CN105426986A - High reliability control method and high reliability control system in multi-robot system - Google Patents
High reliability control method and high reliability control system in multi-robot system Download PDFInfo
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Abstract
The invention provides a high reliability control method and a high reliability control system in a multi-robot system. The method comprises steps of robot topology design, fault prediction design and fault recovery design, wherein for the step of robot topology design, robot topology comprises a work group formed by work robots and a standby work group formed by standby robots, positions of the standby robots and the work robots are replaceable, for the step of fault prediction design, in combination with health statues of the robots in the system, fault prediction for the work robots is carried out by utilizing a Markov model predication method; for the step of fault recovery, when a work robot is in fault, a standby robot is controlled to replace the fault work robot. As is shown in a result of a simulation system, device processing production tasks can be smoothly and cooperatively accomplished under the no-fault condition or under the fault condition, the work robot in fault can be replaced by the standby robot to accomplish operation in the system, and thereby seamless joint for device processing production can be realized.
Description
Technical field
The present invention relates to automation field, particularly, relate to the High-reliability Control method and system in a kind of multi-robot system, be applied in multi-robot system, controlled by the failure prediction to multi-robot system, topology arrangement and misarrangement, realize the High-reliability Control to multi-robot system.
Background technology
From the seventies in last century, industrial robot just starts the important technology become in industrial circle.Worldwide, industrial robot application has started a climax.Along with improving constantly of human cost, enterprises using the labor cost rises steadily, and industrial robot has just had objective growth requirement.Meanwhile, the application of industrial robot is also expanded to electronic manufacture, food and medicine and plastic industry gradually from automobile industry.In order to complete complicated procedures of forming, industrial robot is all cooperating under many circumstances.Therefore, industrial robot is all usually with the form work of multi-robot system.
Multiple robots are in the industrial production all tandem workings on streamline usually, have cooperated with each other production operation.In whole production run, if some robots break down, then whole production circuit paralyses.In process industry at a high speed, the fault of production line can cause the reduction of production efficiency and the loss of economic interests undoubtedly.
At present, there is not the control method of more excellent raising reliability in the multi-robot system in commercial production.High-reliability Control technological essence belongs to faults-tolerant control category, but proper fault-tolerant controller is the rate of exchange be difficult to realize, particularly in industrial robot system.Its reason has 2 points, and first industrial robot is all generally the product of standard product, and the faults-tolerant control of individual machine people has no way of implementing; Secondly, the institutional framework of multi-robot system is complicated and changeable, even if design a high-quality fault-tolerant controller, is also difficult to the requirement meeting robustness.One more reasonable approach be use compromise cost and the mode of complexity.
Pure fault tolerant control method should have more reliable theoretical performance, and by the identification to failure system, adjustment control rate can realize High-reliability Control very economically.This fault tolerant control method carries out distinguishing and rebuilding mould in units of system unit, and the control rate of elastic variable improves the life and reliability of system unit in fact indirectly.In a lot of industrial robot application scenarios, the global reliability of multi-robot system is often more important than the serviceable life of parts, because the alternative costs of robot components are the failure costs lower than system.So carrying out High-reliability Control in units of robot is a kind of well solution.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of High-reliability Control method and system of carrying out in units of robot in the multi-robot system controlled.
For realizing above object, the present invention by the following technical solutions:
According to a first aspect of the present invention, provide the method for the High-reliability Control in a kind of multi-robot system, described method comprises:
Robot topology design: robot topology comprises the working group be made up of working robot, and the working group for subsequent use be made up of standby machine people, and the position between standby machine people and working robot is replaceable;
Failure prediction designs: the health status of robot in coupling system, uses Markov model predicted method to carry out failure prediction to working robot;
Fault recovery designs: when certain working robot is broken down, and controls standby machine people and substitutes this working robot.
Preferably, described robot topology design, wherein working group is one group of multiple robot (working robot or standby machine people) that hardware configuration is identical, physical location is close, the control program of multiple robot can be identical, also can be different, each robot in working group is that physics is interchangeable, and software program can change according to demand.Working position simultaneously between standby machine people and working robot is replaceable, and standby machine people, when being substituted into failure stations, can realizing completely automatically, and not need other intervention.
