CN103433926B - A kind of Multi-robot coordination control device and method thereof - Google Patents
A kind of Multi-robot coordination control device and method thereof Download PDFInfo
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- CN103433926B CN103433926B CN201310345024.6A CN201310345024A CN103433926B CN 103433926 B CN103433926 B CN 103433926B CN 201310345024 A CN201310345024 A CN 201310345024A CN 103433926 B CN103433926 B CN 103433926B
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Abstract
The invention discloses a kind of Multi-robot coordination control device and method thereof.This device comprises industrial computer, motion controller, feeding robot controller, sheet processing equipment, blanking robot controller, feeding robot, blanking robot; Described industrial computer is connected with motion controller, motion controller is connected with feeding robot controller, sheet processing equipment is connected with feeding robot controller and blanking robot controller respectively, feeding robot controller is connected with feeding robot, and blanking robot controller is connected with blanking robot; By reading the value be stored in motion controller in operation register, judge whether process equipment is processed material, then feeding robot performs material loading task if not, blanking robot is then in wait state, value when material loading is complete in operation register is by negate, then blanking robot performs blanking task.The present invention makes multirobot process have more continuity, substantially increases production efficiency.
Description
Technical field
The present invention relates to industrial automation production field, particularly a kind of Multi-robot coordination control device and method thereof.
Background technology
Along with the development of society, the application of robot is constantly expanded, and the fields such as the exploration from automatic production line to marine resources and even space operation, robot is ubiquitous.Be different from single robot system, multi-robot system, due to its time, space, function, information and distribution of resource feature, shows great superiority.
Multi-robot coordination refers in a multi-robot system, when each robot will take action, the action of other robot in consideration system, and to reach harmonious between robot, to finish the work to high-performance.That is, multi-robot coordination refers to for a certain event, the synchronization of the response activities that each robot takes.The method that current multi-robot coordination controls is a lot, but the action executing of each robot whether, relies on the sensor information being contained in relevant position completely.When process is complicated, then the number of sensors of installing is corresponding to be increased, and adding a large amount of wiring wiring work, because this reducing the reliability of system, also reducing the flexibility of system simultaneously, be difficult to the demand meeting the product diversification of actual industrial production line.
Summary of the invention
The object of the present invention is to provide that a kind of reliability is high, the Multi-robot coordination control device of applying flexible and method thereof, multiple robot can be dispatched and carry out work compound, complete complicated production process.
The technical solution realizing the object of the invention is:
A kind of Multi-robot coordination control device, comprises industrial computer, motion controller, feeding robot controller, sheet processing equipment, blanking robot controller, feeding robot, blanking robot; The network interface of described industrial computer is connected with the input network interface of motion controller by netting twine, the output network interface of motion controller is connected by the network interface of netting twine with feeding robot controller, sheet processing equipment is connected with feeding robot controller and blanking robot controller respectively by netting twine, the control output end of feeding robot controller is connected with feeding robot, and the control output end of blanking robot controller is connected with blanking robot; Industrial computer sends operating instruction to motion controller, first motion controller controls feeding robot by feeding robot controller and completes material loading task, then controls sheet processing equipment processing materials, controls blanking robot complete blanking task finally by blanking robot controller.
A kind of multi-robot coordination control method, comprises the following steps:
Step 1, arranges material loading register, processing runs register and feeding register, and initialize each register in motion controller;
Step 2, industrial computer sends operating instruction to motion controller, and motion controller performs material loading task to controlling feeding robot by feeding robot controller after the set of material loading register;
Step 3, judges whether material loading register resets, if material loading register does not reset, then returns step 2 and continues to perform material loading task, otherwise enter step 4;
Step 4, motion controller runs register set to processing, and sheet processing equipment is processed material, and after sheet processing equipment completes processing, processing runs register and resets;
Step 5, motion controller to the set of feeding register, and controls blanking robot execution blanking task by blanking robot controller;
Step 6, judges whether feeding register resets, if feeding register does not reset, then returns step 5 and continues to perform blanking task, otherwise returns step 2 and perform material loading task next time.
