CN110442133A - A kind of method and system of multiple groups industrial robot work compound - Google Patents
A kind of method and system of multiple groups industrial robot work compound Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention belongs to robotic technology field more particularly to a kind of methods of multiple groups industrial robot work compound, including being allocated, decomposing and planning by job task of control centre's module to multiple robot modules of robot cooperated module；Robot module analyzes the instruction received；Long-range monitoring in real time is carried out to operation field by remote monitoring module, and decision and control are carried out according to the operating condition of robot；Robot module is acquired extraneous operating environment according to external sensor, and is handled by multi-sensor information fusion technology information, and by information conveyance to video monitoring module for the detection of remote monitoring module；The distance between the barrier on periphery and robot are detected according to collected information；Pass through the optimization of intelligent decision module and motion-control module progress avoidance path inside robot module and the planning and motion control of track.
Description
Technical field
The invention belongs to a kind of method of robotic technology field more particularly to multiple groups industrial robot work compound and it is
System.
Background technique
With the continuous development of robot technology, more and more robots start to substitute the various tasks of mankind's execution.Work
Industry robot is multi-joint manipulator or multivariant installations towards industrial circle, it can execute work automatically, be
A kind of machine of various functions is realized by self power and control ability.It can receive mankind commander, can also be according to pre-
The program of first layout is run, the principle program action that modern industrial robot can also be formulated according to artificial intelligence technology.But
It is that, due to being limited by operation mode, cannot achieve group-net communication between multirobot, together under multiplexing industry Machinery model
Although the efficiency that work can be improved by the cooperation between multiple groups robot of Shi Danchun, cooperateed between multiple groups robot
The effect is unsatisfactory, for some complexity state processing it is ineffective.
Summary of the invention
The present invention is directed to above-mentioned problem, provides a kind of method and system of multiple groups industrial robot work compound.
According to an aspect of the invention, there is provided a kind of method of multiple groups industrial robot work compound, including it is following
Step:
S101；Be allocated by job task of control centre's module to multiple robot modules of robot cooperated module,
It decomposes and plans；
S103；Robot module analyzes the instruction received；
S105；Long-range monitoring in real time is carried out to operation field by remote monitoring module, and according to the operating condition of robot
Carry out decision and control；
S107；Robot module is acquired extraneous operating environment according to external sensor, and is believed by multisensor
Breath integration technology handles information, and by information conveyance to video monitoring module for the detection of remote monitoring module；
S109；The distance between the barrier on periphery and robot are detected according to collected information；
S111；Pass through optimization and the rail of intelligent decision module and motion-control module progress avoidance path inside robot module
The planning and motion control of mark；
S113；The exchange for carrying out information between mutual robot by P2P communication module, realizes the association between multiple groups robot
Same operation；
S115；The control that complicated and special situation is moved by remote monitoring module.
Preferably, the remote monitoring module is made of people and long-range control machine.
According to another aspect of the present invention, a kind of system of multiple groups industrial robot work compound is provided, including remote
In range monitoring module, control centre's module and robot cooperated module, the output end of the remote monitoring module and the control
Core module is connected with the input terminal of the robot cooperated module, and the output end and the robot of control centre's module are assisted
Make the input terminal connection of module, the remote monitoring module includes video monitoring module, state display module, data display mould
Block, parameter setting module, motion-control module, Remote desk process module and C/S model client communication module, the control
Center module includes C/S model server com-munication module, data processing module, intelligent decision module, information acquisition module and letter
Memory module is ceased, the robot collaboration module includes several groups robot module.
Preferably, the C/S model client communication module is connect with the C/S model server com-munication module.
Preferably, the robot module includes C/S model client communication module, information acquisition module, intelligently determines
Plan module, motion-control module and P2P communication module.
Preferably, the C/S model is to realize people-machine control class and state category information remote transmission.
Preferably, the P2P communication module between robot and robot state category information it is shared.
Preferably, the realization of the information acquisition module is to acquire the sensor for obtaining, and using by sensor
Including ultrasonic sensor, infrared sensor, laser scanner, visual sensor and touch sensor.
Preferably, the motion-control module includes robot self-localization and Motion trajectory, the motion profile
The process of planning includes control command and several groups robot module, the controller connection of control command and robot module, institute
It states controller and mechanical arm control connects, the mechanical arm and encoder, robot basis coordinates system demarcating module and based on scanning
The simplified model of ball amount connects, and the encoder is connect with joint angle, the joint angle and robot basis coordinates system calibration
It is connect with calculating operation arm in working space position control, the calculating operation arm is in working space position and collision and detection
Distance connection, the collision and detecting distance are advised with based on the simplified model and Motion trajectory and operation posture for scanning ball amount
Connection is drawn, the planning of the Motion trajectory and operation posture is connect with control command, the size of barrier and position and collision
It is connected with detecting distance and based on the simplified model for scanning ball amount.