Preferably, described failure prediction design, wherein the health status of robot adopts fault diagnosis (System Discrimination) to realize, and namely assesses the health status of the robot in system and classifies, output information is the health grading of robot, and defines the health status of robot.Health status can set according to actual needs.
More preferably, healthy grading is five discrete grades, and the health status of robot is defined as following five states: normal state, slight degenerate state, gently degraded state, high degradation state, fault case.
Preferably, described failure prediction design, wherein uses Markov model predicted method to carry out failure prediction to working robot, specific as follows:
S1, forecasting object state demarcation: corresponding to the health status of robot, by " normal state ", " slight degenerate state ", " gently degraded state ", " high degradation state ", " fault case " these five states as the Obj State of Markov model;
S2, calculates probability p
i:
For the new engine people by Performance Detection, think that it is in " normal state ", the probability of " normal state " approximates 1, and probability vector is exactly { 1,0,0,0,0};
S3, calculates the lower transition probability p of each state
ij
Describe its probability approx by the frequency of transfer mutually between state, obtain state transition probability matrix;
S4, predicts according to transition probability matrix and probability.
More preferably, in S3, EM (expectation maximization) algorithm in Markov model is used to carry out the calculating of transition probability matrix.
More preferably, in S4, when realizing status predication, robot history " health status " data and five possible states are coupled together, result obtains five status switches, status switch is brought in Markov model into the size calculating likelihood probability more several probability respectively, the end state that the sequence pair that then select probability is maximum is answered and predicted state, namely this end state predicts the outcome.
Preferably, described fault recovery design, wherein working robot, standby machine people are equipped with the controller of self, working robot when working properly on station and master controller carry out communication and complete production operation, when the working robot on certain station is broken down, standby machine people heavy duty controller substitutes failed machines people and master controller communication, completes the processing tasks to workpiece.
More preferably, the robot on described master controller and each station is all equipped with transmitter and receiver separately, and standby machine people is equipped with receiver; Master controller transmitter channel initial value is the first numerical value, and receiver channel initial value is second value; Robot transmitter channel initial value on each station is second value, and receiver channel initial value is the first numerical value; Standby machine people receiver channel initial value is second value;
Communication between multirobot during non-fault: when the working robot on station can normally work, communication concentrates between the working robot on master controller and each station, and the transmitter of master controller and the receiver of all working robot are all by the first identical numerical value Path Setup communication; When the sensor of master controller detect travelling belt has workpiece to arrive time, master controller sends message by transmitter, informs that working robot prepares to start respective task;
Communication when certain working robot breaks down: when a certain working robot on station breaks down, now first this working robot sends message by the second value passage of transmitter to the receiver second value passage of master controller and standby machine people, notifies that it breaks down; Move toward the artificial displacement of failed machines after standby machine people receives message, and complete the adjustment of initial pose; After master controller receives message, time-out a period of time makes standby machine people arrive failure stations, and completes the adjustment of initial pose; Then, receiver channel value is set to the first numerical value by standby machine people, and when workpiece is through out-of-date next time, the message standby machine people that master controller is sent by the first numerical value passage just can receive; Finally the receiver channel of failed machines people is set to the idle channel that system does not use, disconnects the communication between master controller and failed machines people;
Communication between standby machine man-hour multirobot: after completing adjustment each robot transmitter and receiver channel as follows: master controller transmitter channel value is the first numerical value, and receiver channel value is second value; The transmitter channel value of failed machines people is second value, and receiver channel value is setting value; Other working robot's transmitter channel values are second value, and receiver channel value is the first numerical value; The standby machine people receiver channel value of replacing failed machines people is the first numerical value; Now the transmitter of master controller and the receiver of standby machine people, other working robots are all by the first identical numerical value Path Setup communication, and failed machines people and all the other robots then disconnect communication and are connected.