Compared with prior art, its remarkable advantage is in the present invention: (1) adopts the structure of master-slave mode, is assigned with the resource of system efficiently, makes the utilization of resources more reasonable; (2) adopt Profibus bus and Ethernet bus to carry out corresponding communication, speed is faster, and wire harness uses less, while raising systematic function, reduces the cost of hardware; (3) co-ordination of multirobot, can complete more complicated production and processing operation, extend the production performance of production line; (4) if production process changes, only need to re-start coordinated planning from program, new production task can be dropped into, improve the flexibility of system.
Accompanying drawing explanation
Fig. 1 is the structural representation of Multi-robot coordination control device of the present invention.
Fig. 2 is the flow chart of multi-robot coordination control method of the present invention.
Fig. 3 is the flow chart performing material loading task in multi-robot coordination control method of the present invention.
Fig. 4 is the flow chart performing blanking task in multi-robot coordination control method of the present invention.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Composition graphs 1, Multi-robot coordination control device of the present invention, comprises industrial computer 1, motion controller 2, feeding robot controller 3, sheet processing equipment 4, blanking robot controller 5, feeding robot 7, blanking robot 9; The network interface of described industrial computer 1 is connected with the input network interface of motion controller 2 by netting twine, the output network interface of motion controller 2 is connected by the network interface of netting twine with feeding robot controller 3, sheet processing equipment 4 is connected with feeding robot controller 3 and blanking robot controller 5 respectively by netting twine, the control output end of feeding robot controller 3 is connected with feeding robot 7, and the control output end of blanking robot controller 5 is connected with blanking robot 9; Industrial computer 1 sends operating instruction to motion controller 2, first motion controller 2 controls feeding robot 7 by feeding robot controller 3 and completes material loading task, then controls sheet processing equipment 4 processing materials, controls blanking robot 9 complete blanking task finally by blanking robot controller 5.
The below of described sheet processing equipment 4 is provided with workbench 8, and feeding robot 7 side of workbench 8 is provided with material stacking bracket 6, and blanking robot 9 side of workbench 8 is provided with finished product and stacks bracket 10.
Adopt Ethernet bus protocol to carry out communication between described industrial computer 1 and motion controller 2, between feeding robot controller 3, sheet processing equipment 4, blanking robot controller 5, adopt Profibus bus protocol to carry out communication.
The quantity of described feeding robot 7, blanking robot 9 is one or more, can increase and decrease according to actual needs, and maximum allowable quantity is determined by the performance of motion controller 2.
Described motion controller 2 is the CP 25X controller of KEBA company, and feeding robot controller 3, blanking robot controller 5 are the 10KG six joint industrial robot controller of FANUC company.
Composition graphs 2, multi-robot coordination control method of the present invention, comprises the following steps:
Step 1, arranges material loading register, processing runs register and feeding register, and initialize each register in motion controller 2;
Step 2, industrial computer 1 sends operating instruction to motion controller 2, controls feeding robot 7 perform material loading task after the set of motion controller 2 pairs of material loading registers by feeding robot controller 3; Composition graphs 3, detailed process is as follows:
1st step, quantity in leftover materials quantity and database compares by motion controller 2, determines according to comparative result the space coordinates should getting material mid point;
2nd step, according to the spatial value should getting material mid point, motion controller 2 plans the feeding track of feeding robot 7 end clamp;
3rd step, feeding robot controller 3 completes corresponding feeding action according to feeding Track fusion feeding robot 7, and material is delivered to feeding port;
4th step, judge that processing runs register and whether resets, then continue if not to wait for, until processing runs register reset then judge whether feeding register resets, then continue if not to wait for, the then set material loading register until feeding register resets, then material is delivered to table set position by feeding robot 7;
5th step, judges that whether material loading task is complete, if not complete, returns the 1st step, if complete, and reset material loading register, and feeding robot 7 is retracted into feeding port.
