CN118163110A

CN118163110A - Truss robot task scheduling method and device and truss sorting system

Info

Publication number: CN118163110A
Application number: CN202410420033.5A
Authority: CN
Inventors: 廖亚军; 王红博; 黄坤; 冀春锟
Original assignee: Hunan Shibite Robot Co Ltd
Current assignee: Hunan Shibite Robot Co Ltd
Priority date: 2024-04-09
Filing date: 2024-04-09
Publication date: 2024-06-11

Abstract

The application relates to a truss robot task scheduling method, a truss sorting system, a computer device, a computer readable storage medium and a computer program product, wherein the method comprises the following steps: acquiring part positions of a plurality of parts to be conveyed of the truss robot, and determining respective movable ranges of a plurality of mechanical arms of the truss robot; from each mechanical arm, determining the expected transmission arm of each part to be transmitted respectively, and obtaining initial scheduling information of the truss robot; performing task information update processing on at least one part of each part to be transmitted to obtain update scheduling information of the truss robot; and determining a task scheduling result of the truss robot based on the target scheduling information with relatively smaller expected task cost in the updated scheduling information and the initial scheduling information. The part position of the part to be conveyed is in the movable range of an expected conveying arm of the part to be conveyed. By adopting the method, the task scheduling effect can be improved.

Description

Truss robot task scheduling method and device and truss sorting system

Technical Field

The present application relates to the field of robot control technology, and in particular, to a truss robot task scheduling method, a truss sorting system, a computer device, a computer readable storage medium, and a computer program product.

Background

Truss robots, also known as gantry robots, are a type of robotic arm built on a right angle system, formed by a plurality of joints connected in series, and are widely used in the fields of transportation, loading and unloading, etc.

In the conventional technology, a task scheduling result for a part to be transmitted at present is determined according to historical task scheduling data, and the task scheduling effect depends on the scheduling effect of historical task scheduling and has larger instability. Therefore, the task scheduling of the truss robot is performed by adopting the traditional technology, and the defect of poor task scheduling effect exists.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a truss robot task scheduling method, apparatus, truss sorting system, computer device, computer readable storage medium, and computer program product that can improve the task scheduling effect.

In a first aspect, the application provides a truss robot task scheduling method. The method comprises the following steps:

acquiring part positions of a plurality of parts to be conveyed of the truss robot, and determining respective movable ranges of a plurality of mechanical arms contained in the truss robot;

from each mechanical arm, determining the expected transmission arm of each part to be transmitted respectively, and obtaining initial scheduling information of the truss robot; the part position of the part to be conveyed is covered by the movable range of an expected conveying arm of the part to be conveyed;

Performing task information update processing on at least one part of each part to be transmitted to obtain update scheduling information of the truss robot; the task information includes at least one of a desired transfer arm or a transfer task execution order;

and determining target scheduling information with relatively smaller expected task cost from the updated scheduling information and the initial scheduling information, and determining a task scheduling result of the truss robot based on the target scheduling information.

In one embodiment, determining, from each mechanical arm, a desired transfer arm of each part to be transferred, respectively, to obtain initial dispatch information of the truss robot, including:

determining the expected conveying arm of each part to be conveyed from each mechanical arm;

ordering all transmission tasks of the expected transmission arms aiming at each expected transmission arm to obtain an initial task queue of the expected transmission arm;

initial scheduling information including respective initial task queues for each desired transmitting arm is determined.

In one embodiment, the method further comprises:

determining the respective placement positions of the parts to be conveyed;

from each mechanical arm, respectively determining the respective expected conveying arm of each part to be conveyed, and comprising:

For each part to be conveyed, determining a candidate mechanical arm with a movable range covering part positions and placement positions of the part to be conveyed from the mechanical arms;

if the number of the candidate mechanical arms is one, determining the candidate mechanical arms as expected conveying arms of the parts to be conveyed;

if the number of the candidate mechanical arms is a plurality of the candidate mechanical arms, one of the candidate mechanical arms is determined as a desired conveying arm for the part to be conveyed.

In one embodiment, the method further comprises:

If the candidate mechanical arms corresponding to the parts to be transferred do not exist in the mechanical arms, dividing the expected transfer track of the parts to be transferred into a plurality of sub-tracks according to each moving range; the desired transfer trajectory refers to a transfer trajectory from the part position to the placement position;

And determining the mechanical arms of which the movement ranges of the sub-tracks respectively correspond to each other as expected conveying arms of the parts to be conveyed.

In one embodiment, for each desired transfer arm, ordering the transfer tasks of the desired transfer arm to obtain an initial task queue of the desired transfer arm includes:

determining a respective expected conveying track of each part to be conveyed of the expected conveying arm aiming at each expected conveying arm;

And sequencing the transmission tasks according to the track lengths of the expected transmission tracks to obtain an initial task queue of the expected transmission arm.

In one embodiment, the method further comprises:

Determining a task queue of each expected transmitting arm under the candidate scheduling information; the task queue comprises at least one transmission task of the part to be transmitted; the candidate scheduling information comprises initial scheduling information and updated scheduling information;

Determining respective task starting positions and task ending positions of all the transmission tasks based on the arrangement sequence of all the transmission tasks in the belonging task queue;

For each transmission task, determining the expected transmission duration of the transmission task according to a task path between a task starting position and a task ending position of the transmission task;

Determining expected waiting time length caused by collision of arm motion tracks according to expected motion tracks of expected transmission arms in the execution process of transmission tasks;

and superposing each expected transmission time length and each expected waiting time length, and determining the corresponding expected task cost of the truss robot under the candidate scheduling information.

In one embodiment, for each transfer task, determining an expected transfer duration of the transfer task based on a task path between a task start location and a task end location of the transfer task includes:

for each transmission task, determining a task path between a task starting position and a task ending position of the transmission task;

performing discrete processing on the task paths according to the set step length to obtain the step length number of the transmission task;

an expected transmission duration that is positively correlated to the number of steps is determined.

An expected transmission duration for transmitting the task is determined based on the path length and the path type of the task path.

In one embodiment, determining the expected waiting time due to the collision of the arm motion track according to the expected motion track of each expected transmission arm in the execution process of the transmission task comprises:

Determining distance information between adjacent expected transmission arms according to expected motion tracks of the expected transmission arms in the execution process of the transmission task; the distance information comprises arm distances corresponding to the time nodes respectively;

determining expected waiting time length caused by the collision of the arm motion track based on the number of time nodes meeting the track collision condition in the distance information; the expected wait period is positively correlated with the number of time nodes.

In one embodiment, performing task information update processing on at least a part of each part to be transferred to obtain update schedule information of the truss robot, including:

from each transmission task, determining candidate tasks with expected transmission time length greater than or equal to a time length threshold value or with arm motion track conflict;

and carrying out task information updating processing on at least one part of each candidate task to obtain updating scheduling information of the truss robot.

In one embodiment, determining a task schedule result for the truss robot based on the target schedule information includes:

Taking the target scheduling information as new initial scheduling information, returning to perform task information updating processing on at least one part of the parts to be transmitted to obtain updated scheduling information of the truss robot, and performing next round of updating iteration;

And under the condition that the iteration ending condition is met, determining the target scheduling information of the current wheel as a task scheduling result of the truss robot.

In a second aspect, the application further provides a task scheduling device for the truss robot. The device comprises:

The acquisition module is used for acquiring the part positions of the parts to be conveyed of the truss robot and determining the respective movable ranges of a plurality of mechanical arms contained in the truss robot;

the initial dispatching module is used for respectively determining the expected conveying arms of each part to be conveyed from all the mechanical arms to obtain initial dispatching information of the truss robot; the part position of the part to be conveyed is covered by the movable range of an expected conveying arm of the part to be conveyed;

the scheduling information updating module is used for carrying out task information updating processing on at least one part of each part to be transmitted to obtain updated scheduling information of the truss robot; the task information includes at least one of a desired transfer arm or a transfer task execution order;

and the scheduling result determining module is used for determining target scheduling information with relatively smaller expected task cost from the updated scheduling information and the initial scheduling information and determining the task scheduling result of the truss robot based on the target scheduling information.