According to a second aspect of the present invention, provide the High-reliability Control System in a kind of multi-robot system, described system comprises:
Robot topological system: comprise the working group be made up of working robot, and the working group for subsequent use be made up of standby machine people, the position between standby machine people and working robot is replaceable;
Failure prediction system: the health status of robot in coupling system, uses Markov model predicted method to carry out failure prediction to working robot;
Fault recovery system: predicting the outcome according to failure prediction system, when certain working robot is broken down, the standby machine people of control topological system substitutes this working robot.
Compared with prior art, the present invention has following beneficial effect:
The present invention, from the design of controlled system itself, realizes High-reliability Control: the division adopting working group of robot, and working group is that some are made up of the robot individuality of physics substitutability; The division of working group under the prerequisite significantly not reducing system reliability, can reduce costs.
Failure prediction design of the present invention can be avoided producing substandard products, workpiece damage even security incident, and this failure prediction technology can realize robot fault and occur according to " known time ", and then failure recovery operation can have the generation of lead.Simultaneous faults prediction can realize flexible Control for Dependability, can be realized the adjustment of the stability margin of robot system, thus realize the Dynamic controlling of product quality by the change defined fault case; Further, employ Prediction of Markov method in failure prediction of the present invention, this is general more natural thinking.
In fault recovery of the present invention design, by the communication mode of working group of robot inside and interaction flow design, can meet robot when normal, fault time and fault recovery after the variation of system operating mode in whole process.
The inventive method is not limited to certain robot system, does not also limit concrete application scenarios.The multi-robot system emulation using the present invention to carry out, result successfully can coordinate the production and processing task of device under being presented at non-failure conditions and failure condition, obtain satisfied result.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the process flow diagram of failure prediction in one embodiment of the invention;
Communication schematic diagram between multirobot when Fig. 2 is non-fault in one embodiment of the invention;
Communication schematic diagram when Fig. 3 is certain station machine human hair life fault in one embodiment of the invention;
Fig. 4 is communication schematic diagram between standby machine man-hour multirobot in one embodiment of the invention;
Fig. 5 is master controller control flow chart in one embodiment of the invention;
Fig. 6 is system architecture diagram in one embodiment of the invention.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
The present invention is a kind of High-reliability Control technology being directed to multi-robot system mainly, basic first for highly-reliable system---and controlled system, proposes that multi-robot system working group divides, physical topology design.Robot needs controller to control after having had physical arrangement, based on above-mentioned thinking, the present invention proposes the High-reliability Control method and system in multi-robot system.
A High-reliability Control method in multi-robot system, described method comprises:
Robot topology design: robot topology comprises the working group be made up of working robot, and the working group for subsequent use be made up of standby machine people, and the position between standby machine people and working robot is replaceable;
Failure prediction designs: the health status of robot in coupling system, uses Markov model predicted method to carry out failure prediction to working robot;
Fault recovery designs: when certain working robot is broken down, and controls standby machine people and substitutes this working robot.
Accordingly, the control system of mating with said method comprises:
Robot topological system: comprise the working group be made up of working robot, and the working group for subsequent use be made up of standby machine people, the position between standby machine people and working robot is replaceable;
Failure prediction system: the health status of robot in coupling system, uses Markov model predicted method to carry out failure prediction to working robot;
Fault recovery system: predicting the outcome according to failure prediction system, when certain working robot is broken down, the standby machine people of control topological system substitutes this working robot.
For ease of understanding the present invention, below the details from above-mentioned three aspects is described in detail:
1, robot topology design:
Robot topology design is a basis of this technology.In other words the topology design of robot is exactly a part for flow production line design.Difference and general Design of Production Line, the Topology Structure Design in the present invention is it is emphasised that the design of extension wire.The general knowledge basic according to system reliability is parallel relationship between regular link and extension wire.When systems reliability analysis, system forms the linear superposition of reliability.When robot system is about to break down, system carries out the switching of regular link and faulty line, can ensure the recovery realizing system at short notice.In addition, be also a part of content of the present invention to the reparation of faulty line.System can be allowed to realize round-the-clock normal operation to the timing reparation of faulty line, this is very important beyond doubt.