Step 3, judges whether material loading register resets, if material loading register does not reset, then returns step 2 and continues to perform material loading task, otherwise enter step 4;
Step 4, motion controller 2 runs register set to processing, and sheet processing equipment 4 pairs of materials are processed, and after sheet processing equipment 4 completes processing, processing runs register and resets;
Step 5, the set of motion controller 2 pairs of feeding registers, and control blanking robot 9 by blanking robot controller 5 and perform blanking task; Composition graphs 4, detailed process is as follows:
1st step, determines the space coordinates of next finished product according to the finished product number stacked;
2nd step, according to the space coordinates of next finished product, motion controller 2 plans that the finished product of blanking robot 9 puts track;
3rd step, judges that processing runs register and whether resets, then continues if not to wait for, the then set feeding register until processing operation register resets;
4th step, the track of putting planned in the coordinate value that blanking robot 9 determines according to the 1st step and the 2nd step captures and puts finished product;
5th step, judges that whether blanking task is complete, if not complete, returns the 4th step, if complete, and reset feeding register.
Step 6, judges whether feeding register resets, if feeding register does not reset, then returns step 5 and continues to perform blanking task, otherwise returns step 2 and perform material loading task next time.
Embodiment 1
According to Fig. 1, for system, there is Liang Tai robot, a process equipment, illustrative system running:
In motion controller 2, material loading register, processing run register and feeding register, the station state of storing machine people and process equipment respectively, fully to coordinate the action of each equipment.The running of feeding robot 7 is divided into feeding action and blowing action, and reclaiming process stacks the minimizing of region material according to material, automatically calculates the position captured.Capture complete, according to the track preset, material is lifted the other specific position of workbench, equipment completion of processing to be processed, perform blowing action, material is placed on the ad-hoc location of workbench, detailed process is as follows:
During device start, first start the configuration interface of industrial computer 1, enter human-computer interaction interface, wait for that operating personnel carry out corresponding operating.When industrial computer 1 sends operating instruction to motion controller 2, motion controller 2 transfers tuning controller main task, as shown in Figure 2, first corresponding initialization is carried out, execution feeding robot 7 material loading subtask after initialization completes, run first, workbench 8 there is no material, material loading subtask flow process as shown in Figure 3, after initialization completes, current residual material quantity and quantity database are compared, the space coordinates should getting material mid point is calculated according to comparative result, be convenient to the position (carrying out this prerequisite calculated is that every block material has known appearance and size) that calculating robot captures.According to this mid point spatial value, motion controller 2 can the end clamp feeding track of planning robot's feeding robot 7, and feeding robot controller 3 drives feeding robot 7 to complete corresponding feeding action according to this track value, and material is delivered to feeding port.Judge that processing runs register and whether resets, then continuous wait if not, until it resets, judge whether feeding register resets, if not then continuous wait, until it resets, set material loading register, material is delivered to workbench planned position, judge that whether material loading is complete, if complete, reset material loading register, and the end clamp of feeding robot 7 is returned to the wait of feeding port position, if not complete, repeat feeding action again, return main task until complete.
According to Fig. 2, after feeding robot 7 material loading, motion controller 2 judges whether material loading register resets, if not, repeat material loading task, if then show that material loading is complete, processing is run register set, sheet processing equipment 4 starts processing, until machine, the processing that resets runs register, set feeding register, performs blanking task.
Blanking task as shown in Figure 4, first initialize, then determine the space coordinates of next finished product according to the finished product number stacked, planning blanking robot 9 finished product puts track, judge that processing runs register and whether resets, then show that process equipment runs if not, now can not feeding, reset until processing runs register, set feeding register, finished product is put according to the path crawl of the coordinate value determined and planning by blanking robot 9, until blanking is complete, returns main task.
Because materiel machining complete for material loading can be become polylith material by process equipment, so it is complete often to need after a material loading repeatedly blanking could will machine material transfer.After completing a blanking, main program continues to judge whether feeding register resets, and then again performs blanking program if not until blanking completes, then re-executes material loading program, and so forth, until materiel machining is complete.
In sum, Multi-robot coordination control device of the present invention adopts the structure of master-slave mode, is assigned with the resource of system efficiently, makes the utilization of resources more reasonable; Adopt Profibus bus and Ethernet bus to carry out corresponding communication, speed is faster, and wire harness uses less, while raising systematic function, reduces the cost of hardware; The co-ordination of multirobot, can complete more complicated production and processing operation, extend the production performance of production line; If production process changes, only need to re-start coordinated planning from program, new production task can be dropped into, improve the flexibility of system, have broad application prospects.
