CN111443642A - Cooperative control system and method for robot - Google Patents
Cooperative control system and method for robot Download PDFInfo
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- CN111443642A CN111443642A CN202010334372.3A CN202010334372A CN111443642A CN 111443642 A CN111443642 A CN 111443642A CN 202010334372 A CN202010334372 A CN 202010334372A CN 111443642 A CN111443642 A CN 111443642A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses a robot cooperative control system and a method thereof, wherein each robot is in communication connection with the cooperative control system, and the method comprises the following steps: the configuration unit pre-configures the work task and the corresponding running path of each robot; the task allocation unit allocates each robot to normally operate according to a pre-allocated work task and a corresponding operation path; the positioning device acquires the current position information of each robot in real time and feeds the current position information back to the cloud end; the positioning device also comprises a position information receiving unit for receiving the current position information sent by the positioning device in real time; the task management unit receives the user instruction to judge whether the user instruction changes or not and outputs a change instruction when the user instruction changes; and the replanning unit receives the current position information and the change instruction and replans the corresponding work task and the running path of the robot according to the current position information and the change instruction. Has the advantages that: the working efficiency and the cooperative force among a plurality of robots are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a cooperative control system and method of a robot.
Background
In the background of the rapid development of the internet, more and more intelligent devices replace human beings to complete various complex operations, and robots are one of the typical intelligent devices. With the deepening of the complexity of the work to be completed, one robot cannot meet the work requirement, and the cooperative work among a plurality of robots is more and more common.
At present, the robot can not be manually controlled in the initial stage of operation or use, and for the work which needs the robot to complete in a coordinated manner, an operator is required to frequently issue a plurality of pieces of control information to a plurality of robots, even when the number of the robots is large, a plurality of operators are required to operate, and the control information of different robots to different operators is easy to understand, so that the deviation is easy to occur, the control and correction are required to be performed manually, the labor cost is high, and the work efficiency of the robot and the accuracy of the task completed by the robot are seriously influenced.
Disclosure of Invention
In view of the above problems in the prior art, a cooperative control system and method for a robot are provided.
The specific technical scheme is as follows:
the invention comprises a cooperative control system of robots, which is applied to a plurality of robots working in the same application environment, wherein each robot is connected with the cooperative control system in a communication way, and the cooperative control system comprises:
a cloud, the cloud comprising:
the task configuration unit is used for pre-configuring the work task and the corresponding running path of each robot;
the task allocation unit is connected with the task allocation unit and used for allocating the normal operation of each robot according to the pre-allocated work task and the corresponding operation path;
the positioning device is arranged on each robot and used for acquiring the current position information of each robot in real time and feeding the current position information back to the cloud end;
the cloud end is in communication connection with the positioning device, and the cloud end further comprises:
a position information receiving unit, configured to receive the current position information sent by the positioning apparatus in real time;
the task management unit is used for receiving a user instruction, judging whether the user instruction changes or not and outputting a change instruction when the user instruction changes;
and the replanning unit is respectively connected with the position information receiving unit and the task management unit and is used for receiving the current position information and the change instruction and replanning the corresponding working task and the running path of the robot according to the current position information and the change instruction.
Preferably, the positioning device is a satellite positioning system.
Preferably, the user instruction includes a cancel instruction or a change instruction or an update instruction.
Preferably, the cloud is in wireless communication connection with the positioning device.
Preferably, the work task and the operation path of each robot replanned by the replanning unit are different.
The invention also includes a cooperative control method for robots, which is applied to a plurality of robots working in the same application environment, each robot being in communication connection with the cooperative control system, and is characterized in that, when applied to any one of the cooperative control systems, the cooperative control method specifically includes the following steps:
step S1, a task configuration unit is adopted to pre-configure the work task and the corresponding running path of each robot;
step S2, a task allocation unit is adopted to allocate each robot to normally operate according to the pre-configured work tasks and the corresponding operation paths;
step S3, a positioning device is adopted to obtain the current position information of each robot in real time and feed the current position information back to the cloud end;
step S4, a position information receiving unit is adopted to receive the current position information sent by the positioning device in real time;
step S5, a task management unit is used to receive the user command, determine whether the user command changes, and output a change command when the user command changes;
and step S6, adopting a replanning unit to receive the current position information and the change instruction, and replanning the corresponding work task and the operation path of the robot according to the current position information and the change instruction.