Meanwhile, robot topology design also must consider the cost of system.If each robot designs an individuality for subsequent use, the total cost of robot system is almost want double.This result is difficult to accept in most occasion.So the present invention proposes the concept of a working group and working group for subsequent use, working group is made up of working robot, and working group for subsequent use is made up of standby machine people.Each working group is one group of multiple robot that hardware configuration is identical, physical location is close.Certainly their control program can be identical, also can be different.That is the robot in working group is that physics is interchangeable, and software program to change according to demand.The second layer meaning of " physics is replaceable " mentioned here refers to that the working position between standby machine people and working robot is replaceable.Standby machine people, when being substituted into failure stations, can realizing completely automatically, and not need other intervention.
2, failure prediction design:
For realizing the High-reliability Control of multirobot, the present invention, on the basis of above-mentioned hardware modifications, devises failure prediction method further, and the practical significance of failure prediction is that there is certain stability margin in the robot in guarantee system.In robot life cycle, its health status is in change procedure.And its Changing Pattern is a statistical law.If do not carry out failure prediction, just probably occur producing substandard products, workpiece damage even occurs security incident.This is undoubtedly a technology of very significant in this method.Failure prediction technology is based upon on the basis of fault diagnosis (in other words System Discrimination).Fault diagnosis (System Discrimination) assesses the health status of the robot in system and classifies.The output information of System Discrimination process is the health grading of robot.Healthy grading is five discrete grades, and " health status " of robot is defined as following state by the present invention: normal state, slight degenerate state, gently degraded state, high degradation state, fault case.Certainly, these states also can carry out adjusting or changing according to actual needs, and this does not affect the realization of the object of the invention.
The present invention uses Markov model predicted method to realize the failure prediction of robot.Markov model prediction is a kind of method utilizing probability to set up stochastic pattern temporal model to carry out predicting.Prediction of Markov method is Markov process and the one application of Markov chain in prediction field, this method by things state classification, between the probability studying each state and state, transition probability predicts the variation tendency of things to-be, to predict the future of things.
If time and state parameter are all discrete Markov process, and have markov property, this stochastic process is Markov chain.If markov property can specifically be expressed as sequence of random variables { the time parameter t of Y (t), t ∈ T}
sas " now ", so t > t
srepresent " in the future ", t < t
srepresent " past ", so, system is at current situation Y (t
s) under known condition, residing for Y (t) " in the future " subsequent time situation have nothing to do with the situation in " past ", this characteristic of stochastic process is called markov property.
Forecast model: S
(k+1)=S
(k)in P formula: S
(k)it is the state vector in forecasting object t=k moment; P is a step transition probability matrix; S
(k+1)the state vector of forecasting object when t=k+1, the result of prediction.
Can obtain according to above-mentioned forecast model: S
(1)=S
(0)p
S
(2)＝S
(1)P
S
(k+1)＝S
(0)P
(k+1)
Forecast model: in formula: S
(0)for the initial state vector of forecasting object, the vector be made up of the probability of state.For markov chain, the probability that it is in any instant t can be determined by probability initial state vector and a step transition probability.
Applicable elements: forecast model is only applicable to the time series with Markov property, wanting in time span of forecast, the state transition probability in each moment keeps stable, is a step transition probability.If the state transition probability of sequential, with not in the same time in change, should not use the method.The method is generally applicable to short-term forecasting.
State transition probability matrix P describes the relation that forecasting object changes between each state all sidedly, has very important effect in prediction.It not only determines the state residing for forecasting object, and decides variation tendency and the net result of forecasting object.
The step of Markov model Forecasting Methodology is as follows:
1), forecasting object state demarcation
State and the previously described robot " health status " of forecasting object are same implications.In this step, we just using " normal state ", " slight degenerate state ", " gently degraded state ", " high degradation state ", " fault case " these five states as the Obj State of Markov model.
2), probability p is calculated
i
Probability is the probability that refers to state occurs.When the theoretical distribution of state probability is unknown, if sample size is enough large, usable samples distribution describes the theoretical distribution of state approx.Therefore, upstate occur frequency approx estimated state occur probability.Assuming that forecasting object has E
i(i=1,2 ..., n) individual state, in known historical data, E
ithe number of times that state occurs is M
i; Then E
ithe frequency F occurred
i=M
i/ N.At this application scenarios of robot work, for the new engine people by Performance Detection, it has been generally acknowledged that it is in " normal state ", this is a quite reasonable setting.Be equivalent in five states of forecasting object, the probability of " normal state " approximates 1, and also namely new engine people can not be in other states at initial time.So probability vector is exactly { 1,0,0,0,0}.