In a third aspect, the application further provides a truss sorting system. The system comprises a roller line, a controller, a collecting device connected with the controller and a truss robot; the truss robot comprises a plurality of mechanical arms; the tail end of the mechanical arm is connected with an end pick-up device for grabbing parts; the roller line is used for transporting the parts to be conveyed; the collecting device is used for the part positions of the parts to be conveyed on the roller line; the controller is used for realizing the method so as to determine the task scheduling result for each mechanical arm in the truss robot; and the truss robot is used for conveying all parts to be conveyed according to the task scheduling result.

In a fourth aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the steps of the above method when the processor executes the computer program.

In a fifth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the above method.

In a sixth aspect, the application also provides a computer program product. The computer program product comprising a computer program which, when executed by a processor, implements the steps of the above method.

According to the truss robot task scheduling method, the truss sorting system, the computer equipment, the computer readable storage medium and the computer program product, on one hand, the part positions of the parts to be transmitted are in the range of motion of an expected transmission arm of the parts to be transmitted, so that the parts to be transmitted can be ensured to be grabbed no matter initial scheduling information or updated scheduling information, and a foundation is provided for smooth transmission of the parts; on the other hand, at least one of the expected transmission arm or the transmission task execution sequence is updated to realize the update of the initial scheduling information, and the task scheduling result of the truss robot is determined based on the initial scheduling information and the target scheduling information with relatively smaller expected task cost in the updated scheduling information, which is equivalent to the expected task cost of a plurality of task scheduling modes, and one determined task scheduling result with smaller expected task cost is selected, so that the task cost of the transmission task can be reduced, and the better task scheduling effect is ensured to be obtained.

Drawings

FIG. 1 is an application environment diagram of a truss robot task scheduling method in one embodiment;

FIG. 2 is a schematic diagram of the working principle of a truss robot in one embodiment;

FIG. 3 is a flow diagram of a truss robot task scheduling method in one embodiment;

FIG. 4 is a schematic diagram of a determination of an expected task cost in one embodiment;

FIG. 5 is a flow chart of a task scheduling method for a truss robot in another embodiment;

FIG. 6 is a schematic diagram of a truss sorting system in one embodiment;

FIG. 7 is a schematic diagram of an end effector in one embodiment;

FIG. 8 is a schematic diagram of a partial structure of an end effector in one embodiment;

FIG. 9 is a schematic structural view of a collision detection assembly in one embodiment;

FIG. 10 is a block diagram of a truss robotic task scheduling device in one embodiment;

FIG. 11 is an internal block diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

In one embodiment, the task scheduling method for the truss robot provided by the application can be applied to an application environment as shown in fig. 1. The collecting device 101 may collect part positions of each of a plurality of parts to be transferred of the truss robot 102; the controller 103 may schedule tasks for the truss robot 102 by interacting with the acquisition device 101. The connection between the controller 103 and the acquisition device 101, and the connection between the controller 103 and the truss robot 102 may be wired connection or wireless connection. The wireless connection may be, for example, bluetooth, WIFI, or the like, and is not limited herein. Further, truss robot 102 may include a plurality of robotic arms, such as R ₁、R₂、R₃ and R ₄ in fig. 2. Each mechanical arm can move along the fixed rod 2 and can move along the truss 1 under the drive of the fixed rod 2 so as to move each part 4 on the roller line 3 to the corresponding part placement area 5. The number of the mechanical arms may be N, and the number of the parts placement areas 5 may be K. In one particular embodiment, the parts placement area 5 may place a frame for handling the placed parts.

As shown in fig. 2, the part transfer process may include three stages of gripping, moving and placing: gripping a process corresponding to G' in fig. 2 for taking out the part 4 to be transferred from the roller line 3; the movement corresponds to the process from G 'to B' in fig. 2 for moving the part 4 to be transferred from above the roller line 3 to above the part placement area 5; the placement corresponds to the process from B' to B in fig. 2 for placing the parts 4 to be transferred in the part placement area 5. In practical applications, the gripping and the moving may be performed simultaneously, or the moving and the placing may be performed simultaneously, which is not limited herein. Further, the robot arm tip may include an end effector for completing part gripping.

Further, the acquisition device 101 is a device having an information acquisition function, and may include a camera, an infrared scanner, or the like. The controller 103 may be a hardware module including various processing chips and peripheral circuits thereof, and having a logic operation function. The processing chip can be a single chip microcomputer, a DSP (DIGITAL SIGNAL Process, digital signal processing) chip or an FPGA (Field Programmable GATE ARRAY ) chip, etc. The controller 103 performs the truss robot task scheduling method: acquiring part positions of a plurality of parts to be conveyed of the truss robot, and determining respective movable ranges of a plurality of mechanical arms contained in the truss robot; from each mechanical arm, determining the expected transmission arm of each part to be transmitted respectively, and obtaining initial scheduling information of the truss robot; performing task information update processing on at least one part of each part to be transmitted to obtain update scheduling information of the truss robot; and determining target scheduling information with relatively smaller expected task cost from the updated scheduling information and the initial scheduling information, and determining a task scheduling result of the truss robot based on the target scheduling information. The part position of the part to be conveyed is in the movable range of an expected conveying arm of the part to be conveyed; the task information includes at least one of a desired transfer arm or a transfer task execution order.

In one embodiment, as shown in fig. 3, a truss robot task scheduling method is provided, and the method is applied to the controller 103 in fig. 1 for illustration, and includes the following steps:

Step S302, obtaining the part positions of the parts to be transferred of the truss robot, and determining the respective movable ranges of the mechanical arms included in the truss robot.

The parts to be conveyed can be a plurality of parts on a roller line of the truss sorting system where the truss robot is located. The part position may refer to the position of the part to be transferred on the roller line. The parts may be machine components or cut workpieces, and the application is not limited to the specific type of parts. Specifically, an acquisition device may be configured to acquire positional information of each part to be transferred, so that the controller may acquire the part positions of each of the plurality of parts to be transferred of the truss robot from the acquisition device. The range of motion of the robotic arm can be used to characterize the ability of the robotic arm to transfer parts. Specifically, under the condition that the movable range of the mechanical arm covers the position of the part, the mechanical arm can finish taking and placing the part.

As shown in fig. 2, the truss robot may include a plurality of mechanical arms, and each mechanical arm may move along a corresponding fixing rod 2 and may move along the truss 1 under the driving of the fixing rod 2. Based on this, the controller 103 may determine the respective movement ranges of the respective mechanical arms according to the structure of the truss robot, or may acquire the respective movement ranges of the respective mechanical arms by communicating with the processor of the truss robot.

Step S304, determining the expected conveying arm of each part to be conveyed from the mechanical arms respectively, and obtaining initial dispatching information of the truss robot.

Wherein, the part position of the part to be transferred is covered by the movable range of the expected transfer arm of the part to be transferred. The movable range covers the part position, and can refer to that the part position is in the movable range, or the movable capability represented by the movable range can realize the picking and placing of the part aiming at the part position. That is, for each mechanical arm, if the movable range of the mechanical arm can cover the part position of the part to be transferred, it is indicated that the mechanical arm can grasp the part to be transferred and participate in the transferring task of the part to be transferred.