Claims (7)
1. a Multi-robot coordination control device, it is characterized in that, comprise industrial computer (1), motion controller (2), feeding robot controller (3), sheet processing equipment (4), blanking robot controller (5), feeding robot (7), blanking robot (9), the network interface of described industrial computer (1) is connected by the input network interface of netting twine with motion controller (2), the output network interface of motion controller (2) is connected by the network interface of netting twine with feeding robot controller (3), sheet processing equipment (4) is connected with feeding robot controller (3) and blanking robot controller (5) respectively by netting twine, the control output end of feeding robot controller (3) is connected with feeding robot (7), the control output end of blanking robot controller (5) is connected with blanking robot (9),
Industrial computer (1) sends operating instruction to motion controller (2), and motion controller (2) first controls feeding robot (7) by feeding robot controller (3) and completes material loading task, then controls sheet processing equipment (4) processing materials, completes blanking task finally by blanking robot controller (5) control blanking robot (9).
2. Multi-robot coordination control device according to claim 1, it is characterized in that, the below of described sheet processing equipment (4) is provided with workbench (8), and feeding robot (7) side of workbench (8) is provided with material stacks bracket (6), blanking robot (9) side of workbench (8) is provided with finished product and stacks bracket (10).
3. Multi-robot coordination control device according to claim 1, it is characterized in that, adopt Ethernet bus protocol to carry out communication between described industrial computer (1) and motion controller (2), between feeding robot controller (3), sheet processing equipment (4), blanking robot controller (5), adopt Profibus bus protocol to carry out communication.
4. Multi-robot coordination control device according to claim 1, is characterized in that, the quantity of described feeding robot (7), blanking robot (9) is multiple.
5. a multi-robot coordination control method, is characterized in that, comprises the following steps:
Step 1, arranges material loading register, processing runs register and feeding register, and initialize each register in motion controller (2);
Step 2, industrial computer (1) sends operating instruction to motion controller (2), and motion controller (2) performs material loading task to controlling feeding robot (7) by feeding robot controller (3) after the set of material loading register;
Step 3, judges whether material loading register resets, if material loading register does not reset, then returns step 2 and continues to perform material loading task, otherwise enter step 4;
Step 4, motion controller (2) runs register set to processing, and sheet processing equipment (4) is processed material, and after sheet processing equipment (4) completes processing, processing runs register and resets;
Step 5, motion controller (2) to the set of feeding register, and controls blanking robot (9) execution blanking task by blanking robot controller (5);
Step 6, judges whether feeding register resets, if feeding register does not reset, then returns step 5 and continues to perform blanking task, otherwise returns step 2 and perform material loading task next time.
6. multi-robot coordination control method according to claim 5, is characterized in that, perform material loading task in described step 2, detailed process is as follows:
1st step, quantity in leftover materials quantity and database compares by motion controller (2), determines according to comparative result the space coordinates should getting material mid point;
2nd step, according to the spatial value should getting material mid point, the feeding track of motion controller (2) planning feeding robot (7) end clamp;
3rd step, feeding robot controller (3) completes corresponding feeding action according to feeding Track fusion feeding robot (7), and material is delivered to feeding port;
4th step, judge that processing runs register and whether resets, then continue if not to wait for, until processing runs register reset then judge whether feeding register resets, then continue if not to wait for, the then set material loading register until feeding register resets, then material is delivered to table set position by feeding robot (7);
5th step, judges that whether material loading task is complete, if not complete, returns the 1st step, if complete, and reset material loading register, and feeding robot (7) is retracted into feeding port.
7. multi-robot coordination control method according to claim 5, is characterized in that, perform blanking task in described step 5, detailed process is as follows:
1st step, determines the space coordinates of next finished product according to the finished product number stacked;
2nd step, according to the space coordinates of next finished product, the finished product of motion controller (2) planning blanking robot (9) puts track;
3rd step, judges that processing runs register and whether resets, then continues if not to wait for, the then set feeding register until processing operation register resets;
4th step, the track of putting planned in the coordinate value that blanking robot (9) determines according to the 1st step and the 2nd step captures and puts finished product;
5th step, judges that whether blanking task is complete, if not complete, returns the 4th step, if complete, and reset feeding register.
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