CN114029947B - Method and device for determining robot picking sequence - Google Patents
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- CN114029947B CN114029947B CN202111257596.XA CN202111257596A CN114029947B CN 114029947 B CN114029947 B CN 114029947B CN 202111257596 A CN202111257596 A CN 202111257596A CN 114029947 B CN114029947 B CN 114029947B
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Abstract
The present disclosure relates to a method and a device for determining a robot pick-up sequence, wherein the method comprises the following steps: determining a preset area, wherein an object in the preset area is used for being picked up by a first robot or a second robot; acquiring the distribution of the objects in the preset area; and determining a first pick-up sequence corresponding to the first robot and a second pick-up sequence corresponding to the second robot according to the distribution of the objects in the preset area. The present disclosure can increase the pick-up speed.
Description
Technical Field
The disclosure relates to the field of object transportation, and in particular to a method and a device for determining a robot pick-up sequence.
Background
At present, in many scenes, a robot is used for replacing or partially replacing manual work to perform related operations such as picking, sorting and carrying of articles, but the robot lacks planning on the picking sequence of the articles, so that the resource consumed by the robot is increased, and the efficiency of picking the articles by the robot is reduced.
Disclosure of Invention
In order to solve at least one technical problem, the present disclosure provides a robot pick-up sequence determining method and apparatus.
According to some embodiments of the present disclosure, there is provided a robot pick sequence determination method, the method comprising: determining a preset area, wherein an object in the preset area is used for being picked up by a first robot or a second robot; acquiring the distribution of the objects in the preset area; and determining a first pick-up sequence corresponding to the first robot and a second pick-up sequence corresponding to the second robot according to the distribution of the objects in the preset area.
In one embodiment, the determining a first pick sequence corresponding to the first robot and a second pick sequence corresponding to the second robot according to the distribution of the objects in the preset area includes:
dividing the preset area into a first area Q1, a second area Q2, and a third area Q3, the first area being an area that is accessible to the first robot and is not likely to have any collision with the second robot, the second area being an area that is accessible to the second robot and is not likely to have any collision with the first robot, and the third area being an area that is accessible to both the first robot and the second robot and is likely to have a collision;
determining the first pick sequence and the second pick sequence based on the distribution of articles in the first zone, the distribution of articles in the second zone, and the distribution of articles in the third zone.
In one embodiment, said determining the first pick sequence and the second pick sequence based on the distribution of articles in the first area, the distribution of articles in the second area, and the distribution of articles in the third area includes, including:
counting a first quantity of items in the first zone, a second quantity of items in the second zone, and a third quantity of items in the third zone;
and sequencing the articles in the first area to obtain the first pick-up sequence, and sequencing the articles in the second area to obtain the second pick-up sequence.
In one embodiment, said sorting the articles in the first area resulting in the first pick sequence comprises:
selecting an article which is closest to the current position of the first robot in the first area as a current article, and adding the current article into a first article picking sequence;
selecting an article which is not selected before and is closest to the current article in the first area as a new current article, and adding the new current article into the first pick sequence;
in the case where the unselected item still exists in the first area, the above step is repeatedly performed.
In one embodiment, if the first number is greater than the second number, the method further comprises:
in response to the first number being greater than the second number, determining a difference between the first number and the second number;
in response to the third quantity being less than or equal to the difference, sorting the articles in the first area to obtain a first pick sequence, and sorting the articles in the second area and the articles in the third area to obtain a second pick sequence;
in response to the situation that the third quantity is larger than the difference value, sorting the articles in the first area to obtain a first pick sequence, sorting the articles in the second area to obtain a third pick sequence, selecting the different articles in the third area to sort to obtain a fourth pick sequence, and connecting the third pick sequence and the fourth pick sequence to obtain the second pick sequence.
In one embodiment, the method further comprises:
and controlling the first robot to sequentially extract the articles in the first pick sequence, and controlling the second robot to sequentially extract the articles in the second pick sequence.
In accordance with further embodiments of the present disclosure, there is provided a robotic pick-up sequence determining apparatus, the apparatus comprising:
a first module for determining a preset area in which an object is to be picked up by a first robot or a second robot;
the second module is used for acquiring the distribution of the objects in the preset area;
and the third module is used for determining a first pick-up sequence corresponding to the first robot and a second pick-up sequence corresponding to the second robot according to the distribution of the objects in the preset area.
