality of Service (QoS) provided not only by the basic RAN but also by a supplemental RAN operated by the supporting hotspot mobile robot. Path planning and / or path execution are performed in a manner that avoids areas within the facility for which the connectivity map indicates insufficient QoS.

[0013] In other embodiments, the location of the hotspot-supporting mobile robot is considered by performing path planning as a combination of a path generation process and a personalization process. The personalization process includes decision-making regarding which paths should be performed by the hotspot-supporting mobile robot and which paths can be performed by the non-hotspot-supporting mobile robot.

[0014] In some embodiments, the FMS is configured to provide associated information to each planned path. Network Service Profile In this sense, the network service profile may include a proposed RAN to be used by the mobile robot when executing its associated planned path, wherein the proposed RAN is selected from one or more base RANs and supplementary RANs. This allows the FMS to distribute the load across the base RANs and supplementary RANs. The proposed RAN selected for each planned path can also be used to verify that each path has sufficient connectivity to be executed.

[0015] Alternatively, the network service profile can indicate a designated fixed AP from the underlying RAN, which will be used by the mobile robot during the execution of the associated planned path. This allows the FMS to assist the NMS by facilitating load balancing tasks among different APs; ultimately, this can improve the distribution of available radio resources at the system level.

[0016] Alternatively, the network service profile can indicate the parameter values ​​of the communication protocols to be used by the mobile robot during the execution of the associated planned path. This provides the FMS with further control over communications exchanged between different RANs.

[0017] In some embodiments, the NMS has the authority to configure and perform service management within the supplementary RAN. This expands the NMS's authority compared to existing technologies, where the NMS manages the underlying RAN. For example, service management may include setting relative priorities for network services related to communication protocols for path execution and location tracking of mobile robots on one hand, and network services originating from or destined for separate software processes executed within the mobile robot on the other. In particular, second-class network services (e.g., data analytics) may originate from or be destined for communication parties communicating with the software processes via the Internet. First-class network services related to path execution and location tracking generally do not require exchange via the Internet. Generally, the system owner will prefer to minimize second-class network services, or at least assign them a higher power priority than first-class network services. Service management may also include enabling or disabling mobile access points for mobile robots supporting hotspots. Disabling may be complete or partial; partial disabling may include disabling connection clients (such as PCs or mobile phones) other than the mobile robot that support hotspot mobile robot services. These service management options help the NMS ensure that the supplementary RAN operates smoothly and efficiently during runtime.

[0018] In a second aspect of this disclosure, a method implemented in a control network is provided for supporting multiple mobile robots operable in a facility where one or more fixed access points are deployed. The method includes: using one or more fixed access points to operate at least one basic RAN conforming to a first RAT; identifying mobile robots supporting a hotspot among the mobile robots, each mobile robot supporting a hotspot being equipped with a mobile AP; using the mobile access points of the mobile robots supporting the hotspot to operate a supplementary RAN conforming to the first RAT for relaying network services between other mobile robots and the basic RAN; and performing path planning and path execution for the mobile robots to perform one or more robot actions, wherein the path planning and path execution are performed based on the location of the mobile robots supporting the hotspot.

[0019] This disclosure also relates to a computer program containing instructions for causing a computer (or particularly a control network) to perform the methods described above. This computer program can be stored or distributed on a data carrier. As used herein, "data carrier" can be a transient data carrier (such as modulated electromagnetic waves or light waves) or a non-transient data carrier. Non-transient data carriers include volatile and non-volatile memories, such as magnetic, optical, or solid-state types of permanent and non-permanent storage media. Also within the scope of "data carrier," such memory can be permanently mounted or portable.

[0020] Generally, unless otherwise expressly defined herein, all terms used in the claims shall be interpreted according to their ordinary meaning in the art. Unless otherwise expressly stated, all references to “a”, “an”, “the” element, device, component, part, step, etc. shall be interpreted as referring to at least one instance of an element, device, component, part, step, etc. Unless expressly stated otherwise, the steps of any method disclosed herein need not be performed in the exact order disclosed. Attached Figure Description

[0021] Aspects and embodiments will now be described by way of example with reference to the accompanying drawings, wherein: Figure 1 It is an overview of the control network deployed in facilities where multiple mobile robots operate; Figure 2 It is a flowchart of a method implemented in a control network that supports multiple mobile robots operable in a facility with a set of fixed access points. Figure 3 Example functional structures of a queue management system and a network management system are shown; Figure 4 An example of a mobile robot that supports hotspots is shown; Figure 5 The diagram illustrates a communication link utilizing a mobile robot as an endpoint; and Figure 6 This is a sequence diagram illustrating the operation of a control network according to embodiments of the present invention. Detailed Implementation

[0022] The present disclosure will now be described more fully with reference to the accompanying drawings, in which certain embodiments of the invention are illustrated. However, these aspects may be embodied in many different forms and should not be construed as limiting; rather, these embodiments are provided by way of example so that the disclosure will be thorough and complete, and will fully convey the scope of all aspects of the invention to those skilled in the art. Throughout the description, the same numerals refer to the same elements. System Overview

[0023] Figure 1 This is a block diagram overview of the control network deployed in facility 190, with multiple mobile robots (MRs) 130, 130 Operate in facility 190. Facility 190 can be a building, factory, workshop, warehouse, (partially outdoor) industrial environment, mine, etc. In some embodiments, a public road network is not a "facility" in this sense. Example MR 130, 130 This includes self-propelled robots with full-body mobility, including automated guided vehicles (AGVs), autonomous mobile robots (AMRs), and mobile manipulators (conceptually, these are mobile robots with one or more robotic arms). Specifically, MR 130, 130... It can be configured as an industrial robot or other practical robot, such as a medical robot.