Preferably, in step S3, the positioning device is a satellite positioning system.
Preferably, in step S5, the user command includes a cancel command, a change command, or an update command.
Preferably, the task configuration unit, the task allocation unit, the location information receiving unit, the task management unit and the replanning unit are all arranged in a cloud, and the cloud is in wireless communication connection with the positioning device.
Preferably, in step S6, the work task and the operation path of each robot re-planned by the re-planning unit are different.
The technical scheme of the invention has the beneficial effects that: the cooperative control system and method for the robots are characterized in that the cloud end and the positioning device are adopted to process the cooperative control process among the robots, the robots can be accurately controlled to complete tasks, manual participation is not needed, and manpower is saved, so that the working efficiency and the cooperative force among the robots are improved.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
Fig. 1 is a schematic block diagram of a cooperative control system of a robot of an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of a cooperative control method for a robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
At present, the robot can not be manually controlled in the initial stage of operation or use, and for the work which needs the robot to complete in a coordinated manner, an operator is required to frequently issue a plurality of pieces of control information to a plurality of robots, even when the number of the robots is large, a plurality of operators are required to operate, and the control information of different robots to different operators is easy to understand, so that the deviation is easy to occur, the control and correction are required to be performed manually, the labor cost is high, and the work efficiency of the robot and the accuracy of the task completed by the robot are seriously influenced.
In view of the above-mentioned drawbacks in the prior art, the present invention includes a cooperative control system for robots, which is applied to a plurality of robots working in the same application environment, and each robot is communicatively connected to the cooperative control system, wherein the cooperative control system includes:
a cloud 1, the cloud 1 comprising:
a task configuration unit 10, configured to pre-configure the work task and the corresponding operation path of each robot;
a task allocation unit 11, connected to the task allocation unit 10, for allocating each robot to normally operate according to the pre-configured work task and the corresponding operation path;
the positioning device 2 is arranged on each robot, and the positioning device 2 is used for acquiring the current position information of each robot in real time and feeding the current position information back to the cloud 1;
a position information receiving unit 12, configured to receive, in real time, current position information sent by the positioning apparatus;
a task management unit 13, for receiving the user command, to determine whether the user command changes, and outputting a change command when the user command changes;
and the replanning unit 14 is respectively connected with the position information receiving unit 12 and the task management unit 13 and is used for receiving the current position information and the change instruction and replanning the corresponding working task and the running path of the robot according to the current position information and the change instruction.
Through the technical solution of the cooperative control system of the robot, as shown in fig. 1, the cooperative control process of the robot is applied to a plurality of robots working in the same application environment, each robot is communicatively connected to the cooperative control system, for example, the application environment may be configured according to user requirements, and the advantage is that the cooperative control system can solve the problem of cooperation among the plurality of robots.
In the prior art, when a plurality of robots work, collision or repeated tasks are likely to happen if communication is not in time, so that the working efficiency of the robots is reduced, and the robots do useless work, thereby consuming useless energy. Aiming at the defects, the cooperative coordination among a plurality of robots can be processed in time by adopting the cooperative control process, so that the working efficiency and the cooperative force among the robots are improved.
Furthermore, the cloud 1 is adopted to pre-configure the work task and the corresponding operation path of each robot, and allocate the normal operation of each robot according to the pre-configured work task and the corresponding operation path. For example, under normal conditions, a plurality of robots pass through 1 allotments in the high in the clouds, need not artifical the participation to save unnecessary manpower and materials, and through 1 control in the high in the clouds, can in time feedback information, the ageing is good, and the accuracy is high, thereby improves the work efficiency of a plurality of robots.
Further, when the cloud 1 allocates each robot to operate normally, each robot is provided with a positioning device 2 which can acquire the current position information of each robot in real time and feed the current position information back to the cloud 1. For example, the position information receiving unit 12 of the cloud 1 is used for receiving the current position information sent by the positioning device in real time. For example, the Positioning device 2 may be a satellite Positioning System, for example, a Positioning System including a GPS (Global Positioning System) or a beidou Positioning System, or may be another Positioning device in the prior art, which is not limited in this embodiment.
Further, the cloud 1 may also receive a user instruction in real time, for example, the user instruction includes a cancel instruction, a change instruction, or an update instruction, and the user instruction may also be a new instruction, and for the new instruction, the replanning unit 14 of the cloud 1 plans a new work task and a new operation track according to the position information of the corresponding robot and the new instruction.