Based on the above, the controller can determine the type of the region in which each part position is located according to the coverage relationship between each part position and each movable range. The region type may include, for example, an exclusive region covered by the movable range of only one robot arm, and may also include a shared region covered by the movable ranges of two adjacent robot arms. Therefore, the controller can respectively determine the expected conveying arms of each part to be conveyed from the mechanical arms, so that the distribution of the conveying tasks of each part to be conveyed is realized, and the initial dispatching information of the truss robot is obtained. Specifically, the transfer task of the part to be transferred in the exclusive area has only one schedulable mechanical arm, and the schedulable mechanical arm can be determined as the expected transfer arm; while there are two dispatchable robot arms for the transfer task of the part to be transferred in the shared area, one of the two dispatchable robot arms may be selected as the desired transfer arm for the part to be transferred.

Further, the determination of the desired transfer arm for different parts to be transferred may be performed simultaneously or sequentially. In the case of sequentially determining the desired transfer arms of each part to be transferred, the controller may also select, as the desired transfer arm, the one having the least currently assigned task from among the schedulable mechanical arms in consideration of the balance of task assignment.

And step S306, performing task information update processing on at least one part of the parts to be transmitted to obtain update scheduling information of the truss robot.

Wherein the task information includes at least one of a desired transfer arm or transfer task execution order.

Specifically, the controller may update task information for a transmission task of at least a portion of the parts to be transmitted, to obtain update schedule information of the truss robot. Optionally, the controller may traverse each mechanical arm of the truss robot sequentially, and randomly select a transmission task corresponding to the shared area from respective task queues of adjacent mechanical arms to exchange, so as to update an expected transmission arm for a part to be transmitted in the shared area. Alternatively, the controller may randomly select a task in the exclusive region and insert it into another random location in the arm task queue to effect an update of the task execution order. The tasks in the shared area between the adjacent truss arms are randomly exchanged, and the task execution sequence in the exclusive area is changed, so that multiple possibilities can be generated as much as possible, the probability of obtaining the optimal solution with the minimum expected task cost is improved, and all the tasks can be ensured to be executed.

In the present embodiment, the number of parts to be transferred for updating the desired transfer arm and the number of parts to be transferred for updating the transfer task execution sequence are not limited. That is, the controller may perform iterative updating of the scheduling information for a plurality of rounds by changing the part to be transferred for task updating and the type of task information for the specific updating, to obtain a plurality of updated scheduling information.

Step S308, determining target scheduling information with relatively smaller expected task cost from the updated scheduling information and the initial scheduling information, and determining a task scheduling result of the truss robot based on the target scheduling information.

The task cost can comprise time cost, resource cost and the like, and the time cost can comprise respective transmission duration of each transmission task and waiting duration of each transmission task in the execution process due to arm movement track conflict; the resource cost can be characterized by the number of task input robots.

Specifically, the controller may determine, for the initial scheduling information and the updated scheduling information, an expected task cost corresponding to each of the initial scheduling information and the updated scheduling information, respectively. Then, by comparing, target scheduling information with relatively small expected task cost is determined from the initial scheduling information and the updated scheduling information, and a task scheduling result of the truss robot is determined based on the target scheduling information. Optionally, the controller may determine the target scheduling information as a task scheduling result of the truss robot; iterative updating of the scheduling information can also be performed on the basis of the target scheduling information so as to further reduce the expected task cost.

According to the truss robot task scheduling method, on one hand, the part positions of the parts to be transmitted are in the moving range of the expected transmission arms of the parts to be transmitted, so that the parts to be transmitted can be ensured to be grabbed no matter initial scheduling information or updated scheduling information, and a foundation is provided for smooth transmission of the parts; on the other hand, at least one of the expected transmission arm or the transmission task execution sequence is updated to realize the update of the initial scheduling information, and the task scheduling result of the truss robot is determined based on the initial scheduling information and the target scheduling information with relatively smaller expected task cost in the updated scheduling information, which is equivalent to the expected task cost of a plurality of task scheduling modes, and one determined task scheduling result with smaller expected task cost is selected, so that the task cost of the transmission task can be reduced, and the task scheduling effect is improved.

In a specific embodiment, determining a task schedule result for the truss robot based on the target schedule information includes: taking the target scheduling information as new initial scheduling information, returning to step S306, and carrying out updating iteration of the next round; and under the condition that the iteration ending condition is met, determining the target scheduling information of the current wheel as a task scheduling result of the truss robot.

The iteration end condition may be that the continuous times of invalid updating reach the set times, or that various task information updating modes have been tried, or that the operation time of the iteration process exceeds a set time threshold. Invalid updating means that the expected task cost of updating the scheduling information is greater than the expected task cost of the initial scheduling information. The updated scheduling information obtained in different iteration rounds is different. Specifically, the controller may perform multiple rounds of iterative updating to obtain a final task scheduling result, and in each round of iterative updating process, different parts to be transmitted may be selected to perform updating of task information, or different task information of the same part to be transmitted may be selected to be updated.

Specifically, after determining the target scheduling information, the controller may take the target scheduling information as new initial scheduling information, and return to the step of performing task information update processing on at least a portion of each part to be transmitted to obtain updated scheduling information of the truss robot, perform update iteration of the next round, and so on until the iteration end condition is met, and determine the target scheduling information of the current round as a task scheduling result of the truss robot under the condition that the iteration end condition is met. The final task scheduling result is determined through multiple rounds of iteration of scheduling information, so that the task cost of a transmission task can be further reduced, and the task scheduling effect is improved.

In one embodiment, step S304 includes: determining the expected conveying arm of each part to be conveyed from each mechanical arm; sequencing all transmission tasks of each expected transmission arm aiming at each expected transmission arm to obtain an initial task queue of the expected transmission arm; initial scheduling information including respective initial task queues for each desired transmitting arm is determined.

The process of ordering the transmission tasks of the expected transmission arm may be random ordering or ordering according to the allocation sequence of the transmission tasks; the sorting can also be performed according to the track length of the expected conveying track of the parts to be conveyed respectively for each conveying task. The desired transfer trajectory refers to a transfer trajectory from the part position to the placement position. Specifically, the controller may determine, from the respective mechanical arms, a respective desired transfer arm for each part to be transferred according to a coverage relationship between the position of each part and each movable range. Then, for each expected transmission arm, ordering the transmission tasks of the expected transmission arm to obtain an initial task queue of the expected transmission arm, and further determining initial scheduling information comprising the initial task queues of the expected transmission arms.

In the above embodiment, after determining the expected transmission arm, the transmission tasks of the expected transmission arm are further ordered, so as to obtain the initial scheduling information including the initial task queues of the expected transmission arms, so that the integrity of the initial scheduling information can be ensured, and a foundation is provided for subsequent scheduling information updating.

In a specific embodiment, for each desired transfer arm, ordering the transfer tasks of the desired transfer arm to obtain an initial task queue of the desired transfer arm includes: determining, for each desired transfer arm, a respective desired transfer trajectory for each part to be transferred of the desired transfer arm; and sequencing the transmission tasks according to the track lengths of the expected transmission tracks to obtain an initial task queue of the expected transmission arm.

Wherein the desired transfer trajectory refers to a transfer trajectory from the part position to the placement position. Specifically, the controller may determine a respective placement position of each part to be transferred. After determining the placement position, the controller may determine, for each part to be transferred, a transfer track between a part position of the part to be transferred and the placement position as an expected transfer track of the part to be transferred, and further may determine, for each expected transfer arm, a respective expected transfer track of each part to be transferred of the expected transfer arm, and sort each transfer task of the expected transfer arm according to a respective track length of each expected transfer track, so as to obtain an initial task queue of the expected transfer arm. In a specific implementation, the transmission task with a shorter track length may be preferentially executed, that is: and sequencing all the transmission tasks of the expected transmission arm according to the sequence from small track length to large track length, and obtaining an initial task queue of the expected transmission arm.