3) the lower transition probability p of each state, is calculated
ij
Probability with state is the same, and the theoretical distribution of state transition probability is unknown, when sample size is enough large, also can describe its probability approx by the frequency of transfer mutually between state.Assuming that by state E
iturn to E
jnumber be M
i, so
p
ij＝P(E
i→E
j)＝P(E
j|E
i)≈M
ij/M
i(i＝1,2,L,n)(j＝1,2,L,n)
Just obtain a step transition probability matrix (state transition probability matrix):
P on matrix principal diagonal
11, P
22... P
nnexpression is still in original state probability of state after a step transfer.Make computing mode transition probability in this way be fairly simple, computing is more basic.But this method also exists obvious deficiency, simple statistical computation have ignored the ordinal relation between status switch, and this causes a lot of information in raw data not to be utilized.Better way is that EM (expectation maximization) algorithm in the Markov model used carries out the calculating of state transition probability matrix.
Understand EM algorithm intuitively, it also can be looked at as a successive approximation algorithm: in advance and do not know the parameter of model, selection set of parameter that can be random or prior certain initial parameter λ 0 given roughly, determine the most probable state corresponding to this group parameter, calculate the probability of the possible outcome of each training sample, under current state again by sample to parameters revision, reappraise parameter lambda, and under new parameter, redefine the state of model, like this, by iteration repeatedly, circulate till certain condition of convergence meets, just can make the parameter approaching to reality parameter gradually of model.The use of EM algorithm is the key point that failure prediction algorithm realizes.For a Markov model, its key parameter mainly contains state, initial vector (during system initialization each shape probability of state), state transition probability matrix.The above two are all 1) and 2) in complete, and only need simple calculating.3) in be iterative computation to the calculating (EM algorithm) of state transition probability matrix, be the committed step of model training.
4), predict according to state transition probability matrix and probability.Final step needs to utilize history data and Markov model to calculate.History data is one section of status switch, is the data of " health status " in the robot individual former work period.Markov model is a probability model in essence, and a given status switch can calculate the probability of its correspondence according to state transition probability matrix.When realizing status predication, robot history " health status " data and five possible states are coupled together, and result obtains five status switches.Finally, status switch is brought in model into the size calculating likelihood probability more several probability respectively, the end state (i.e. predicted state) that the sequence pair that then select probability is maximum is answered.Namely this end state predicts the outcome.Shown in the procedure chart 1 of whole failure prediction.
3, fault recovery technology:
Working robot on station, each controller of having self by oneself of standby machine people.Working robot when equipment normally works on station and master controller carry out communication and complete production operation; When the working robot on certain station is broken down, standby machine people heavy duty controller substitutes working robot and the master controller communication of fault, completes the processing tasks to workpiece.
Below to illustrate the control flow of the communication introduced between multirobot and each robot.
Communication between multirobot: the robot on master controller and each station is all equipped with transmitter and receiver separately, and standby machine people is equipped with transmitter.Master controller transmitter channel initial value is 0, and transmitter channel initial value is 1; Robot transmitter channel initial value on each station is 1, and receiver channel initial value is 0; Standby machine people receiver channel initial value is 1.
1), communication between multirobot during non-fault
When the working robot on station can normally work, communication concentrates between the working robot on master controller and each station, and as shown in Figure 2, robot A, robot B, robot C, robot D are working robot.The transmitter of master controller all sets up communication by identical passage 0 with the receiver of robot A, robot B, robot C, robot D.When the sensor of master controller detect travelling belt has workpiece to arrive time, master controller sends message by transmitter, informs that robot A, robot B, robot C, robot D prepare to start respective task.