In one embodiment, the third module is further configured to:
dividing the preset area into a first area, a second area and a third area, wherein the first area is an area which can be reached by the first robot and is not possible to collide with the second robot, the second area is an area which can be reached by the second robot and is not possible to collide with the first robot, and the third area is an area which can be reached by the first robot and the second robot and is possible to collide with each other;
determining the first pick sequence and the second pick sequence based on the distribution of articles in the first zone, the distribution of articles in the second zone, and the distribution of articles in the third zone.
In one embodiment, the third module is further configured to:
counting a first quantity of items in the first zone, a second quantity of items in the second zone, and a third quantity of items in the third zone;
and sequencing the articles in the first area to obtain the first pick sequence, and sequencing the articles in the second area to obtain the second pick sequence.
In accordance with still further embodiments of the present disclosure, there is also provided a computer readable storage medium having stored therein at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by a processor to implement the robotic pick sequence determination method of any of the above embodiments.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present specification, and other drawings can be obtained by those skilled in the art without inventive efforts.
Fig. 1 illustrates a flow chart of a method for determining a robot pick sequence in accordance with an embodiment of the present disclosure;
fig. 2 illustrates a flow chart for determining a robot pick sequence based on a distribution according to an embodiment of the present disclosure;
FIG. 3 illustrates a partition diagram in one case according to an embodiment of the present disclosure;
FIG. 4 illustrates a partition diagram in another scenario according to an embodiment of the present disclosure;
fig. 5 shows a partition diagram in another case according to an embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments in the present description, belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
The term "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a variety or any combination of at least two of a variety, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
In the embodiment of the disclosure, the situation that two robots cooperatively pick up objects in a preset area is emphatically studied, and a robot pick-up sequence determining method is provided, so that the pick-up sequence is optimized to the maximum extent, the robot working efficiency is improved, and the picking speed of articles in the preset area is accelerated.
As shown in fig. 1, a method according to an embodiment of the present disclosure includes:
s101, determining a preset area, wherein objects in the preset area are used for being picked up by a first robot or a second robot.
And S102, acquiring the distribution of the objects in the preset area.
The distribution acquisition method of the object in the embodiment of the present disclosure is not limited, and may be preset or acquired through communication with other devices.
S103, determining a first pick-up sequence corresponding to the first robot and a second pick-up sequence corresponding to the second robot according to the distribution of the objects in the preset area.
Specifically, the preset area is divided into a first area Q1, which is an area that the first robot can reach and is not likely to have any collision with the second robot, a second area Q2, which is an area that the second robot can reach and is not likely to have any collision with the first robot, and a third area Q3, which is an area that both the first robot and the second robot can reach and is likely to have a collision. Determining the first pick sequence and the second pick sequence based on the distribution of articles in the first zone, the distribution of articles in the second zone, and the distribution of articles in the third zone.
As shown in fig. 2, said determining the first pick sequence and the second pick sequence based on the distribution of articles in the first zone, the distribution of articles in the second zone, and the distribution of articles in the third zone comprises:
s1, counting a first quantity of the articles in the first area, a second quantity of the articles in the second area and a third quantity of the articles in the third area.
Please refer to fig. 3, which illustrates a partition diagram of an embodiment. There are three articles A, B, C in the first zone, three articles D, E, F in the second zone, and four articles G, I, J, K in the third zone, with the first, second, and third numbers being 3, and 4, respectively.
S2, sequencing the articles in the first area to obtain the first picking sequence, and sequencing the articles in the second area to obtain the second picking sequence.
The disclosed embodiments do not define a method of ordering items in a first zone and do not define a method of ordering items in a second zone, which may be the same or different. The sorting may be random, and the sorting result may be ABC or BCA, taking the first pick-up sequence as an example. In some embodiments, the method of sorting the first zone items may further be:
1. and selecting the article closest to the current position of the first robot in the first area as the current article, and joining the first pick sequence. Taking fig. 3 as an example, the first pick sequence at this time may be expressed as { a }.
2. An item that was not previously selected and is closest in distance to the current item is selected in the first zone as a new current item to join the first pick sequence. Taking fig. 3 as an example, the first pick sequence at this time may be expressed as { A, B }.
3. In the case where the unselected item still exists in the first area, the above step is repeatedly performed. Taking fig. 3 as an example, the first pick sequence may be expressed as { A, B, C }. Accordingly, the second pick-up sequence may be expressed as { D, E, F }.