In the above embodiment, according to the track length of each expected transmission track, each transmission task is sequenced to obtain the initial task queue of the expected transmission arm, so that the scientificity of the initial scheduling information can be improved, and the scientificity of the determined task scheduling result can be further optimized on the basis of the initial scheduling information.

In a specific embodiment, the truss robot task scheduling method further includes: and determining the placement position of each part to be conveyed. In the case of this embodiment, determining from among the respective robot arms a respective desired transfer arm for each part to be transferred, comprises: for each part to be conveyed, determining a candidate mechanical arm with a movable range covering the part position and the placement position of the part to be conveyed from the mechanical arms; if the number of the candidate mechanical arms is one, determining the candidate mechanical arms as expected conveying arms of the parts to be conveyed; if the number of the candidate mechanical arms is a plurality of the candidate mechanical arms, any one of the candidate mechanical arms is determined to be the expected conveying arm of the part to be conveyed.

The placement position refers to an expected placement position of a part to be conveyed in a part placement area. It will be appreciated that the controller may determine the placement location based on the principle of closest proximity without the need for classification between parts to be transferred; under the condition that classification is needed to be carried out among the parts to be conveyed, the controller can determine the respective placement positions of the parts to be conveyed according to the matching relation between the respective classification of the parts to be conveyed and the part placement area. After determining the respective part position and placement position of each part to be transferred, the controller may determine, for each part to be transferred, a candidate robot arm whose movable range covers the part position and placement position of the part to be transferred from among the robot arms of the truss robot, and determine a desired transfer arm of the part to be transferred from among the candidate robot arms. Specifically, if the number of the candidate mechanical arms is one, determining the candidate mechanical arms as expected conveying arms of the parts to be conveyed; if the number of the candidate mechanical arms is a plurality of, any one of the candidate mechanical arms is determined as the expected conveying arm of the part to be conveyed, or the one with fewer conveying tasks in the candidate mechanical arms is determined as the expected conveying arm of the part to be conveyed.

In the above embodiment, the allocation of the expected transfer arm is performed respectively for the exclusive task of only the single candidate mechanical arm and the shared task of the plurality of candidate mechanical arms, so that the part transfer task can be ensured to be accurately executed, the accuracy of task scheduling is further ensured, and the task scheduling effect is improved.

In practical applications, there may be a transfer task that requires multiple robotic arms to cooperate to complete. That is, the part position of the part to be transferred is covered by the movable range of one robot arm, and the placement position of the part to be transferred is covered by the movable range of the other robot arm. In this case, the candidate robot arm corresponding to the part to be transferred will not exist in each robot arm of the truss robot, and the transfer task of the part to be transferred will be referred to as a cooperation task.

In a specific embodiment, the truss robot task scheduling method further includes: if the candidate mechanical arms corresponding to the parts to be transferred do not exist in the mechanical arms, dividing the expected transfer track of the parts to be transferred into a plurality of sub-tracks according to each moving range; and determining the mechanical arms of which the movement ranges of the sub-tracks respectively correspond to each other as expected conveying arms of the parts to be conveyed.

Wherein the desired transfer trajectory refers to a transfer trajectory from the part position to the placement position. Specifically, for a collaborative task, a desired transfer trajectory of a part to be transferred may be divided into a plurality of sub-trajectories according to respective ranges of motion, each sub-trajectory being covered by one range of motion. Therefore, the controller can determine the mechanical arms of which the movement ranges of the sub-tracks respectively correspond to each other as expected conveying arms of the parts to be conveyed. That is, for a collaborative task, multiple desired transfer arms may be configured for the collaborative task. In this case, in the process of sorting the transmission tasks to obtain the task queues, the matching of the task sequences among different mechanical arms needs to be considered, specifically, sorting the sub-transmission tasks corresponding to each sub-track according to the arrangement sequence of each sub-track in the transmission track, determining the sequence of each sub-transmission task in the task queues to which each sub-transmission task belongs, and further sorting other non-cooperative tasks to obtain the initial task queues of each expected transmission arm.

In the above embodiment, the allocation of the expected transfer arms is performed for the cooperative task that requires the cooperative work of the plurality of mechanical arms to complete the transfer, so that all the parts to be transferred can be ensured to be transferred accurately, which is beneficial to further ensuring the accuracy of task scheduling and improving the task scheduling effect.

A specific determination of the expected task cost is described below.

In one embodiment, the truss robot task scheduling method further includes: determining a task queue of each expected transmitting arm under the candidate scheduling information; determining respective task starting positions and task ending positions of all the transmission tasks based on the arrangement sequence of all the transmission tasks in the belonging task queue; for each transmission task, determining the expected transmission duration of the transmission task according to a task path between a task starting position and a task ending position of the transmission task; determining expected waiting time length caused by collision of arm motion tracks according to expected motion tracks of expected transmission arms in the execution process of transmission tasks; and superposing each expected transmission time length and each expected waiting time length, and determining the corresponding expected task cost of the truss robot under the candidate scheduling information.

The task queue comprises at least one transmission task of a part to be transmitted; the candidate schedule information includes initial schedule information and updated schedule information. Specifically, the controller may determine a respective task queue for each desired transmitting arm under the candidate schedule information. Then, based on the arrangement sequence of each transmission task in the belonging task queue, the respective task starting position and task ending position of each transmission task are determined, and then the task path between the task starting position and the task ending position is determined. It can be understood that the task starting position of the first transmission task in the task queue of the mechanical arm is the initial position of the mechanical arm; the task starting position of each transmission task except the first transmission task in the task queue is the task ending position of the last transmission task of the transmission task.

Alternatively, the controller may perform the segmentation of the transfer task based on part position or placement position. For example, the controller may determine a task end position of a transfer task as a placement position of a part to be transferred of the transfer task; the controller may also determine a task end position of the transfer task as a part position of a part to be transferred for a next transfer task of the transfer task. That is, the task path includes two parts: a desired transfer trajectory between the part position of the part to be transferred and the placement position, and a movement trajectory of the robot arm after the part is placed.

Specifically, the controller may determine, according to a task path of each transmission task, an expected transmission duration of each transmission task, determine, according to an expected motion track of each expected transmission arm during execution of the transmission task, an expected waiting duration caused by an arm motion track conflict, and finally superimpose each expected transmission duration and each expected waiting duration, to determine an expected task cost corresponding to the truss robot under the candidate scheduling information. Wherein the expected motion profile may be used to characterize the position of the fixed bar of the desired transfer arm on the truss. According to the respective task path of each transmission task and the moving speed of the fixed rod, the controller can determine the respective expected motion trail of each expected transmission arm, and further determine the distance information between the adjacent mechanical arms. The distance information is used to represent the change over time of the arm distance between adjacent arms. Therefore, the controller can determine whether the arm movement track conflict exists or not and the number of times of the arm movement track conflict exists according to the distance information, and further determine the expected waiting time positively related to the number of times of the conflict. Further, the manner in which the controller superimposes each expected transmission duration and each expected waiting duration is not unique, and may be, for example, direct addition, or may be to assign different weights to the expected transmission duration and the expected waiting duration, and then perform weighted summation.

In the above embodiment, the expected task cost is determined by superposing the expected transmission duration and the expected waiting duration, which is equivalent to considering the cost of transferring the mechanical arm of the truss robot to the next task and the waiting cost caused by the intersection of the motions in the task scheduling process, so that the accuracy of the expected task cost can be ensured, the expected work efficiency of the transmission task is further improved, and the task scheduling effect is improved.