Preferably, the intelligent decision module is to be realized by controller, and the control flow of controller is LED signal
The output end of transmitting and the input terminal of signal detection connect, and the output end of signal detection and the input terminal of state analysis connect, shape
The output end of state analysis is connect with the input terminal that liquid crystal echoes, and output end and transmission display parameters to the single-chip microcontroller of liquid crystal echo connect
It connects, transmission display parameters are connect to single-chip microcontroller with audible alarm, and audible alarm is connect with transmission audio parameter to single-chip microcontroller, are transmitted
Audio parameter is connect to single-chip microcontroller with movement decision, and movement decision and liquid crystal echo connect, liquid crystal echo and transmission display parameters
It is connected to single-chip microcontroller, transmission display parameters are connect to single-chip microcontroller with action interpretation, action interpretation and transfer operation parameter to monolithic
Machine connection, transfer operation parameter to single-chip microcontroller and liquid crystal echo connect, and liquid crystal echo is connect with transmission display parameters to single-chip microcontroller.
Compared with prior art, the advantages and positive effects of the present invention are,
1, overall structure of the present invention is simple, has the characteristics that interactivity is good, high-efficient, at low cost, the operation of more convenient people
With use.
2, the real-time exchange of information may be implemented between each robot and share, and result is sent to the machine for executing operation
Device people carries out robot from perception, Self management, self-decision, the certainly operation such as execution, to facilitate the management of people.
3, the decision of people complicated situation can in time be added, it, can be with by the interaction and combination between people, machine
Ensure the safely and reliably operation of system.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for ability
For the those of ordinary skill of domain, without any creative labor, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the method flow diagram for the multiple groups industrial robot work compound that embodiment 1 provides；
Fig. 2 is the structure chart of the system for the multiple groups industrial robot work compound that embodiment 1 provides；
Fig. 3 is between the robot that provides of embodiment 1 and internal structure and connection figure；
Fig. 4 is the flow chart for the motion planning and robot control that embodiment 1 provides；
Fig. 5 is the flow chart for the intelligent decision that embodiment 1 provides；
In above each figure, 1, remote monitoring module；2, control centre's module；3, robot cooperated module；4, video monitoring module；
5, state display module；6, data disaply moudle；7, parameter setting module；8, motion-control module；9, Remote desk process mould
Block；10, C/S model client communication module；11, C/S model server com-munication module；12, data processing module；13, intelligence
Decision-making module；14, information acquisition module；15, information storage module；16, robot module；17, motion-control module；18,P2P
Communication module.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawings and examples
The present invention will be further described.It should be noted that in the absence of conflict, in embodiments herein and embodiment
Feature can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other modes described herein are different from, therefore, the present invention is not limited to the specific of specification is described below
The limitation of embodiment.
Embodiment 1, as shown in Figure 1, the present invention provides a kind of methods of multiple groups industrial robot work compound, including with
Lower step:
S101；Be allocated by job task of control centre's module to multiple robot modules of robot cooperated module,
It decomposes and plans；
S103；Robot module analyzes the instruction received；
S105；Long-range monitoring in real time is carried out to operation field by remote monitoring module, and according to the operating condition of robot
Carry out decision and control；
S107；Robot module is acquired extraneous operating environment according to external sensor, and is believed by multisensor
Breath integration technology handles information, and by information conveyance to video monitoring module for the detection of remote monitoring module；
S109；The distance between the barrier on periphery and robot are detected according to collected information；
S111；Pass through optimization and the rail of intelligent decision module and motion-control module progress avoidance path inside robot module
The planning and motion control of mark；
S113；The exchange for carrying out information between mutual robot by P2P communication module, realizes the association between multiple groups robot
Same operation；
S115；The control that complicated and special situation is moved by remote monitoring module.
Further, the remote monitoring module is made of people and long-range control machine；It can be to robot manipulating task by people
Field conduct remotely monitors, and decision and control is carried out according to the operating condition of robot when necessary, to improve the safety of system
Property.
Embodiment 2, as shown in Figures 2 to 5, the present invention provides a kind of system of multiple groups industrial robot work compound,
Including remote monitoring module 1, control centre's module 2 and robot cooperated module 3, the output end of the remote monitoring module 1 with
Control centre's module 2 is connected with the input terminal of the robot cooperated module 3, the output end of control centre's module 2
It is connect with the input terminal of the robot cooperated module 3, the remote monitoring module 1 includes video monitoring module 4, status display
Module 5, data disaply moudle 6, parameter setting module 7, motion-control module 178, Remote desk process module 9 and C/S model
Client communication module 10, control centre's module 2 include C/S model server com-munication module 11, data processing module 12,
Intelligent decision module 13, information acquisition module 14 and information storage module 15, the robot collaboration module include several groups machine
Device people module 16；Not only be independent of each other between modules but also closely coupled so that software systems have it is preferable open,
Adaptability and scalability.