This sequencing may minimize the path of motion of the first robotic end effector, particularly if the end effector has grasped the article and then has transported the article directly from a transport space in communication with the end effector.
If the third number is zero and the first number is equal to the second number, the first pick sequence and the second pick sequence may have been completely determined so far.
If the first number is not equal to the second number, taking the case that the first number is greater than the second number as an example, S2 is performed through the following steps, and needless to say, the same reason that the first number is less than the second number is used.
(a) In response to a condition that the first number is greater than the second number, determining a difference between the first number and the second number.
Taking fig. 4 as an example, it shows a partition diagram in another case. There are four articles A1, B1, C1, D1 in the first zone Q1, two articles E1, F1 in the second zone, one article G1 in the third zone, the first, second and third numbers being 4, 2, 1 respectively. The difference between the first number and the second number is 2.
(b) And in response to the third quantity being less than or equal to the difference, sorting the articles in the first area to obtain a first pick sequence, and sorting the articles in the second area and the articles in the third area to obtain a second pick sequence. The first pick sequence and the second pick sequence may thus be fully determined.
Taking fig. 4 as an example, four articles of the first zone are arranged in the first pick sequence, two articles of the second zone and all articles of the third zone are arranged in the second pick sequence. For example, the first pick sequence can be { A1, B1, C1, D1} and the second pick sequence can be { E1, F1, G1}.
(c) In response to the situation that the third quantity is larger than the difference value, sorting the articles in the first area to obtain a first pick sequence, sorting the articles in the second area to obtain a third pick sequence, selecting the different articles in the third area to sort to obtain a fourth pick sequence, and connecting the third pick sequence and the fourth pick sequence to obtain the second pick sequence.
Taking fig. 5 as an example, it shows a partition diagram in another case. There are four articles A1, B1, C1, D1 in the first zone, two articles E1, F1 in the second zone, three articles K1, G1, T1 in the third zone, the first, second and third numbers being 4, 2, 3 respectively. The difference between the first number and the second number is 2.
In fig. 5, four articles of the first area Q1 are arranged in the first pick sequence, two articles of the second area and two of the articles of the third area are arranged in the second pick sequence. For example, the first pick sequence can be { A1, B1, C1, D1}, the third pick sequence can be { E1, F1}, the fourth pick sequence can be { G1, T1}, and the second pick sequence can be { E1, F1, G1, T1}. For how to determine the fourth pick sequence, the following method may be taken in one embodiment:
10. and selecting the article closest to the last article in the third pick sequence in the third area as the current article, and adding the fourth pick sequence.
20. Randomly selecting a previously unselected item in the third zone as a new current item, and adding a fourth pick sequence.
30. In the case where the number of selected articles in the third area does not reach the above difference, the previous step is repeatedly performed.
This fourth pick sequence determination may save the motion path of the second robot and ensure the generation speed of the second pick sequence.
In another embodiment, another way of determining the fourth pick sequence may also be provided:
100. and selecting the article closest to the last article of the third pick sequence in the third area as the current article, and adding the fourth pick sequence.
200. And selecting the item with the highest compactness as a new current item from the previously unselected items in the third area, and adding the fourth pick sequence.
The compactness is characterized by surrounding environment information of the articles, and if other articles exist at a position near the periphery of one article W1 and any other articles do not exist at a position near the periphery of the other article W2, the compactness of the article W1 is greater than that of the article W2. The compactness is the congestion degree of the environment where the characteristic object is located, and can be calculated through the following formula
Wherein w denotes an item, w e Representing each article adjacent to article w, | w-w e | | denotes w and w e The distance of (c).
300. In the case where the number of selected articles in the third area does not reach the above difference, the previous step is repeatedly performed.
This fourth pick sequence determination may increase the time in which the first robot and the second robot may operate synchronously with a high probability. Because this manner of determination may minimize the degree of crowding among items in the third zone, the reduced crowding of items facilitates synchronized picking.
The articles in the first pick-up sequence and the second pick-up sequence obtained in the steps (a-c) can be picked synchronously, so that the picking efficiency is improved, and if the sorting of details can be combined with the above (1-3), the technical effect of shortening the motion path of the end effector can be achieved.
After the foregoing is performed, if the first preset condition is met, the following operations are further performed: executing a first algorithm for selecting a first item and a second item in a third zone and augmenting the first pick sequence based on the first item and augmenting the second pick sequence based on the second item, the operations of the first robot to pick up the first item and the second robot to pick up the second item being defined to be executed in synchronization; the first algorithm is repeatedly executed until a first termination execution condition is reached.