In a specific embodiment, for each transmission task, determining a respective transmission duration of each transmission task according to a task path between a task start position and a task end position of the transmission task includes: for each transmission task, determining a task path between a task starting position and a task ending position of the transmission task; performing discrete processing on the task paths according to the set step length to obtain the step length number of the transmission task; an expected transmission duration that is positively correlated to the number of steps is determined.

Specifically, as shown in fig. 4, the controller may determine, for each transmission task, a task path between a task start position and a task end position of the transmission task, and then perform discrete processing on the task path according to a set step size to obtain a step size number of the transmission task, so as to determine an expected transmission duration positively related to the step size number. In this embodiment, the controller determines the expected transmission duration according to the path length, so as to improve the working efficiency of the task scheduling process.

In a specific embodiment, for each transmission task, determining a respective transmission duration of each transmission task according to a task path between a task start position and a task end position of the transmission task includes: for each transmission task, determining a task path between a task starting position and a task ending position of the transmission task; an expected transmission duration for transmitting the task is determined based on the path length and the path type of the task path.

The path type may be, for example, a straight line, a broken line, or a curved line. As shown in fig. 2, in the case that three stages of grabbing, moving and placing are not performed synchronously, the path type is a broken line; in the case where the gripping and moving are performed synchronously and the moving and placing are performed synchronously, the path type may be a curve.

It will be appreciated that the speed of movement of the transfer arm is expected to be different for different path types, as are the corresponding transfer speeds. Based on this, the controller may determine the movement speed of the desired transfer arm according to the path type, and thus determine the desired transfer duration in combination with the path length and the movement speed. For example, in the case where the path type is a broken line, each turning point faces a large change in the moving direction, and thus it is necessary to perform a deceleration process; in the case where the path type is curved, since the moving direction is continuously changed, it is not necessary to perform the deceleration processing, and the moving speed is faster than that. Specifically, the controller may determine, for each transmission task, a task path between a task start position and a task end position of the transmission task, and determine, according to a path type of the task path, a time-dependent change of a movement speed of an expected transmission arm during execution of the transmission task, thereby determining an expected transmission duration of the transmission task in combination with a path length and a time-dependent change of the movement speed.

In this embodiment, the expected transmission duration of the transmission task is determined by combining the path length and the path type of the task path, so that the accuracy of the expected transmission duration can be ensured, and the accuracy of the expected task cost can be further ensured.

In a specific embodiment, determining a waiting time period caused by the collision of the arm motion track according to the expected motion track of each expected transmission arm in the execution process of the transmission task comprises: determining distance information between adjacent expected transmission arms according to expected motion tracks of the expected transmission arms in the execution process of the transmission task; and determining the expected waiting time length caused by the collision of the movement track of the arm based on the number of the arm distances meeting the track collision condition in the distance information.

The distance information comprises arm distances corresponding to the time nodes respectively; the expected wait period is positively correlated with the number of time nodes. The track conflict condition may refer to an arm distance being less than or equal to a safe distance. Specifically, the controller may determine a change condition of arm distances between adjacent expected transmission arms over time according to expected motion trajectories of the expected transmission arms during execution of the transmission task, and determine an expected waiting period due to an arm motion trajectory collision based on the number of arm distances satisfying a trajectory collision condition in the arm distances.

In a specific implementation, as shown in fig. 4, the controller may determine, for each transmission task, a task path between a task start position and a task end position of the transmission task, and then perform discrete processing on the task path according to a set step length, to obtain a plurality of path points. The path point may refer to a start point, an end point, or an intermediate point of one step. Further, the controller may determine an expected wait period that is positively correlated to the number of waypoints for which a conflict exists. As in fig. 4, a path point 0, a path point 1, and a path point 6 are path points where there is a conflict.

In one specific implementation, the controller may determine the expected wait time due to the arm motion trajectory conflict by summing the conflict time durations based on the number of time intervals in each arm distance that satisfy the trajectory conflict condition, and the conflict time duration of each present conflict.

In the above embodiment, the expected waiting time length caused by the collision of the arm motion track is determined based on the number of arm distances meeting the track collision condition in the distance information, so that the accuracy of the expected waiting time length can be ensured, and further the accuracy of the expected task cost is ensured.

In a specific embodiment, performing task information update processing on at least a part of each part to be transferred to obtain update schedule information of the truss robot, including: from each transmission task, determining candidate tasks with expected transmission time length greater than or equal to a time length threshold value or with arm motion track conflict; and carrying out task information updating processing on at least one part of each candidate task to obtain updating scheduling information of the truss robot.

Specifically, a transmission task having a longer transmission period is expected, possibly due to a larger distance between the task end position of the last transmission task and the task start position of the current transmission task. Therefore, by updating the task information for the transmission task whose expected transmission period is longer, the transmission task immediately preceding the transmission task can be changed, and it is possible to shorten the expected transmission period of the transmission task. Similarly, task information of a candidate task having an arm motion trajectory collision is updated, so that other tasks executed contemporaneously with the candidate transmission task can be changed, and further, the arm motion trajectory collision can be avoided.

In this embodiment, the update processing of the task information is performed for the transmission task with a longer expected transmission duration or the transmission task with an arm motion track conflict, so as to increase the probability of reducing the expected task cost by updating, and further improve the task scheduling effect.

In one embodiment, as shown in fig. 5, there is provided a truss robot task scheduling method, the method including the steps of:

step S501, acquiring the part positions and the placement positions of a plurality of parts to be conveyed of a truss robot, and determining the respective movable ranges of a plurality of mechanical arms contained in the truss robot;

step S502, for each part to be conveyed, determining a candidate mechanical arm with a movable range covering the part position and the placement position of the part to be conveyed from the mechanical arms;

Step S503, if the number of the candidate mechanical arms is one, determining the candidate mechanical arms as expected conveying arms of the parts to be conveyed;

Step S504, if the number of the candidate mechanical arms is a plurality of, determining any one of the candidate mechanical arms as an expected conveying arm for the part to be conveyed;

Step S505, if no candidate mechanical arm corresponding to the part to be transferred exists in the mechanical arms, dividing the expected transfer track of the part to be transferred into a plurality of sub-tracks according to each moving range, and determining the mechanical arms corresponding to the moving ranges of the sub-tracks as the expected transfer arms of the part to be transferred;

wherein the desired transfer trajectory refers to a transfer trajectory from the part position to the placement position;

step S506, for each expected transfer arm, determining a respective expected transfer trajectory for each part to be transferred of the expected transfer arm;

step S507, sorting the transmission tasks according to the track length of each expected transmission track and the sequence from small track length to large track length, and obtaining an initial task queue of the expected transmission arm;

Step S508, determining initial scheduling information containing respective initial task queues of each expected transmission arm;

Step S509, overlapping respective expected transmission time lengths of all transmission tasks under the initial scheduling information and expected waiting time lengths of all expected transmission arms due to arm movement track conflicts in the execution process of the transmission tasks, and determining expected task cost of the truss robot under the initial scheduling information;

Step S510, determining candidate tasks with expected transmission time length greater than or equal to a time length threshold value or with arm motion track conflict from all transmission tasks;

step S511, performing task information update processing on at least one part of each candidate task to obtain update scheduling information of the truss robot;

Wherein the task information includes at least one of a desired transfer arm or transfer task execution order;

Step S512, overlapping the respective expected transmission time length of each transmission task under the updated scheduling information and the expected waiting time length of each expected transmission arm caused by the collision of the arm motion track in the execution process of the transmission task, and determining the expected task cost of the truss robot under the updated scheduling information;

Step S513, determining target scheduling information with relatively smaller expected task cost from the updated scheduling information and the initial scheduling information;

Step S514, taking the target scheduling information as new initial scheduling information and returning to step S510 when the iteration ending condition is not satisfied;

Step S515, when the iteration end condition is satisfied, determining the target scheduling information of the current wheel as the task scheduling result of the truss robot.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a truss sorting system for realizing the truss robot task scheduling method. The implementation of the solution provided by the system is similar to the implementation described in the above method, so the specific limitations in one or more truss sorting system embodiments provided below may be referred to above for limitations of the truss robot task scheduling method, and will not be described herein.