[0024] In this example, multiple fixed access points 140 are arranged at facility 190 and configured to operate at least one basic radio access network (RAN) 145. A basic RAN 145 may be operated by one fixed access point 140; or a basic RAN 145 may be operated by a group of fixed access points 140; or all fixed access points 140 may be configured to operate within a shared basic RAN 145. The basic RAN 145 conforms to a first radio access technology (RAT), such as a cellular RAT, a non-cellular RAT, 3GPP New Radio (NR or 5G), 3GPP Long Term Evolution (LTE), IEEE 802.11n / ac / ax / be (Wi-Fi™), or WIA-FA (Wireless Network for Industrial Automation - Factory Automation, as specified in standards such as IECPAS 62948). Accordingly, the fixed access points 140 may be Wi-Fi™ access points, WIA-FA access devices, or base stations (NB, eNB, gNB) of a cellular network. If two basic RAN 145s exist, they can be distinguished, for example, by carrying different Service Set Identifiers (SSIDs) or Access Point Names (APNs). Multiple basic RAN 145s may overlap, partially overlap, or not intersect in space.

[0025] For example, in Figure 4 The MR 130 shown is 130. Includes a vehicle platform 132 that allows for two-dimensional movement on a surface or three-dimensional movement in air or liquid. The vehicle platform 132 may include one or more of the following: motion actuators, steering arrangements, wheels, tracks, impellers, movable vanes, etc. MR 130, 130 It also includes a robot manipulator 131 (with optional end effectors), processing circuitry 133, data storage 138, and a wireless interface (not shown). The wireless interface can be a Wi-Fi™ (mobile) station, a WIA-FA field device, or a cellular network user equipment (UE). Processing circuitry 133 can be used to run general-purpose software 136 and / or dedicated software 137 related to path execution and position tracking of the MR 130. This second type of software processing 137 can exchange sensor signals and control signals with sensors and actuators within the vehicle platform 132.

[0026] Figure 4 An optional component of the MR, namely the mobile access point 134, is also shown. In this disclosure, those MRs carrying the mobile access point 134 will be referred to as hotspot-supported MRs (HEMRs) 130. HEMR 130 It can operate its own RAN or connect with another supported hotspot mobile robot (HEMR) 130 The RAN operates together. In this disclosure, it consists of at least one HEMR 130. The RAN used for operation will be referred to as Supplemental RAN 135. Mobile AP 134 allows HEMR 130. The HEMR 130 operates a supplementary RAN to serve one or more connected clients with connectivity. Thanks to the pre-existing radio interface, the HEMR 130... It can still communicate as a client with the basic or supplemental RAN. In the Wi-Fi™ example, HEMR 130 It can be equipped with dual radio hardware and dual Wi-Fi Media Access Control (MAC) protocol endpoints, one acting as a client and the other as an access point (AP). (Alternatively, in an implementation where the mobile AP replaces the radio interface, this ability to communicate as a client can be included in the mobile AP). In summary, while the radio interface of the standard MR 130 is not configured to operate as a supplementary RAN for the benefit of connected clients, the mobile AP 134 enables the HEMR 130... It can operate as an access point, access device, or base station.

[0027] In this disclosure, the term "mobile robot" (referred to as "MR") should include both regular MR and MR with hotspot support.

[0028] return Figure 1 The control network includes a network management system (NMS) 120, which has the authority to configure and perform network resource allocation within the at least one basic RAN 145. Preferably, the NMS 120 has exclusive authority to perform such configuration and network resource allocation during operation. Figure 1 In the illustrative embodiment, NMS 120 communicates with fixed access point 140 via wired core network 141, which is also used for backhaul functionality. The dashed circles surrounding fixed access point 140 indicate the nearby coverage area.

[0029] The control network also includes a queue management system (FMS) 110, which has the capability to perform operations for MR 130, 130 The FMS 110 has exclusive permissions for path planning and path execution during runtime. These permissions are mutually exclusive with the NMS. The FMS 110 or parts thereof can execute Robot Operating System 1 or 2 (ROS1, ROS2).

[0030] Specifically, FMS 110's path planning and path execution can include task planning and task execution, where utility tasks are assigned to MR 130, 130 One or more MRs within the FMS 110. This task can be an element of a high-level robot action specified by the operator or system owner, or a project plan from a manufacturing execution system (not shown) to be performed by the FMS 110. Example robot action. M Robotic tasks that are non-intersecting or (partially) overlapping in time can be employed. T j The form of an ordered set: The example robot tasks include navigation, workpiece manipulation, and full-body movement. Alternatively, robot actions... M The desired utility-oriented outcome is expressed as transportation actions, material handling actions, and the expected final workpiece condition. The second option generally leaves some degrees of freedom for the FMS 110 to determine how to implement the robot's actions. M The exact method. Path planning performed by FMS 110 can support the assigned task, or it can be unproductive, for example, with MR 130, 130 Maintenance or parking related. Path execution may include wirelessly transmitting data to MR 130, 130 via the base RAN 145 or another RAN. Provides movement commands (motion reference).