The first preset case includes two cases: (1) The third number is not zero and the first number is equal to the second number. (2) The first quantity is not equal to the second quantity, but there are still unselected items in the third zone after the above steps are performed.
The first termination execution condition also includes two cases: in the third region, there is no article that has not been selected (the first article cannot be selected) or the second article cannot be selected after the first article is selected.
In one embodiment, the execution of the first algorithm, which may be described as a1-b1, may shorten the path of movement of the first robot as much as possible and facilitate synchronous picking by reducing the degree of congestion.
(a1) If the first termination condition is not met, taking the article which is closest to the last article in the first pick sequence from the unselected articles in the third area as the first article; and, the article located in the third region and located outside the irradiation region of the first article with the highest tightness is taken as the second article. The radiation area of the first article means that the first robot and the second robot do not collide when the first robot picks up the first article and the second robot picks up the certain article simultaneously as long as the certain article is not located in the radiation area.
(b1) And in the case that the first termination condition is not met, adding the first article to the first pick sequence and adding the second article to the second pick sequence, and continuing the steps until the first termination condition is met.
In one embodiment, the execution of the first algorithm, which may be described as a10-b10, may shorten the movement paths of the first and second robots as much as possible.
(a10) If the first termination condition is not met, taking the article which is closest to the last article in the first picking sequence in the unselected articles in the third area as the first article; and taking the item which is located in the third area and outside the irradiation area of the first item and is closest to the last item in the second pick-up sequence as the second item.
(b10) And in the case that the first termination condition is not met, adding the first article to the first pick sequence and adding the second article to the second pick sequence, and continuing the steps until the first termination condition is met.
The first and second pick sequences may be fully determined if the first termination condition is triggered and there are no unselected items in the third zone.
After the foregoing is performed, if the first termination execution condition is reached and a candidate item is present in the third area (the candidate item is an item that does not belong to the first pick sequence and does not belong to the second pick sequence), the following operations need to be performed: executing a second algorithm for selecting a third item among the items to be selected in the third area, expanding the first pick sequence based on the third item, and in response to the item to be selected still existing in the third area, selecting a fourth item among the items to be selected in the third area, expanding the second pick sequence based on the fourth item, the operation of the first robot picking up the third item and the operation of the second robot picking up the fourth item being defined as being performed alternately; and repeatedly executing the second algorithm until a second termination execution condition is reached. The alternative execution means that the second robot picks up the fourth article after the operation of picking up the third article by the first robot is completed.
The second termination execution condition includes two cases: the third article cannot be selected or the fourth article cannot be selected. In one embodiment, the execution of the second algorithm may be described as follows:
(a100) And under the condition that a second termination condition is not met, taking an article which is closest to the last article in the first picking sequence from the articles to be selected in the third area as a third article, and adding the third article into the first picking sequence.
(b100) And under the condition that a second termination condition is not met, taking an article which is closest to the last article in the second pick-up sequence from the articles to be selected in the third area as a fourth article, and adding the fourth article into the second pick-up sequence.
(c100) The above steps are continued until a second termination condition is reached.
(a 100-c 100) the movement path of the first robot, and the movement path of the second robot can be shortened as much as possible. In the embodiment of the present disclosure, the articles selected through the steps (a 100-b 100) all carry asynchronous tags. And (a 100-c 100) after the execution, the first pick sequence and the second pick sequence are completely determined, and the first robot and the second robot can be controlled to pick up the objects based on the first pick sequence and the second pick sequence. The next action is to control the first robot to sequentially pick up the articles in the first picking sequence and the second robot to sequentially pick up the articles in the second picking sequence.
The embodiment of the present disclosure further provides a robot picking sequence determining apparatus, including:
a first module for determining a preset area in which an object is to be picked up by a first robot or a second robot;
the second module is used for acquiring the distribution of the objects in the preset area;
and the third module is used for determining a first pick-up sequence corresponding to the first robot and a second pick-up sequence corresponding to the second robot according to the distribution of the objects in the preset area.
In one embodiment, the third module is further configured to:
dividing the preset area into a first area Q1, a second area Q2, and a third area Q3, the first area being an area that is accessible to the first robot and is not likely to have any collision with the second robot, the second area being an area that is accessible to the second robot and is not likely to have any collision with the first robot, and the third area being an area that is accessible to both the first robot and the second robot and is likely to have a collision;
determining the first pick sequence and the second pick sequence based on the distribution of articles in the first zone, the distribution of articles in the second zone, and the distribution of articles in the third zone.