Further, the C/S model client communication module 10 connects with the C/S model server com-munication module 11
It connects.
Further, the robot module 16 include C/S model client communication module 10, information acquisition module 14,
Intelligent decision module 13, motion-control module 178 and P2P communication module 18.
Further, the C/S model is to realize people-machine control class and state category information remote transmission；C/S is
Client/server is applicable to carry out reasonable distribution scheduling to system resource.
Further, the P2P communication module 18 between robot and robot state category information it is shared；P2P is
peer-to-peer。
Further, the realization of the information acquisition module 14 is that the sensing for obtaining, and using is acquired by sensor
Device includes ultrasonic sensor, infrared sensor, laser scanner, visual sensor and touch sensor.
Further, the motion-control module 178 includes robot self-localization and Motion trajectory, the movement rail
The process of mark planning includes control command and several groups robot module 16, the controller company of control command and robot module 16
It connects, the controller and mechanical arm control connect, and the mechanical arm and encoder, robot basis coordinates system demarcating module and are based on
The simplified model connection of ball amount is scanned, the encoder is connect with joint angle, the joint angle and the robot basis coordinates system
Calibration connect with calculating operation arm in working space position control, the calculating operation arm working space position with collide and
Detecting distance connection, the collision and detecting distance with based on the simplified model and Motion trajectory that scan ball amount and operation appearance
State planning connection, the Motion trajectory and operation posture are planned to be connect with control command, the size of barrier and position and
Collision is connected with detecting distance and based on the simplified model for scanning ball amount.
Further, the intelligent decision module 13 is to be realized by controller, and the control flow of controller is LED letter
Number output end of transmitting and the input terminal of signal detection connect, and the input terminal of the output end of signal detection and state analysis connects,
The output end of state analysis is connect with the input terminal that liquid crystal echoes, output end and the transmission display parameters to single-chip microcontroller of liquid crystal echo
Connection, transmission display parameters are connect to single-chip microcontroller with audible alarm, and audible alarm is connect with transmission audio parameter to single-chip microcontroller, is passed
Audio parameter is sent to connect to single-chip microcontroller with movement decision, movement decision and liquid crystal echo connect, liquid crystal echo and transmission display ginseng
Number to single-chip microcontroller connects, and transmission display parameters are connect to single-chip microcontroller with action interpretation, action interpretation and transfer operation parameter to list
The connection of piece machine, transfer operation parameter to single-chip microcontroller and liquid crystal echo connect, and liquid crystal echo connects with transmission display parameters to single-chip microcontroller
It connects.
In order to facilitate above-mentioned technical proposal of the invention is understood, below just present invention working principle in the actual process or
Person's mode of operation is described in detail.
In practical application, can carry out the storage of information by control centre's module 2 and divide job task
Match and plan, and passes through convenient viewing and the behaviour shown in real time by display screen and facilitate people of remote monitoring module 1
Make, each robot controlled by robot cooperated module 3 and carries out operation, and realizes the interaction of information between each robot,
Not only be independent from each other between modules but be it is closely coupled, mutual work compound is carried out between robot can be improved work
The efficiency of work, while people, machine interactivity can be increased by remote monitoring module 1, improve the safety and stability of system.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
It imitates embodiment and is applied to other fields, but without departing from the technical solutions of the present invention, according to the technical essence of the invention
Any simple modification, equivalent variations and remodeling to the above embodiments, still fall within the protection scope of technical solution of the present invention.
Claims (10)
1. a kind of method of multiple groups industrial robot work compound, which comprises the following steps:
S101；Be allocated by job task of control centre's module to multiple robot modules of robot cooperated module,
It decomposes and plans；
S103；Robot module analyzes the instruction received；
S105；Long-range monitoring in real time is carried out to operation field by remote monitoring module, and according to the operating condition of robot
Carry out decision and control；
S107；Robot module is acquired extraneous operating environment according to external sensor, and is believed by multisensor
Breath integration technology handles information, and by information conveyance to video monitoring module for the detection of remote monitoring module；
S109；The distance between the barrier on periphery and robot are detected according to collected information；
S111；Pass through optimization and the rail of intelligent decision module and motion-control module progress avoidance path inside robot module
The planning and motion control of mark；
S113；The exchange for carrying out information between mutual robot by P2P communication module, realizes the association between multiple groups robot
Same operation；
S115；The control that complicated and special situation is moved by remote monitoring module.