In one embodiment, the application also provides a truss sorting system, as shown in fig. 6, which comprises a roller line 3, a controller (not shown), and a collecting device and a truss robot which are connected with the controller; the truss robot comprises a plurality of mechanical arms R, wherein the tail ends of the mechanical arms R are connected with an end pick-up device 6 for grabbing parts; the roller line 3 is used for transporting parts to be conveyed; the collecting device is used for collecting the part positions of the parts to be conveyed on the roller line 3; the controller is used for realizing the task scheduling method of the truss robot so as to determine task scheduling results for all the mechanical arms R in the truss robot; and the truss robot is used for conveying all parts to be conveyed according to the task scheduling result.

The specific limitation of the truss robot task scheduling method is referred to above, and will not be repeated here. The roller way line 3 is a production line formed by a plurality of ball rollers, has two types of power and automatic power, saves a great deal of manpower in industrial production, and is conveyed from one program to the other program. In particular to the application, the roller line 3 is used for transporting the parts to be transferred. The acquisition device is a device with an information acquisition function, and may include a camera, an infrared scanner, or the like. In a specific implementation, the collecting device is used for positioning and identifying the parts to be conveyed on the roller line. In practical applications, the light source may also be configured to provide stable and consistent illumination conditions, thereby improving the imaging quality of the camera.

The working process of the truss sorting system is described below by taking the case that the collecting device is a camera as an example. The mechanical arm R is fixed on the truss 1, and an end pick-up 6 is arranged at the tail end of the mechanical arm R and used for grabbing parts. Specifically, the controller can calibrate the truss 1 and the camera, calculate calibration parameters of the camera, establish geometric relation between the truss coordinate system and the camera coordinate system, analyze the trepanning chart, extract attribute information such as workpiece shape, process, weight and the like of the part to be transmitted, and store the attribute information in the database. Then, the controller can control the roller line to transport the cut workpiece (namely the part to be conveyed) to the visual field range of the camera, the camera performs visual positioning on each part to be conveyed, and the gesture and the part position of each part to be conveyed are calculated. The controller combines the gestures and the part positions, calculates the grabbing gesture and grabbing position of the part to be conveyed through an end effector 6 grabbing planning algorithm, calculates the placing position and gesture of the part to be conveyed through a stacking planning algorithm, and determines the task scheduling result for each mechanical arm in the truss robot by adopting the truss robot task scheduling method. And finally, the controller controls the end pick-up at the tail end of the mechanical arm of the truss robot to finish grabbing the part to be conveyed according to the planned grabbing gesture and grabbing position according to the task scheduling result, and places the part to be conveyed to the corresponding placing position. The placement position may be, for example, in the material frame 7 in fig. 6.

According to the truss sorting system, on one hand, the part positions of the parts to be conveyed are in the moving range of the expected conveying arms of the parts to be conveyed, so that the parts to be conveyed can be ensured to be grabbed no matter initial dispatching information or updated dispatching information, and a foundation is provided for smooth conveying of the parts; on the other hand, at least one of the expected transmission arm or the transmission task execution sequence is updated to realize the update of the initial scheduling information, and the task scheduling result of the truss robot is determined based on the initial scheduling information and the target scheduling information with relatively smaller expected task cost in the updated scheduling information, which is equivalent to the expected task cost of a plurality of task scheduling modes, and one determined task scheduling result with smaller expected task cost is selected, so that the task cost of the transmission task can be reduced, and the better task scheduling effect is ensured to be obtained. Therefore, the truss sorting system can improve the sorting work efficiency.

In one embodiment, as shown in fig. 7, the end effector 3 includes an end effector body 31, a gripping mechanism 32, and a collision detection assembly 33. Wherein the pick-up body 31 is connected with the mechanical arm; the grabbing mechanism 32 is connected with the end effector body 31 and is used for grabbing objects; the collision detection assembly 33 is connected to the gripping mechanism 32 for detecting a collision state between the gripping mechanism 32 and the object when the gripping mechanism 32 grips the object, and transmitting a collision detection signal according to the collision state.

Specifically, as shown in fig. 7, the pickup achieves gripping of the object to be gripped mainly by a force acting perpendicularly on the object to be picked. In the present application, the object to be grasped may be a part to be transferred. For example, for a suction cup end effector, the gripping mechanism 32 adopts a suction cup structure, and negative pressure is established on the surface of an object to be gripped by the suction cup to generate suction force acting perpendicularly on the object to be gripped, and then the object to be gripped is lifted by the suction force to achieve gripping and conveying of the object to be gripped. In order to solve the problem that the end pick-up is frequently collided, the application adds the collision detection component 33 on the end pick-up, when the grabbing mechanism 32 grabs the object to be grabbed, the collision detection component 33 detects the collision state between the grabbing mechanism 32 and the object to be grabbed in real time to judge whether the end pick-up 800 collides, so as to realize the detection function of collision condition when the end pick-up grabs the object to be grabbed, and the collision detection component 33 sends a collision detection signal to the sorting system controller according to the collision state, the controller judges whether the end pick-up collides according to the collision detection signal, and controls the grabbing mechanism 32 of the end pick-up to continuously grab the object to be grabbed, thereby, when the collision condition of the end pick-up is determined, the end pick-up can be controlled to stop pressing down in time, so that the problem that the end pick-up is frequently collided due to the existence of the bulge, slag or waste on the surface of the object to be grabbed is prevented, the end pick-up detects the collision condition when the end pick-up grabs the object is grabbed, the collision detection component 33 sends collision detection signals to the sorting system controller according to the collision condition, and the controller judges whether the end pick-up collides, and the production line is continuously grabbed by the end pick-up is controlled.

In one embodiment, grasping mechanism 32 includes a plurality of grasping elements 324. As shown in fig. 8, each grasping assembly 324 includes a support 321, a grasping suction cup 322, and an elastic connection 323. Wherein, a through hole is arranged on the supporting piece 321, and the collision detection component is arranged 33 on the supporting piece 321; the grabbing sucker 322 comprises an adsorption side, and the grabbing sucker 322 grabs an object to be grabbed through the adsorption side; the elastic connecting piece 323 is connected with one side of the grabbing sucker 322 far away from the adsorption side and penetrates through the through hole; wherein, in the first state, one end of the elastic connecting piece 323 facing away from the grabbing sucker 322 is stopped against the upper surface of the supporting piece 321, and in the second state, one end of the elastic connecting piece 323 facing away from the grabbing sucker 322 can extend out of the upper surface of the supporting piece 321 along the forward direction of the supporting piece 321.

The first state may be understood as a natural state, that is, a state in which the elastic connection member 323 is not elastically deformed, specifically, when the end effector is in an inactive state, that is, when the end effector does not grasp an object to be grasped, a portion of the elastic connection member 323 connected to the support member 321 is exactly clamped at the through hole, so that the elastic connection member 323 cannot fall off. The second state can be understood as a state that the elastic connection member 323 is elastically deformed, when the end pick-up device is in a working state, that is, when the end pick-up device grabs an object to be grabbed, the mechanical arm drives the end pick-up device to move in the reverse direction of the forward direction, that is, the end pick-up device is controlled to be pressed down, so as to grab the object to be grabbed through the adsorption side of the grabbing sucker 322, in the process, after the adsorption side of the grabbing sucker 322 contacts the surface of the object to be grabbed, if the end pick-up device continues to be pressed down, the object to be grabbed can generate a reaction force on the grabbing sucker 322, the elastic connection member 323 is elastically deformed under the influence of the reaction force, and under the action of the elastic force, the connected part of the elastic connection member 323 and the support member 321 can extend out of the upper surface of the support member 321 in the forward direction, and then the extending height of the elastic connection member 323 is detected through the collision detection assembly 33 arranged on the upper surface of the support member 321, so that the detection of the collision state between the grabbing assembly 324 and the object to be grabbed is realized.