[0031] The functions of the described FMS 110 and NMS 120 can be implemented through various software and / or hardware. Figure 3 A control network 100 is shown, in which FMS 110 and NMS 120 each have suitable example internal structures. The depicted internal structures facilitate mutual cooperation. Figure 3 The content shown primarily reflects the functionality of FMS 110 and NMS 120. The depicted components may correspond to the arrangement of physical components or portions of executable software code. Figure 3 The connectors in the diagram represent typical information flows that occur when the FMS 110 and NMS 120 operate according to this disclosure. This layout of information flows does not preclude information from traveling along other paths within the internal structure, such as when multiple components are connected to a public network in a star or mesh topology.

[0032] In NMS 120, network monitor 122 is located at fixed access points (APs) 140 in one or more base RANs 145 and from HEMR 130. The mobile AP 134 collects status information. The network monitor 122 can store the collected status information in the network database 123. In many cases, even the fixed AP 140 is connected to MR 130, 130... Deployed and owned by the same entity as Facility 190, FMS 110 also lacks direct access to low-level (or machine-level, or lower-layer) state information, which is the preferred basis for predicting network QoS. Restricting access to this low-level state information is particularly common in newer wireless technologies, including 3GPP 5G, WIA-FA, and Wi-Fi 6.

[0033] Furthermore, in NMS 120, network configurator 121 configures fixed access point 140 and mobile access point 134 according to resource allocation plans. Network configurator 121 can access resource allocation plans in network database 123.

[0034] Based on the collected status information related to RANs 135 and 145 retrieved from network database 123, network resource allocator 127 in NMS 120 generates a resource allocation plan. Furthermore, the resource allocation plan can also be generated based on a facility map provided by graph database 124. Additionally, as described in more detail below, the resource allocation plan can also be generated based on predictive network resource requests received from FMS 110. Network resource allocator 127 stores the generated resource allocation plan in network database 123.

[0035] The NMS 120 also includes a network QoS predictor 126. The QoS predictor 126 is configured to predict achievable network QoS based on resource allocation planning and optionally on facility-related graph information.

[0036] Moving to FMS 110, the system of control network 100 is responsible for path planning and execution for MR 130. FMS 110 can also handle task planning and execution as a separate responsibility, where utility tasks (production, processing, material handling, transportation, etc.) are assigned to one or more MRs in MR 130. These tasks can be elements of higher-level tasks or projects to be performed by FMS 110. Path planning can support the assigned tasks or can be non-productive, such as those related to maintenance or parking of mobile robot 130. Path execution can include providing movement commands (motion references) wirelessly to mobile robot 130 via access networks 135 and 145. FMS 110 may have dedicated permissions to perform path planning and execution at runtime. FMS 110 or parts thereof may execute Robot Operating System 1 or 2 (ROS1 or ROS2).

[0037] Within FMS 110, a queue monitor 112 is provided, which connects to MR 130, 130 Collect status information and store it in queue database 113.

[0038] Path planner 117 generates paths for MR 130, 130 The path is calculated and stored in queue database 113. Path planner 117 can be configured to: calculate the path based on MR 130, 130... which can be retrieved from queue database 113. The collected status information, and based on the path planner 117 assigned to MR 130, 130 The task is to generate paths. As mentioned above, in particular, path planning can include task planning, where utility tasks (production, processing, material handling, transportation, etc.) are assigned to one or more MR 130, 130 Route planning can also be based on a map of the facilities, which is available from the map database 114. Alternatively or additionally, route planning can also be based on the achievable (predicted) QoS of the wireless network indicated by the QoS predictor 126 in the NMS 120.

[0039] Furthermore, in FMS 110, path actuator 111 controls mobile robots 130, 130 This is to implement the path generated by the path planner 117 (see above) from the queue database 113, while taking into account MR130, 130 from the queue database 113. The state.

[0040] A network demand forecaster 116 is also provided, which is operable to predict the quantity, type, and / or location of network resources required. The network demand forecaster 116 can make this prediction based on MR routes and facility maps determined by the route planner 117, which is available from the map database 114.

[0041] For at least one of the mobile robots 130, the FMS 110 can be described as an edge computing resource. That is, the processing circuitry in the FMS 110 is positioned relative to the topology of the access network 135 such that the mobile robot 130 is expected to enjoy reasonable QoS under normal circumstances; for example, the connection between the mobile robot 130 and the FMS 110 typically meets minimum throughput, maximum permissible latency, or similar requirements. Under normal circumstances, these QoS requirements can be met by appropriately placing the FMS 110 relative to the mobile robot 130 and / or configuring the parameters of the access network 135 related to routing, scheduling, resource allocation, and service prioritization.

[0042] Communication from FMS 110 to NMS 120 (and vice versa) is conducted via communication channel 160. Communication channel 160 can be configured to support regular unicast, multicast, or broadcast messages. Alternatively, communication channel 160 can be configured for a publish-subscribe (or PubSub) service. Messages exchanged between FMS 110 and NMS 120 may include predictive network resource requests and their responses, QoS requests and / or QoS reports, network service profiles M1, and instructions M2 from FMS 110 to NMS 120 regarding configuration and service management in supplementary RAN 135. Operation control network to support hybrid robot platoons

[0043] This disclosure relates to at least one of the MRs being a Support Hotspot Mobile Robot (HEMR) 130 capable of operating a supplemental RAN 135. The FMS 110 of the control network is then configured to perform path planning and path execution based on the location of the mobile robot supporting the hotspot.