2. a kind of method of multiple groups industrial robot work compound according to claim 1, which is characterized in that described long-range
Monitoring module is made of people and long-range control machine.
3. a kind of system of multiple groups industrial robot work compound, which is characterized in that including in remote monitoring module (1), control
Core module (2) and robot cooperated module (3), the output end of the remote monitoring module (1) and control centre's module (2)
It is connected with the input terminal of the robot cooperated module (3), the output end and the robot of control centre's module (2) are assisted
Make module (3) input terminal connection, the remote monitoring module (1) include video monitoring module (4), state display module (5),
Data disaply moudle (6), parameter setting module (7), motion-control module (8), Remote desk process module (9) and C/S model
Client communication module (10), control centre's module (2) include C/S model server com-munication module (11), data processing
Module (12), intelligent decision module (13), information acquisition module (14) and information storage module (15), the robot cooperation mould
Block (3) includes several groups robot module (16).
4. a kind of system of multiple groups industrial robot work compound according to claim 3, which is characterized in that the C/S
Mode client communication module (10) is connect with the C/S model server com-munication module (11).
5. a kind of system of multiple groups industrial robot work compound according to claim 3, which is characterized in that the machine
People's module (16) includes C/S model client communication module (10), information acquisition module (14), intelligent decision module (13), fortune
Dynamic control module (17) and P2P communication module (18).
6. a kind of system of multiple groups industrial robot work compound according to claim 3, which is characterized in that the C/S
Mode is to realize people-machine control class and state category information remote transmission.
7. a kind of system of multiple groups industrial robot work compound according to claim 5, which is characterized in that the P2P
Communication module (18) between robot and robot state category information it is shared.
8. a kind of system of multiple groups industrial robot work compound according to claim 5, which is characterized in that the information
The realization of acquisition module (14) be by sensor acquire obtain, and use sensor include ultrasonic sensor, it is infrared
Sensor, laser scanner, visual sensor and touch sensor.
9. a kind of system of multiple groups industrial robot work compound according to claim 5, which is characterized in that the movement
Control module (17) includes robot self-localization and Motion trajectory, and the process of the Motion trajectory includes control command
With several groups robot module, the controller of control command and robot module are connected, and the controller and mechanical arm control connect
It connects, the mechanical arm is connect with encoder, robot basis coordinates system demarcating module and based on the simplified model for scanning ball amount, described
Encoder is connect with joint angle, and the joint angle and robot basis coordinates system calibration are with calculating operation arm in working space
Position control connection, the calculating operation arm are connect in working space position with collision and detecting distance, the collision and detection
Distance is connected with based on the simplified model and Motion trajectory that scan ball amount and the planning of operation posture, the Motion trajectory
It plans with operation posture and connect with control command, the size of barrier and position and collision and detecting distance and based on scanning ball amount
Simplified model connection.
10. a kind of system of multiple groups industrial robot work compound according to claim 5, which is characterized in that the intelligence
Energy decision-making module (13) is to be realized by controller, and the control flow of controller is the output end and signal of LED signal transmitting
The input terminal of detection connects, and the output end of signal detection and the input terminal of state analysis connect, the output end and liquid of state analysis
The output end of the input terminal connection of crystalline substance echo, liquid crystal echo is connect with transmission display parameters to single-chip microcontroller, and transmission display parameters are extremely
Single-chip microcontroller is connect with audible alarm, and audible alarm is connect with transmission audio parameter to single-chip microcontroller, transmission audio parameter to single-chip microcontroller
It is connect with movement decision, movement decision and liquid crystal echo connect, and liquid crystal echo is connect with transmission display parameters to single-chip microcontroller, transmit
Display parameters are connect to single-chip microcontroller with action interpretation, and action interpretation is connect with transfer operation parameter to single-chip microcontroller, transfer operation ginseng
Number to single-chip microcontroller and liquid crystal echo connects, and liquid crystal echo is connect with transmission display parameters to single-chip microcontroller.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111251298A (en) * | 2020-02-20 | 2020-06-09 | 云南电网有限责任公司电力科学研究院 | Working method and system of split robot |
| CN112860521A (en) * | 2021-02-24 | 2021-05-28 | 北京玄马知能科技有限公司 | Data diagnosis and analysis method and system based on multi-robot cooperative inspection operation |
| CN112873206A (en) * | 2021-01-22 | 2021-06-01 | 中国铁建重工集团股份有限公司 | Multi-task automatic distribution mechanical arm control system and operation trolley |
| WO2021209023A1 (en) * | 2020-04-17 | 2021-10-21 | 华为技术有限公司 | Decision-making method for agent action, and related device |
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