2) communication when, certain working robot breaks down
When a certain working robot on station breaks down (robot A might as well be established to break down), now first robot A sends message by the passage 1 of transmitter to the transmitter channel 1 of master controller and standby machine people, notifies that it breaks down.Move toward robot A station after standby machine people receives message, and complete the adjustment of initial pose.After master controller receives message, time-out a period of time makes standby machine people can arrive robot A station, and complete the adjustment of initial pose, after completing, receiver channel is set to 0 by standby machine people, object is in order to ought workpiece is through out-of-date next time, and master controller can make standby machine people receive by the message that passage 0 sends.Finally the receiver channel of robot A is set to the idle channel (passage 9 might as well be set to) that system does not use, disconnects the communication between master controller and robot A.Whole flow process as shown in Figure 3.
3), communication between standby machine man-hour multirobot
After completing adjustment each robot transmitter and receiver channel as follows: master controller transmitter channel value is 0, and receiver channel value is 1; The transmitter channel value of robot A is 1, and receiver channel value is 9; The transmitter channel value of robot B, robot C, robot D is 1, and receiver channel value is 0; The receiver channel value of standby machine people is 0.Now the transmitter of master controller all sets up communication by identical passage 0 with the receiver of standby machine people, robot B, robot C, robot D, and robot A and all the other robots then disconnect communication and are connected, as shown in Figure 4.
4), overhead control flow process
Under Webots environment, to invention has been emulation experiment, wherein important overhead control flow process as shown in Figure 5.
0. to arrange receiver channel be 1, for receiving the information of sending from the robot broken down; Arranging transmitter channel is 0, sends message for giving the robot of normal work.
1. program cycle control, waits for the unit control time.
2. whether there is message in detection failure message queue, if there is message to go to 3a in queue, otherwise go to 3b.
Whether 3a. detects time delay terminates, if do not had, then postpones certain hour and goes to 1; Otherwise, represent standby machine people and arrived station and adjusted initial pose work and complete, go to 4.
3b. conveyer belt controls, and detects handling situations, if can't run, waits for that on station, robot, to work pieces process, goes to 1; If can run, go to 4.
4. obtain travelling belt upper position sensor probe value, if probe value is less than threshold value, represents position transducer and not yet detect workpiece arrival, go to 1; Otherwise go to 5.
5. check whether whether message sends, if be sent, go to 1; Otherwise, send message and record, go to 1 simultaneously.
Analogue system result successfully can coordinate the production and processing task of device under being presented at non-failure conditions and failure condition, allow standby machine people take over failed machines people complete operation in systems in which under certain robot fault state, achieve the slitless connection that device fabrication is produced.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. the High-reliability Control method in multi-robot system, is characterized in that, described method comprises:
Robot topology design: robot topology comprises the working group be made up of working robot, and the working group for subsequent use be made up of standby machine people, and the position between standby machine people and working robot is replaceable;
Failure prediction designs: the health status of robot in coupling system, uses Markov model predicted method to carry out failure prediction to working robot;
Fault recovery designs: when certain working robot is broken down, and controls standby machine people and substitutes this working robot.
2. the High-reliability Control method in multi-robot system according to claim 1, it is characterized in that, described robot topology design, wherein working group is one group of multiple robot that hardware configuration is identical, physical location is close, the control program of multiple robot is identical or different, each robot in working group is that physics is interchangeable, and software program can change according to demand; Working position simultaneously between standby machine people and working robot is replaceable, and standby machine people can realize the working robot replacing failure stations automatically, does not need other intervention.
3. the High-reliability Control method in multi-robot system according to claim 1, it is characterized in that, described failure prediction design, wherein the health status of robot adopts fault diagnosis to realize, namely the health status of the robot in system assessed and classify, output information is the health grading of robot, and defines the health status of robot.
4. the High-reliability Control method in multi-robot system according to claim 3, it is characterized in that, described health grading is five discrete grades, and the health status of robot is defined as following five states: normal state, slight degenerate state, gently degraded state, high degradation state, fault case.