[0044] When the MR queue includes at least one HEMR 130 At that time, control network 100 can be based on... Figure 2 The method 200, which is described in the form of a flowchart, is operated advantageously.

[0045] In the first method Step 210 In this context, a fixed AP 140 is used to operate at least one basic RAN 145 that conforms to a first RAT (e.g., cellular, non-cellular, 3GPP 5G, 3GPP LTE, Wi-Fi™, WIA-FA).

[0046] In the next Step 211 In the middle, HEMR 130 is indicated between MR. Each HEMR is 130 It is equipped with an (active) mobile AP 134.

[0047] In another aspect of method 200 Step 212 In the middle, HEMR 130 is used The mobile AP 134 is used to operate multiple supplementary RANs 135 conforming to the first RAT. For example, supplementary RANs 135 can be used for relaying network services between the regular MR 130 and the basic RAN 145. Due to HEMR 130 As a relay intervention, the range of the basic RAN 145 is effectively extended. The relay chain can be a single-hop or multi-hop chain. This is achieved through... Figure 1 As illustrated, the two-hop relay link to the fixed AP 140-1 may include HEMR 130. -4 and 130 -7. From the perspective of MR 130-5 and 130-6, which are farther from fixed AP 140-1, this may contribute to stronger, more stable, and more reliable radio coverage. This range extension effect can also benefit clients other than MR 130, such as personal computers and smartphones in facility 190.

[0048] In the fourth method of 200 Step 213 In the middle, the execution is for MR 130 and 130 Path planning and / or path execution. The goal of path planning and path execution can be to execute one or more robot actions. Path planning and path execution are based on HEMR 130. The location is where it is executed.

[0049] In some embodiments of method 200, within step 212, supplementary RAN 135 may be managed by NMS 120, which configures and performs service management in these networks. In some embodiments, NMS 120 performs these duties according to configuration and service management instructions M2 received from FMS 110. Service management may also include resource allocation. In particular, refer to Figure 5 Business management performed by NMS 120 may include executing the following relative priorities: - Network service 520 related to the communication protocol for path execution and location tracking of MR 130, and - Network services 510 originating from or destined for individual software processes 136 executed in mobile robots.

[0050] The first type of network service 520 may originate from or be sent to a path execution and location tracking software application 137, which in turn communicates with components in the vehicle platform 132. The FMS 110 may act as another endpoint of this network service 520, which traverses the basic RAN 145 and / or supplementary RAN 135. The second type of network service 510 may originate from or be sent to a communication party 502 that is not connected to any RAN in the basic RAN 145 and supplementary RAN 135, but arrives via the Internet 501. (The category of the second type of network service 510 can also be considered to include services that do not involve path execution and location tracking and are not exchanged via the Internet, such as communication with other facilities and equipment. Alternatively, this type of service may be considered a third type, for which the NMS 120 may freely assign a separate priority level.) In some embodiments, the NMS 120 assigns a higher priority level to the first type of network service 520, enabling the MR 130 to continue operating efficiently and securely even when network resources are limited. In fact, from a system perspective, the separate software process 136 executed on the processing circuitry 133 of MR 130 is generally not critical.

[0051] In other embodiments of method 200, service management performed by NMS 120 includes enabling or disabling HEMR 130. The mobile AP 134. This is done to prioritize available resources, such as radio resources or energy resources. Specifically, the FMS 110 can be configured to monitor the HEMR 130. The battery level and / or processing capacity (the amount of unused processing resources). If the FMS 110 determines that the battery level and / or processing capacity are insufficient, it instructs the NMS 120 to disable the mobile AP 134 that supports the hotspot mobile robot. Optionally, the FMS 110 can also command partial disabling, such as disabling HEMR 130. The mobile AP 134 service is not an MR 130 or a connected client of an MR controlled by the control network 100. Another form of partial disabling is allowing HEMR 130. Relay reference only Figure 5 One of the network service types 510 and 520 discussed (if three types are defined, it is allowed to relay only two of the three types).

[0052] This disclosure anticipates that in step 213, according to HEMR 130 The location is used to execute several methods for path planning and path execution.

[0053] In one embodiment, route planning and route execution are based on facility 190 obtained from FMS 110. Connectivity graph The connectivity map is generated and maintained by the FMS 110 itself based on the state parameters and / or radio measurements of one or more RANs read by fixed or robot-carried sensors. Alternatively, the FMS 110 may request a connectivity map from the NMS 120. This connectivity map may be in the form of a data-rich version of a map of the physical environment in facility 190, for example, a map suitable for routine path planning and annotated with values ​​of one or more QoS metrics. QoS metrics can be calculated or predicted based on state parameters and / or radio measurements. QoS metric values ​​are localized, meaning each value is associated with a point or area in facility 190; different points and areas in facility 190 may be associated with different QoS metric values. QoS metrics refer not only to the QoS provided by the base RAN 145 but should also consider contributions from any one or more supplementary RANs 135 operating in a given area of ​​facility 190. The calculation or prediction of QoS metrics can be based on HEMR 130. The location of supplementary RAN 135 is derived from the planned or provisional planned paths of MR 130. The calculation or prediction of QoS metrics may take into account the expected load of the basic RAN 145 and(one or more) supplementary RAN 135 in the area, which can be derived from the expected density of MR 130 in that area based on the planned or provisional planned paths of MR 130. Using a connectivity map, FMS 110 is configured to perform path planning and path enforcement in a manner that avoids areas in facility 190, for which the connectivity map indicates insufficient QoS.