For example, the user may also cancel or change or update the preset work task and corresponding running track of each robot, and the cloud 1 is mainly configured to process the cancel instruction, the change instruction, or the update instruction in time, so as to avoid unnecessary loss due to message delay received among multiple robots.
For the above requirement, the task management unit 13 of the cloud 1 receives the user instruction in real time to determine whether the user instruction changes, and outputs a change instruction when the user instruction changes; the replanning unit 14 receives the current position information and the change instruction, and replans the corresponding work task and operation path of the robot according to the current position information and the change instruction. Of course, the work tasks and the travel paths of each robot re-planned by the re-planning unit 14 are different.
Further, cloud 1 wireless communication connects positioner 2, adopts cloud 1 and positioner 2 to handle the cooperative control process between a plurality of robots, can accurately control a plurality of robots and accomplish the task, and does not need artifical the participation to use manpower sparingly to improve work efficiency and the cooperation power between a plurality of robots.
In addition, still be provided with electrical power generating system in to every robot, this electrical power generating system can be rechargeable lithium cell, also can be the rechargeable battery of large capacity to provide sufficient electric energy for positioner 2, and then during the collaborative work between a plurality of robots, can in time receive effective information, and can guarantee that this positioner 2 has sufficient electric energy and keeps in touch with high in the clouds 1 moment, and then improve ageing and work efficiency.
The invention also comprises a cooperative control method of the robot, which is applied to a plurality of robots working in the same application environment, and each robot is in communication connection with the cooperative control system, and is characterized in that the cooperative control method is applied to any one of the cooperative control systems, and the cooperative control method specifically comprises the following steps:
step S1, a task configuration unit is adopted to pre-configure the work task and the corresponding running path of each robot;
step S2, a task allocation unit is adopted to allocate each robot to normally operate according to the pre-configured work tasks and the corresponding operation paths;
step S3, a positioning device is adopted to obtain the current position information of each robot in real time and feed the current position information back to the cloud;
step S4, a position information receiving unit is adopted to receive the current position information sent by the positioning device in real time;
step S5, a task management unit is used to receive the user command, determine whether the user command changes, and output a change command when the user command changes;
and step S6, a replanning unit is adopted to receive the current position information and the change instruction and replan the working task and the running path of the corresponding robot according to the current position information and the change instruction.
Through the technical scheme of the cooperative control method for the robot, as shown in fig. 2, the cooperative control method is applied to a cooperative control process of multiple robots, the multiple robots work in the same application environment, for example, the multiple robots can be in the same local area network, each robot is in communication connection with a cooperative control system, for example, the application environment can be configured according to user requirements, and the advantage is that the cooperative control system can solve the problem of cooperation among the multiple robots.
In the prior art, when a plurality of robots work, collision or repeated tasks are likely to happen if communication is not in time, so that the working efficiency of the robots is reduced, and the robots do useless work, thereby consuming useless energy. Aiming at the defects, the cooperative coordination among a plurality of robots can be processed in time by adopting the cooperative control process, so that the working efficiency and the cooperative force among the robots are improved.
Furthermore, the cloud 1 is adopted to pre-configure the work task and the corresponding operation path of each robot, and allocate the normal operation of each robot according to the pre-configured work task and the corresponding operation path. For example, under normal conditions, a plurality of robots pass through 1 allotments in the high in the clouds, need not artifical the participation to save unnecessary manpower and materials, and through 1 control in the high in the clouds, can in time feedback information, the ageing is good, and the accuracy is high, thereby improves the work efficiency of a plurality of robots.
Further, when the cloud 1 allocates each robot to operate normally, each robot is provided with a positioning device 2 which can acquire the current position information of each robot in real time and feed the current position information back to the cloud 1. For example, the position information receiving unit 12 of the cloud 1 is used for receiving the current position information sent by the positioning device in real time. For example, the Positioning device 2 may be a satellite Positioning System, for example, a Positioning System including a GPS (Global Positioning System) or a beidou Positioning System, or may be another Positioning device in the prior art, which is not limited in this embodiment.
Further, the cloud 1 may also receive a user instruction in real time, for example, the user instruction includes a cancel instruction, a change instruction, or an update instruction, and the user instruction may also be a new instruction, and for the new instruction, the replanning unit 14 of the cloud 1 plans a new work task and a new operation track according to the position information of the corresponding robot and the new instruction.