In some embodiments, as shown in fig. 9, the collision detection assembly 33 includes a light emitter 331 and a light receiver 332. The light emitter 331 is disposed at a first end of the supporting member 321, and a predetermined height is provided between the light emitter 331 and the supporting member 321 for emitting light signals; the light receiver 332 is disposed at the second end of the supporting member 321, the light receiver 332 is disposed opposite to the light emitter 331, and a predetermined height is provided between the light receiver 332 and the supporting member 331 for receiving the light signal; wherein, the through hole is disposed between the light emitter 331 and the light receiver 332, and the light receiver 332 transmits the collision detection signal when the protruding height of the elastic connection member 323 protruding from the upper surface of the support member 321 reaches the preset height.

The preset height may be a height value set based on experience, and under the height value, if the extending height of the elastic connecting piece 323 extending out of the upper surface of the supporting piece 321 does not reach the preset height, it is indicated that the end effector does not collide, and the end effector works normally; if the protruding height of the elastic connection member 323 protruding from the upper surface of the support member 321 reaches the preset height, it is indicated that the end effector collides. __ A

Specifically, the present embodiment employs an opposite laser photoelectric sensor to construct the collision detection assembly 33 to realize detection of the collision condition of the opposite pick-up. In practical application, the mechanical arm drives the whole end effector to move in the reverse direction of the forward direction, namely, the end effector is controlled to be pushed down, the end effector continues to be pushed down after the adsorption side of the grabbing sucker 322 contacts with the object to be grabbed, at this time, the object to be grabbed can generate a reaction force to the grabbing sucker 322, and under the influence of the reaction force, the elastic connecting piece 323 is elastically deformed, under the action of the elastic force, the connecting part of the elastic connecting piece 323 and the supporting piece 321 extends out of the upper surface of the supporting piece 321 in the forward direction, if the extending height of the elastic connecting piece 323 extending out of the upper surface of the supporting piece 321 does not reach the preset height, it is indicated that in the current situation, the end effector grabs the object to be grabbed and does not collide, the grabbing mechanism 32 is not damaged, and the optical signal emitted by the optical emitter 331 is not blocked after the elastic connecting piece 323 extends out of the upper surface of the supporting piece 321, so that the optical signal emitted by the optical emitter 331 can be received, at this moment, the optical receiver 332 sends a collision detection signal to the sorting system controller, and the controller can determine that the collision detection mechanism 32 does not happen, and the end effector can be controlled to continue working; if the elastic connection piece 323 extends out of the upper surface of the supporting piece 321 to reach the preset height, it is stated that in the current situation, the end effector grabs the object to be grabbed and collides, which easily results in damage of the grabbing mechanism 32, and the elastic connection piece 323 shields the optical signal emitted by the optical emitter 331, so that the optical receiver 332 cannot receive the optical signal emitted by the optical emitter 331, at this time, the optical receiver 332 sends a collision detection signal to the sorting system controller, and the controller can determine that the grabbing mechanism 32 collides according to the collision detection signal, so that, in order to prevent the problem that the picking system triggers an alarm and causes production line stagnation due to collision of the end effector, the controller controls the end effector to stop pressing down, thereby effectively avoiding the problem that the end effector is damaged due to frequent collision of the end effector.

In a specific embodiment, as shown in fig. 9, the collision detection assembly 33 further includes a first mount 333 and a second mount 334. The first fixing base 333 includes a first connection portion 3330 and a second connection portion 3331, the first fixing base 333 is connected with the first end of the support 321 through the first connection portion 3330, and the first fixing base 333 is connected with the mechanical arm of the truss robot through the second connection portion 3331; the second fixing base 334 includes a third connecting portion 3340 and a fourth connecting portion 3341, the second fixing base 334 is connected to the second end of the supporting member 321 through the third connecting portion 3340, and the second fixing base 334 is connected to the end effector body 31 through the fourth connecting portion 3341.

In one particular embodiment, as shown in fig. 8, the resilient connection 323 includes a threaded rod 3230 and a spring member 3231. Wherein, the screw 3230 is connected with one side of the grabbing sucker 322 far from the adsorption side and penetrates through the through hole; the spring member 3231 is located at one side facing away from the upper surface of the support member 321 and sleeved on the screw 3230; wherein, in the first state, one end of the screw 3230 facing away from the grabbing sucker 322 is stopped against the upper surface of the supporting member 321, and in the second state, one end of the screw 3230 facing away from the grabbing sucker 322 can extend out of the upper surface of the supporting member 321 along the forward direction of the supporting member 321.

In a specific embodiment, as shown in fig. 8, there are a plurality of through holes, a plurality of gripping chucks 322, and a plurality of elastic connectors 323.

In a particular embodiment, the collision detection assembly 33 includes a plurality of trigger switches. The plurality of trigger switches are located at one side close to the upper surface of the supporting member 321 and are respectively opposite to each elastic connecting member 323, and a preset height is arranged between each trigger switch and the supporting member 321.

Based on the same inventive concept, the embodiment of the application also provides a truss robot task scheduling device for realizing the truss robot task scheduling method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the task scheduling device for truss robot provided below may be referred to the limitation of the task scheduling method for truss robot in the above description, and will not be repeated here.

In one embodiment, as shown in fig. 10, there is provided a truss robot task scheduling apparatus, including: an acquisition module 1001, an initial scheduling module 1002, a scheduling information updating module 1003, and a scheduling result determining module 1004, wherein:

An obtaining module 1001, configured to obtain part positions of a plurality of parts to be transferred of the truss robot, and determine respective movement ranges of a plurality of mechanical arms included in the truss robot;

The initial dispatching module 1002 is configured to determine, from each mechanical arm, a respective expected transfer arm of each part to be transferred, so as to obtain initial dispatching information of the truss robot; the part position of the part to be conveyed is covered by the movable range of an expected conveying arm of the part to be conveyed;

The scheduling information updating module 1003 is configured to perform task information updating processing on at least a portion of each part to be transferred, so as to obtain updated scheduling information of the truss robot; the task information includes at least one of a desired transfer arm or a transfer task execution order;

The scheduling result determining module 1004 is configured to determine target scheduling information with relatively small expected task cost from the updated scheduling information and the initial scheduling information, and determine a task scheduling result of the truss robot based on the target scheduling information.

In one embodiment, the initial scheduling module 1002 includes: the expected conveying arm determining unit is used for determining the expected conveying arm of each part to be conveyed from each mechanical arm respectively; the task sequencing unit is used for sequencing all the transmission tasks of each expected transmission arm aiming at each expected transmission arm to obtain an initial task queue of the expected transmission arm; and the initial scheduling information determining unit is used for determining initial scheduling information containing the initial task queues of the expected transmission arms.

In one embodiment, the truss robot task scheduling device further comprises a placement position determining module, which is used for determining the placement position of each part to be conveyed. In the case of this embodiment, it is desirable for the transfer arm determination unit to: for each part to be conveyed, determining a candidate mechanical arm with a movable range covering part positions and placement positions of the part to be conveyed from the mechanical arms; if the number of the candidate mechanical arms is one, determining the candidate mechanical arms as expected conveying arms of the parts to be conveyed; if the number of the candidate mechanical arms is a plurality of the candidate mechanical arms, one of the candidate mechanical arms is determined as a desired conveying arm for the part to be conveyed.