[0054] In another embodiment, FMS 110 is based on HEMR 130. The location is used to perform path planning and path execution, and more precisely, in such a way as: (a) HEMR 130 The local density is equalized within facility 190, or (b) HEMR130 The local density is increased in areas of facility 190 with insufficient QoS (according to the connectivity graph). If FMS 110 uses an optimization-based path planning algorithm, each of these options can be achieved by adding a reward term (for spatially equal local HEMR density) or a penalty term (for spatially varying local HEMR density) to the algorithm's objective function. FMS 110 can also strive to satisfy both options (a) and (b) simultaneously, for example, by including cost or penalty terms for both. If FMS 110 uses another type of path planning algorithm, these options can be achieved by modifying the path assignment to the robot, for example, by having a path originally intended for MR 130 be assigned to HEMR 130. Execute, and vice versa.

[0055] In another embodiment, using a two-stage method, FMS 110 is based on HEMR 130 The method involves determining the location for path planning and execution, and includes: Sub-step 213.1: Path generation process, which, based on the actions of one or more robots, outputs the path to be generated by the corresponding mobile robot (which may be HEMR 130). Multiple robot paths executed by (or a standard MR 130); and Sub-step 213.2: Personalization process, based on the connectivity graph of facility 190 (see discussion above), outputs at least one robot path in the robot path that must be connected to HEMR 130. Instructions to be executed.

[0056] To illustrate this two-stage method, the output of the path generation process 213.1 can be a data structure that includes the information in Table 1. The path description can be in the form of a parameterized two-dimensional curve, which can be expressed as a reference point in facility 190 as a function of discrete or continuous time. From the path description, it can be inferred (possibly requiring additional interpolation) of each assigned MR 130, 130 In scope Every time t The location. Here, T This represents the duration of the time period in which path planning is performed; in other words, the set This includes all points accessed by MR1. It is understandable that the function... This is merely a nominal description of the path; the execution of MapReduce (MR) functions within the system can deviate from this function to a certain extent to improve path smoothness, avoid unexpected obstacles, etc. The generated paths are then assigned to various MR functions 130, 130... In the path generation process 213.1, MR 130 and 130 can be considered. The equipment level (e.g., components used for lifting, welding, painting, etc.), operating status, and other technical characteristics are ultimately designed to perform one or more robotic actions. As explained above, regarding MR 130, 130... This information can be read from queue database 113, which may have the example content shown in Table 2. For the sake of illustration, assume that personalization process 213.2 infers from the connectivity graph that QoS is insufficient in some areas of facility 190 accessed by MR 1 when executing path P1. Then, the output of personalization process 213.2 is a modified version of the path assignment in Table 1, where MR 1 is replaced by a HEMR. To select a suitable replacement HEMR, personalization process 213.2 considers the capabilities of MR 1 and searches for a functionally equivalent HEMR in the queue database 113. MR2 and MR7 meet the requirements for a HEMR with capability #1, and based on the battery level, MR7 appears to be the better choice. Therefore, the output of personalization process 213.2 has the form of Table 3.

[0057] To illustrate another implementation of this two-stage method, the output of path generation process 213.1 can be a data structure where robot paths are not assigned to robot IDs, but are simply annotated with the capabilities required to perform MR. Based on this alternative format, the example output data from Table 1 takes the form of Table 4: Similarly, the personalization process 213.2 analyzes this output based on the connectivity graph. This output can be provided as another annotation of the robot path, i.e., whether some paths in the path need to be performed by robots that support hotspots, as illustrated in Table 5; then, this other annotated robot path can be used as the basis for assigning paths to robot IDs. Alternatively, the output of the personalization process 213.2 is to finally assign the robot path to a robot ID, which refers to both the standard MR 130 and HEMR 130. This will be the same information as in Table 3 above.

[0058] In the two-phase implementation, the path generation process 213.1 can be performed by any suitable path planning algorithm, which is fed with robot actions instructing the solution. M The relevant inputs are as described above. In a particular implementation, the personalization process 213.2 includes inputs for using HEMR 130. The cost (e.g., the increased cost compared to using a standard MR 130) and the HEMR 130 in facility 190 The benefits of improved QoS in the accessed areas must be balanced. This can be achieved by maximizing a cost-benefit function of the following general form: (1) in It is a Boolean vector, representing the expression for... N HEMR substitution decision for each of the robots (when) N = 6, equivalent to the rightmost column of Table 5). This refers to the process generated in step 213.1. N A robot path, This represents the benefits of the implemented QoS, and Indicates based on vector h Using HEMR 130 Cost of replacing MR 130. The optimal alternative decision is made by Provided.