5. the High-reliability Control method in multi-robot system according to claim 4, is characterized in that, described failure prediction design, wherein uses Markov model predicted method to carry out failure prediction to working robot, specific as follows:
S1, forecasting object state demarcation: corresponding to the health status of robot, by " normal state ", " slight degenerate state ", " gently degraded state ", " high degradation state ", " fault case " these five states as the Obj State of Markov model;
S2, calculates probability p
i:
For the new engine people by Performance Detection, think that it is in " normal state ", the probability of " normal state " approximates 1, and probability vector is exactly { 1,0,0,0,0};
S3, calculates the lower transition probability p of each state
ij
Describe its probability approx by the frequency of transfer mutually between state, obtain state transition probability matrix;
S4, predicts according to transition probability matrix and probability.
6. the High-reliability Control method in multi-robot system according to claim 5, is characterized in that, in S3, uses the expectation-maximization algorithm in Markov model to carry out the calculating of transition probability matrix.
7. the High-reliability Control method in multi-robot system according to claim 5, it is characterized in that, in S4, when realizing status predication, robot history " health status " data and five possible states are coupled together, and result obtains five status switches, status switch is brought in Markov model into the size calculating likelihood probability more several probability respectively, then the end state that the sequence pair that select probability is maximum is answered and predicted state, namely this end state predicts the outcome.
8. the High-reliability Control method in the multi-robot system according to any one of claim 1-7, it is characterized in that, described fault recovery design, wherein working robot, standby machine people are equipped with the controller of self, working robot when working properly on station and master controller carry out communication and complete production operation, when the working robot on certain station is broken down, standby machine people heavy duty controller substitutes failed machines people and master controller communication, completes the processing tasks to workpiece.
9. the High-reliability Control method in multi-robot system according to claim 8, is characterized in that, the robot on described master controller and each station is all equipped with transmitter and receiver separately, and standby machine people is equipped with receiver; Master controller transmitter channel initial value is the first numerical value, and receiver channel initial value is second value; Robot transmitter channel initial value on each station is second value, and receiver channel initial value is the first numerical value; Standby machine people receiver channel initial value is second value;
Communication between multirobot during non-fault: when the working robot on station can normally work, communication concentrates between the working robot on master controller and each station, and the transmitter of master controller and the receiver of all working robot are all by the first identical numerical value Path Setup communication; When the sensor of master controller detect travelling belt has workpiece to arrive time, master controller sends message by transmitter, informs that working robot prepares to start respective task;
Communication when certain working robot breaks down: when a certain working robot on station breaks down, now first this working robot sends message by the second value passage of transmitter to the receiver second value passage of master controller and standby machine people, notifies that it breaks down; Move toward the artificial displacement of failed machines after standby machine people receives message, and complete the adjustment of initial pose; After master controller receives message, time-out a period of time makes standby machine people arrive failure stations, and completes the adjustment of initial pose; Then, receiver channel value is set to the first numerical value by standby machine people, and when workpiece is through out-of-date next time, the message standby machine people that master controller is sent by the first numerical value passage just can receive; Finally the receiver channel of failed machines people is set to the idle channel that system does not use, disconnects the communication between master controller and failed machines people;
Communication between standby machine man-hour multirobot: after completing adjustment each robot transmitter and receiver channel as follows: master controller transmitter channel value is the first numerical value, and receiver channel value is second value; The transmitter channel value of failed machines people is second value, and receiver channel value is setting value; Other working robot's transmitter channel values are second value, and receiver channel value is the first numerical value; The standby machine people receiver channel value of replacing failed machines people is the first numerical value; Now the transmitter of master controller and the receiver of standby machine people, other working robots are all by the first identical numerical value Path Setup communication, and failed machines people and all the other robots then disconnect communication and are connected.
10. for realizing the High-reliability Control System in the multi-robot system of method described in any one of the claims 1-9, it is characterized in that, comprising:
Robot topological system: comprise the working group be made up of working robot, and the working group for subsequent use be made up of standby machine people, the position between standby machine people and working robot is replaceable;
Failure prediction system: the health status of robot in coupling system, uses Markov model predicted method to carry out failure prediction to working robot;
Fault recovery system: predicting the outcome according to failure prediction system, when certain working robot is broken down, the standby machine people of control topological system substitutes this working robot.
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