In one embodiment, the third module is further configured to:
counting a first quantity of items in the first zone, a second quantity of items in the second zone, and a third quantity of items in the third zone;
and sequencing the articles in the first area to obtain the first pick sequence, and sequencing the articles in the second area to obtain the second pick sequence.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and for specific implementation, reference may be made to the description of the above method embodiments, and for brevity, details are not described here again.
The embodiment of the present disclosure also provides a computer-readable storage medium, where at least one instruction or at least one program is stored in the computer-readable storage medium, and the at least one instruction or the at least one program is loaded by a processor and executed to implement the method. The computer readable storage medium may be a non-volatile computer readable storage medium.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (7)
1. A method for determining a robotic pick sequence, the method comprising:
determining a preset area, wherein objects in the preset area are used for being picked up by a first robot or a second robot;
acquiring the distribution of the objects in the preset area;
determining a first pick-up sequence corresponding to the first robot and a second pick-up sequence corresponding to the second robot according to the distribution of the objects in the preset area;
wherein the preset area is divided into a first area that is an area that the first robot can reach and is not likely to make any collision with the second robot, a second area that is an area that the second robot can reach and is not likely to make any collision with the first robot, and a third area that is an area that both the first robot and the second robot can reach and is likely to make a collision;
determining the first pick sequence and the second pick sequence based on the distribution of articles in the first zone, the distribution of articles in the second zone, and the distribution of articles in the third zone;
counting a first quantity of items in the first zone, a second quantity of items in the second zone, and a third quantity of items in the third zone;
sorting the articles in the first area to obtain the first pick-up sequence, and sorting the articles in the second area to obtain the second pick-up sequence;
if the first number is greater than the second number, the method further comprises:
in response to a condition that the first number is greater than the second number, determining a difference between the first number and the second number;
in response to the third quantity being less than or equal to the difference, sorting the articles in the first area to obtain a first pick sequence, and sorting the articles in the second area and the articles in the third area to obtain a second pick sequence;
in response to the situation that the third number is larger than the difference value, sorting the articles in the first area to obtain a first pick sequence, sorting the articles in the second area to obtain a third pick sequence, selecting the different articles in the third area to sort to obtain a fourth pick sequence, and connecting the third pick sequence and the fourth pick sequence to obtain a second pick sequence.
2. The method of claim 1, wherein said sorting the articles in the first area resulting in the first pick sequence comprises:
selecting an article closest to the current position of the first robot in the first area as a current article, and adding the current article into the first pick sequence;
selecting an article which is not selected before and is closest to the current article in the first area as a new current article, and adding the new current article into the first pick sequence;
in the case where the unselected item still exists in the first area, the above step is repeatedly performed.
3. The method of claim 2, further comprising:
and controlling the first robot to sequentially extract the articles in the first pick sequence, and controlling the second robot to sequentially extract the articles in the second pick sequence.
4. A robotic pick sequence determining apparatus for implementing the method of any of claims 1-3, the apparatus comprising:
a first module for determining a preset area in which an object is to be picked up by a first robot or a second robot;
the second module is used for acquiring the distribution of the objects in the preset area;
and the third module is used for determining a first pick-up sequence corresponding to the first robot and a second pick-up sequence corresponding to the second robot according to the distribution of the objects in the preset area.
5. The apparatus of claim 4, wherein the third module is further configured to:
dividing the preset area into a first area, a second area and a third area, wherein the first area is an area which can be reached by the first robot and is not possible to collide with the second robot, the second area is an area which can be reached by the second robot and is not possible to collide with the first robot, and the third area is an area which can be reached by the first robot and the second robot and is possible to collide with each other;
determining the first pick sequence and the second pick sequence based on the distribution of articles in the first zone, the distribution of articles in the second zone, and the distribution of articles in the third zone.
6. The apparatus of claim 5, wherein the third module is further configured to:
counting a first quantity of items in the first zone, a second quantity of items in the second zone, and a third quantity of items in the third zone;
and sequencing the articles in the first area to obtain the first pick sequence, and sequencing the articles in the second area to obtain the second pick sequence.
7. A computer readable storage medium having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement a method of robotic pick sequence determination as claimed in any one of claims 1 to 3.
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