[0059] Referring to the cost-benefit function (1), the benefits are preferably evaluated from the perspective of MR 130 of executing the generated path. The benefits can be quantified as a multiple of favorable QoS metrics (e.g., signal-to-interference-plus-noise ratio [SINR], reference signal received power [RSRP], throughput), or as a multiple of the reciprocal of unfavorable QoS metrics (e.g., bit error rate, protocol data unit retransmission count, latency, delay). At least for large facilities 190, if HEMR 130 -i and benefit MR 130-j throughout the planning period [0, T If they are close enough, they come from HEMR 130. The additional benefits of -i are included in the benefits item. For example, it can be assessed whether the maximum Euclidean distance between these robots remains below a threshold throughout the entire planning period: .

[0060] To improve the accuracy of the personalization process 213.2, the cost-benefit function (1) can be weighted in various ways. For example, the benefit term can be spatially weighted based on the robot path of a standard MR 130: (2) in This represents the local density of MR 130. It is expected that this will lead to a preference for HEMR alternatives in relatively more congested areas of facility 190. The weighting (2) can be further refined by including information on the operational needs of each MR 130 in order to reflect the increase in “effective density” in areas where MR 130 is expected to require more data. In another weighted example, the generated robot paths are segmented into paths associated with collaborative robot tasks (or actions) and paths associated with individual robot tasks (or actions): Based on this segmentation, the benefit term is separated into two differently weighted terms: (3) in , These are constant scalar weights. If the weights are set to such that... For collaborative tasks, HEMR will be the preferred alternative. This is reasonable because interruptions to collaborative robot tasks due to insufficient QoS will cause unproductive downtime for multiple robots, while interruptions to individual robot tasks are generally less economically impactful.

[0061] Within the two-phase approach, the path generation process 213.1 and the personalization process 213.2 can be executed as a temporally separated sequence of steps. This sequence of steps can be iterated at least once, and can be performed as shown in the following example: 1. The path generation process 213.1 is executed for the first time based on the initial connectivity graph of QoS provided solely by the basic RAN 145. 2. The first execution of the personalization process 213.2, wherein the output from the first execution of the path generation process 213.1 is modified to utilize HEMR 130 This will replace some standard MR 130s. The modification aims to improve QoS in areas of facility 190 that have insufficient QoS. 3. Based on the updated connectivity graph (indicated by HEMR 130) (The QoS provided by supplementary RAN 135 and basic RAN 145), the second execution of path generation process 213.1. 4. Second execution of the personalization process 213.2. Here, if the QoS of some areas of facility 190 is still insufficient, it can be improved by utilizing HEMR 130. Instead of some ordinary MR 130, modify the output of the second execution from the path generation process 213.1. When the entire facility 190 reaches a satisfactory QoS (for example, when the QoS is better than the threshold configured by the system owner or operator), iteration can be stopped.

[0062] Alternatively, the path generation process 213.1 and the personalization process 213.2 can be executed as a shared process.

[0063] In another embodiment, FMS 110 generates an associated network service profile M1 for each planned path, based on HEMR 130. The location is used to perform path planning and path execution (step 213). A network service profile M1 is added to at least the path to be executed by the ordinary MR 130. Conceptually, the network service profile M1 can be added as an additional column in Table 1 or Table 4. In different implementations, the network service profile M1 indicates one or more of the following: - Selected from basic RAN 145 and supplementary RAN 135, to be derived from MR 130, 130 At least one proposed RAN used during the execution of the associated planning path. - At least one proposed fixed AP 140 within one or more base RAN 145s to be used by the mobile robot during the execution of the associated planned path. - Parameter values ​​of the communication protocols to be used by the mobile robot during the execution of an associated planned path, such as parameter values ​​of the communication protocols used for path execution and location tracking. These parameter values ​​can affect physical layer aspects of communication, or they can adjust higher-layer aspects, such as the temporal resolution of path execution. This parameter value can affect the robustness of communication, the load on(one or more) RAN or core network, or the MR 130, 130 executing the path in facility 190. The usage of local wireless resources in the existing area.

[0064] According to a further embodiment, step 213 may include a sub-step in which FMS 110 generates an associated predictive network resource request for the planned path, which is to be executed by NMS 120. NMS 120 can be configured or controlled by HEMR 130. The fixed AP 140 or mobile AP 134 carried by the device are used to handle this predictive network resource request. Example

[0065] Figure 6 This is a sequence diagram with annotations, illustrating a control network 100 according to an embodiment of this document (see [link]). Figure 1 Example operation cycle. The vertical bars correspond to the following communication endpoints already described in detail above: FMS 110, the i-th MR 130-i, and the j-th HEMR 130. j, the kth fixed AP 140-k, and NMS 120. The vertical dimension of the sequence diagram corresponds to time, where events with relatively lower indicators should be considered to have occurred later than events with relatively higher indicators.