For example, the user may also cancel or change or update the preset work task and corresponding running track of each robot, and the cloud 1 is mainly configured to process the cancel instruction, the change instruction, or the update instruction in time, so as to avoid unnecessary loss due to message delay received among multiple robots.
For the above requirement, the task management unit 13 of the cloud 1 receives the user instruction in real time to determine whether the user instruction changes, and outputs a change instruction when the user instruction changes; the replanning unit 14 receives the current position information and the change instruction, and replans the corresponding work task and operation path of the robot according to the current position information and the change instruction. Of course, the work tasks and the travel paths of each robot re-planned by the re-planning unit 14 are different.
Further, cloud 1 wireless communication connects positioner 2, adopts cloud 1 and positioner 2 to handle the cooperative control process between a plurality of robots, can accurately control a plurality of robots and accomplish the task, and does not need artifical the participation to use manpower sparingly to improve work efficiency and the cooperation power between a plurality of robots.
In addition, still be provided with electrical power generating system in to every robot, this electrical power generating system can be rechargeable lithium cell, also can be the rechargeable battery of large capacity to provide sufficient electric energy for positioner 2, and then during the collaborative work between a plurality of robots, can in time receive effective information, and can guarantee that this positioner 2 has sufficient electric energy and keeps in touch with high in the clouds 1 moment, and then improve ageing and work efficiency.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A cooperative control system for robots, which is applied to a plurality of robots working in the same application environment, wherein each robot is connected to the cooperative control system in a communication manner, the cooperative control system comprising:
a cloud, the cloud comprising:
the task configuration unit is used for pre-configuring the work task and the corresponding running path of each robot;
the task allocation unit is connected with the task allocation unit and used for allocating the normal operation of each robot according to the pre-allocated work task and the corresponding operation path;
the positioning device is arranged on each robot and used for acquiring the current position information of each robot in real time and feeding the current position information back to the cloud end;
the cloud end is in communication connection with the positioning device, and the cloud end further comprises:
a position information receiving unit, configured to receive the current position information sent by the positioning apparatus in real time;
the task management unit is used for receiving a user instruction, judging whether the user instruction changes or not and outputting a change instruction when the user instruction changes;
and the replanning unit is respectively connected with the position information receiving unit and the task management unit and is used for receiving the current position information and the change instruction and replanning the corresponding working task and the running path of the robot according to the current position information and the change instruction.
2. The cooperative control system of robots as recited in claim 1, wherein said positioning means is a satellite positioning system.
3. The cooperative control system of a robot according to claim 1, wherein the user instruction includes a cancel instruction or a change instruction or an update instruction.
4. The cooperative control system of a robot as claimed in claim 1, wherein the cloud is connected to the positioning device in a wireless communication manner.
5. The cooperative control system of robots according to claim 1, wherein the work task and the running path of each of the robots re-planned by the re-planning unit are different.
6. A cooperative control method for robots, which is applied to a plurality of robots working in the same application environment, wherein each robot is communicatively connected to the cooperative control system, and is applied to the cooperative control system according to any one of claims 1 to 5, and the cooperative control method specifically comprises the following steps:
step S1, a task configuration unit is adopted to pre-configure the work task and the corresponding running path of each robot;
step S2, a task allocation unit is adopted to allocate each robot to normally operate according to the pre-configured work tasks and the corresponding operation paths;
step S3, a positioning device is adopted to obtain the current position information of each robot in real time and feed the current position information back to the cloud end;
step S4, a position information receiving unit is adopted to receive the current position information sent by the positioning device in real time;
step S5, a task management unit is used to receive the user command, determine whether the user command changes, and output a change command when the user command changes;
and step S6, adopting a replanning unit to receive the current position information and the change instruction, and replanning the corresponding work task and the operation path of the robot according to the current position information and the change instruction.
7. The cooperative control method of a robot according to claim 6, wherein in step S3, the positioning device is a satellite positioning system.
8. The cooperative control method according to claim 6, wherein in step S5, the user command includes a cancel command, a change command, or an update command.
9. The cooperative control method for robots according to claim 6, wherein the task configuration unit, the task allocation unit, the location information receiving unit, the task management unit and the replanning unit are all disposed in a cloud, and the cloud is connected to the positioning device in a wireless communication manner.
10. The cooperative control method of robots as claimed in claim 6, wherein in the step S6, the work task and the operation path of each of the robots re-planned by the re-planning unit are different.
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