In one embodiment, the desired transfer arm determination unit is further configured to: if the candidate mechanical arms corresponding to the parts to be transferred do not exist in the mechanical arms, dividing the expected transfer track of the parts to be transferred into a plurality of sub-tracks according to each moving range; the desired transfer trajectory refers to a transfer trajectory from the part position to the placement position; and determining the mechanical arms of which the movement ranges of the sub-tracks respectively correspond to each other as expected conveying arms of the parts to be conveyed.

In one embodiment, the task ordering unit is specifically configured to: determining a respective expected conveying track of each part to be conveyed of the expected conveying arm aiming at each expected conveying arm; and sequencing the transmission tasks according to the track lengths of the expected transmission tracks to obtain an initial task queue of the expected transmission arm.

In one embodiment, the truss robot task scheduling device further includes: the task queue determining module is used for determining a task queue of each expected transmission arm under the candidate scheduling information; the task queue comprises at least one transmission task of the part to be transmitted; the candidate scheduling information comprises initial scheduling information and updated scheduling information; the starting and stopping position determining module is used for determining the respective task starting position and task ending position of each transmission task based on the arrangement sequence of each transmission task in the belonging task queue; the expected transmission time length determining module is used for determining the expected transmission time length of the transmission task according to the task path between the task starting position and the task ending position of the transmission task for each transmission task; the expected waiting time length determining module is used for determining the expected waiting time length caused by the collision of the arm motion trail according to the expected motion trail of each expected transmission arm in the execution process of the transmission task; and the expected task cost determining module is used for superposing each expected transmission time length and each expected waiting time length and determining the corresponding expected task cost of the truss robot under the candidate scheduling information.

In one embodiment, the expected transmission duration determination module is specifically configured to: for each transmission task, determining a task path between a task starting position and a task ending position of the transmission task; performing discrete processing on the task paths according to the set step length to obtain the step length number of the transmission task; an expected transmission duration that is positively correlated to the number of steps is determined.

In one embodiment, the expected transmission duration determination module is specifically configured to: for each transmission task, determining a task path between a task starting position and a task ending position of the transmission task; an expected transmission duration for transmitting the task is determined based on the path length and the path type of the task path.

In one embodiment, the expected waiting duration determining module is specifically configured to: determining distance information between adjacent expected transmission arms according to expected motion tracks of the expected transmission arms in the execution process of the transmission task; the distance information comprises arm distances corresponding to the time nodes respectively; determining expected waiting time length caused by the collision of the arm motion track based on the number of time nodes meeting the track collision condition in the distance information; the expected wait period is positively correlated with the number of time nodes.

In one embodiment, the scheduling information updating module 1003 is specifically configured to: from each transmission task, determining candidate tasks with expected transmission time length greater than or equal to a time length threshold value or with arm motion track conflict; and carrying out task information updating processing on at least one part of each candidate task to obtain updating scheduling information of the truss robot.

In one embodiment, the scheduling result determining module 1004 is specifically configured to: taking the target scheduling information as new initial scheduling information, returning to perform task information updating processing on at least one part of the parts to be transmitted to obtain updated scheduling information of the truss robot, and performing next round of updating iteration; and under the condition that the iteration ending condition is met, determining the target scheduling information of the current wheel as a task scheduling result of the truss robot.

The various modules in the truss robot task scheduling device can be fully or partially implemented by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 11. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program when executed by the processor implements a truss robot task scheduling method. The display unit of the computer equipment is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device, wherein the display screen can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on a shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in FIG. 11 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A truss robot task scheduling method, the method comprising:

Acquiring part positions of a plurality of parts to be conveyed of a truss robot, and determining respective movable ranges of a plurality of mechanical arms contained in the truss robot;

Determining respective expected conveying arms of each part to be conveyed from the mechanical arms respectively to obtain initial dispatching information of the truss robot; the part position of the part to be conveyed is covered by the movable range of an expected conveying arm of the part to be conveyed;

2. The method according to claim 1, wherein the method further comprises:

determining the respective placement position of each part to be conveyed;

the method for respectively determining the expected conveying arm of each part to be conveyed from the mechanical arms comprises the following steps:

And if the number of the candidate mechanical arms is a plurality of, determining one of the candidate mechanical arms as the expected conveying arm of the part to be conveyed.

3. The method according to claim 1, wherein the method further comprises:

Determining a task queue of each expected transmission arm under the candidate scheduling information; the task queue comprises at least one transmission task of a part to be transmitted; the candidate scheduling information comprises the initial scheduling information and the updated scheduling information;

Determining respective task starting positions and task ending positions of the transmission tasks based on the arrangement sequence of the transmission tasks in the task queue;

Determining the expected waiting time length caused by the collision of the arm motion trail according to the expected motion trail of each expected transmission arm in the execution process of the transmission task;

and superposing the expected transmission duration and the expected waiting duration, and determining the expected task cost corresponding to the truss robot under the candidate scheduling information.

4. A method according to claim 3, wherein said determining, for each of said transfer tasks, an expected transfer duration of said transfer task based on a task path between a task start location and a task end location of said transfer task comprises:

determining a task path between a task starting position and a task ending position of each transmission task;

Performing discrete processing on the task path according to a set step length to obtain the step length number of the transmission task;

5. A method according to claim 3, wherein said determining, for each of said transfer tasks, an expected transfer duration of said transfer task based on a task path between a task start location and a task end location of said transfer task comprises:

Based on the path length and the path type of the task path, an expected transmission duration of the transmission task is determined.

6. A method according to claim 3, wherein determining the expected waiting time period due to the collision of the arm motion trajectories according to the expected motion trajectories of the expected transfer arms during the execution of the transfer task comprises:

Determining expected waiting time length caused by arm movement track conflict based on the number of time nodes meeting the track conflict condition in the distance information; the expected wait period is positively correlated with the number of time nodes.

7. The method according to any one of claims 1 to 6, wherein the determining a task scheduling result of the truss robot based on the target scheduling information includes:

taking the target scheduling information as new initial scheduling information, returning to the step of carrying out task information update processing on at least one part of the parts to be transmitted to obtain updated scheduling information of the truss robot, and carrying out next round of update iteration;

8. A truss robot task scheduling device, the device comprising:

The device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the part positions of a plurality of parts to be transmitted of a truss robot and determining the respective movable ranges of a plurality of mechanical arms contained in the truss robot;

The initial scheduling module is used for respectively determining the expected transmission arm of each part to be transmitted from the mechanical arms to obtain initial scheduling information of the truss robot; the part position of the part to be conveyed is covered by the movable range of an expected conveying arm of the part to be conveyed;

The scheduling information updating module is used for carrying out task information updating processing on at least one part of the parts to be transmitted to obtain updated scheduling information of the truss robot; the task information includes at least one of a desired transfer arm or a transfer task execution order;

And the scheduling result determining module is used for determining target scheduling information with relatively smaller expected task cost from the updated scheduling information and the initial scheduling information, and determining the task scheduling result of the truss robot based on the target scheduling information.

9. The truss sorting system is characterized by comprising a roller line, a controller, a collection device connected with the controller and a truss robot; the truss robot includes a plurality of mechanical arms; the tail end of the mechanical arm is connected with an end pick-up device for grabbing parts;

the roller line is used for transporting parts to be conveyed;

The collecting device is used for collecting the part positions of the parts to be conveyed on the roller line;

The controller is configured to implement the method of any one of claims 1 to 7 to determine a task scheduling result for each of the robotic arms in the truss robot;

and the truss robot is used for conveying all the parts to be conveyed according to the task scheduling result.

10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.