[0066] This example demonstrates that the NMS 120 performs the following functions: - Configure one or more wireless networks in all APs 140 and 134, defining their unique network identifiers and radio-specific parameters, etc. - Also based on MR 130, 130 provided by FMS 110 The service profile and operational status of each AP 134 and 140 are configured, and default network service routes and priorities are configured in one or more APs 134 and 140. As the minimum configuration, the highest network service priority can be assigned to ensure support for the tracking and control of the vehicle by the FMS 110; - For example, connecting a standard MR 130 to a HEMR 130 In this case, update the network service routes and priorities in one or more APs 134 and 140; - Monitor the operational status of all APs 134 and 140, as well as MRs 130 and 130. The wireless performance is measured and saved to the network database 123; - Provide FMS 110 with comprehensive reports on the performance of AP 134, 140 and the vehicle. Alternatively, the NMS 120 can also: - For MR 130, 130 Specify a set of one or more preferred RANs to which the vehicle should connect; - Configure additional QoS support in APs 134 and 140, such as MR 130 and 130. The maximum allowed bit rate of one or more network service flows in and / or its network service flows; - Enable or disable HEMR 130 The system specifically allows other MR 130 units to be connected to the HEMR 130. The wireless interface or mobile AP 134; - In HEMR 130 The configuration should allow the maximum number of other MR 130s to connect to it as clients. In this example, the FMS 110 itself performs the following functions: - Planning and control for all MR 130, 130 The execution of actions and tasks; - Also based on the map of facility 190 provided by NMS 120, which shows the location and operational status of APs, planning and control are performed for all MR 130, 130 Execute along the path; For HEMR 130 Wireless performance was also taken into consideration; - Create a network service profile for MR 130 (based on its planned path) and send it to NMS 120; - Monitor all MR 130, 130 The operation status is recorded and saved to queue database 113. Alternatively, the FMS 110 can also: - Divide facility 190 into multiple sub-zones (e.g., indicated on a map maintained by FMS 110), each sub-zone reflecting the number of deployed APs, and also including information on the operational status of the APs (obtained from NMS 120) and MR 130, 130 The wireless performance data (also obtained from NMS 120) - Plan the robot path to transport an equal number of HEMR 130s. They are distributed in parts of facilities 190 corresponding to map sub-regions, or in areas where ordinary MR 130 and / or fixed AP 140 frequently experience communication performance degradation; - If MR 130 is connected to HEMR 130 If so, update the network service profile of MR 130 and send the updated network service profile to NMS 120; - Request NMS 120 to enable or disable mobile AP 134 or HEMR 130 Wireless interface. Conclusion

[0067] In summary, this disclosure covers queue management using vehicles (particularly robots) carrying mobile access points (APs). Planning the paths of such vehicles provides an adaptive approach to improve wireless communication range in response to intermittent “radio coverage blind spots,” which, according to practical experience, occur relatively frequently.

[0068] The proposals in this disclosure can be implemented in parallel with existing vehicle deployments (so-called brownfield devices). These proposals require minimal or no changes / upgrades. In particular, mobile APs (by HEMR 130) (Carrying) can match the base capabilities and characteristics of its corresponding fixed AP portion, thus allowing HEMR 130 The introduction of mobile APs is transparent to existing vehicles (e.g., on factory floors). Furthermore, mobile APs can be controlled, configured, and managed in a similar manner to their fixed access point counterparts.

[0069] This disclosure further discusses the configuration of wireless network service routing and prioritization based on queue management requirements. These proposals allow for differentiation in how limited wireless network resources are allocated to transmit mixed services from different applications, and provide the best possible performance for more critical network services, such as vehicle tracking and control.

[0070] The proposals in this paper can also reduce power consumption overhead. More precisely, this applies to mobile APs (i.e., HEMR 130). Vehicles with this role may experience increased power consumption, which can be mitigated by using HEMR 130 at low battery levels. The ability to request the disablement of associated AP functionality is mitigated, whereby the AP functionality can be re-enabled later as needed or after charging.

[0071] The foregoing description has primarily referenced several embodiments to illustrate various aspects of this disclosure. However, those skilled in the art will understand that, as defined in the appended claims, other embodiments besides those disclosed above are also possible within the scope of this invention.

Claims

1. A control network (100) for supporting multiple mobile robots (130) operable in a facility (190), wherein one or more fixed access points (140) are arranged in the facility (190), The one or more fixed access points are configured to operate at least one basic radio access network (RAN) (145) conforming to the first radio access technology (RAT). The control network includes: A network management system (NMS) (120) having authority to configure and perform network resource allocation in the at least one basic RAN; as well as A queue management system (FMS) (110) has the authority to perform path planning and path execution for the mobile robot, thereby enabling the execution of one or more robot actions; The corresponding permissions of the FMS and the NMS are mutually exclusive; Its features are: The plurality of mobile robots includes one or more hotspot-supporting mobile robots (130 ), each of the hotspot-supporting mobile robots (130 ) being equipped with a mobile access point (134) configured to operate a supplemental RAN (135) compliant with the first RAT for relaying network traffic between other mobile robots and the at least one base RAN; as well as The FMS is configured to perform the path planning and the path execution based on the location of the mobile robot supporting the hotspot.

2. The control network (100) according to claim 1, wherein the plurality of mobile robots (130) further includes a mobile robot that does not support hotspots.

3. The control network (100) according to claim 1 or 2, wherein the FMS (110) is configured to: Obtain a connectivity map of the facility (190), the connectivity map indicating the Quality of Service (QoS) provided by the at least one basic RAN (145) and the supplementary RAN (135); and The route planning and route execution are performed in a manner that avoids areas of the facilities, wherein the connectivity map indicates insufficient QoS for the areas.

4. The control network (100) according to claim 3, wherein: The FMS (110) is configured to maintain the connectivity graph; or The NMS (120) is configured to maintain the connectivity graph and share the connectivity graph with the FMS.

5. The control network (100) according to any one of the preceding claims, wherein the FMS (110) is configured for the mobile robot (130) supporting the hotspot. ) Perform the path planning and the path execution such that: The local density of the mobile robots supporting the hotspot is equalized across the facility (190); and / or The local density of mobile robots supporting hotspots is increased in areas of the facility with insufficient QoS.

6. The control network (100) according to any one of the preceding claims, wherein the FMS (110) is configured to perform: A path generation process (213.1) outputs multiple robot paths to be executed by the respective mobile robots based on the one or more robot actions; and A personalization process (213.2) outputs an instruction for at least one robot path in the robot paths to be executed by a mobile robot supporting a hotspot, based on a connectivity graph of the facility (190).

7. The control network (100) according to claim 6, wherein: The path generation process (213.1) outputs the associated robot capabilities to be implemented by the executing mobile robot for each robot path; and The personalization process (213.2) outputs an indication that the mobile robot supporting the hotspot, which executes at least one of the robot paths, should implement the robot capabilities associated with it.

8. The control network (100) according to claim 6 or 7, wherein the personalization process (213.2) includes balancing the cost of using a mobile robot that supports hotspots with the benefits of improved QoS.

9. The control network (100) of claim 8, wherein the benefits of the improved QoS are spatially weighted based on the robot path according to the local density of the mobile robot.

10. The control network (100) of claim 8, wherein the benefits of the improved QoS are more strongly weighted for robot paths related to collaborative robot actions compared to those for general robot paths.

11. The control network (100) according to any one of claims 6 to 10, wherein the path generation process (213.1) and the personalization process (213.2) are executed as a sequence of time-separated steps.

12. The control network (100) according to claim 11, wherein the sequence of steps is iterated at least once.

13. The control network (100) according to any one of claims 6 to 10, wherein the path generation process (213.1) and the personalization process (213.2) are executed as shared processes.

14. The control network (100) according to any one of the preceding claims, wherein the FMS (110) is configured to generate associated network service profiles (M1) for a planned path.

15. The control network (100) of claim 14, wherein the network service profile indicates one or more of the following: The proposed RAN selected from the at least one base RAN and the supplementary RAN, to be used by the mobile robot (130) during the execution of the associated planned path; The fixed access point (140) proposed within the at least one base RAN (145) to be used by the mobile robot during the execution of the associated planned path. The parameter values ​​of the communication protocols to be used by the mobile robot during the execution of the associated planned path, such as the parameter values ​​of the communication protocols used for path execution and position tracking.

16. The control network (100) according to any one of the preceding claims, wherein the FMS (110) is configured to generate associated predictive network resource requests to the NMS (120) for a planned path.

17. The control network (100) according to any of the preceding claims, wherein the NMS (120) has authority to configure and perform service management in the supplementary RAN (135).

18. The control network (100) according to claim 17, wherein: The FMS (110) is configured to provide the NMS (120) with instructions (M2) regarding the NMS's configuration and service management within the supplementary RAN; and The NMS is configured to execute the instructions.

19. The control network (100) according to claim 17 or 18, wherein the service management performed by the NMS (120) includes the following relative priorities: - On the one hand, network services relating to communication protocols for path execution and location tracking of the mobile robot (130); and, - On the other hand, network services originating from or destined for separate software processes (136) executed in the mobile robot.

20. The control network (100) according to any one of claims 17 to 19, wherein service management performed by the NMS (120) includes: Enable or disable mobile robots that support hotspots (130) The mobile access point (134) of the mobile access point.

21. The control network (100) of claim 20, wherein the FMS (110) is configured to: Monitoring support for mobile robots (130) Battery levels and / or processing capacity; and In response to determining that the battery level and / or processing capacity is insufficient, the NMS (120) is instructed to disable the mobile access point (134) of the mobile robot that supports the hotspot.

22. The control network (100) according to any one of claims 17 to 21, wherein the service management performed by the NMS (120) includes: Enable or disable mobile robots that support hotspots (130) The mobile access point (134) serves connected clients other than the mobile robot.

23. The control network (100) according to any one of the preceding claims, wherein the first RAT is one of the following: cellular RAT, noncellular RAT, 3GPP New Radio (NR), 3GPP Long Term Evolution (LTE), IEEE 802.11n / ac / ax / be.

24. A method (200) in a control network (100) for supporting a plurality of mobile robots (130) operable in a facility (190), wherein one or more fixed access points (140) are arranged in the facility (190), wherein the method comprises: Using the one or more fixed access points to operate (210) at least one basic radio access network RAN ​​(145) conforming to the first radio access technology RAT. Identifier (211) indicates the mobile robots supporting hotspots (130) among the mobile robots. ), each supporting hotspot mobile robot (130) ) is equipped with a mobile access point (134); The mobile access point of the mobile robot that supports the hotspot is used to operate (212) the supplementary RAN (135) that conforms to the first RAT, thereby enabling relay network services between other mobile robots and the basic RAN. as well as Execution (213) of path planning and path execution for the mobile robot, thereby enabling the execution of one or more robot actions, wherein the path planning and path execution are performed based on the location of the mobile robot supporting the hotspot.

25. A computer program comprising instructions that cause a control network (100) according to claim 1 to perform the method (200) according to claim 24.

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