CN111805524A - Multi-mobile mechanical arm cooperative work system and cooperative work method - Google Patents
Multi-mobile mechanical arm cooperative work system and cooperative work method Download PDFInfo
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- CN111805524A CN111805524A CN202010788592.3A CN202010788592A CN111805524A CN 111805524 A CN111805524 A CN 111805524A CN 202010788592 A CN202010788592 A CN 202010788592A CN 111805524 A CN111805524 A CN 111805524A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to the technical field of multi-mobile mechanical arm control, and particularly relates to a multi-mobile mechanical arm cooperative work system and a cooperative work method, wherein the multi-mobile mechanical arm cooperative work system comprises: the system comprises an upper computer and a plurality of mobile mechanical arm devices; the upper computer is suitable for sending a decision-making instruction to the corresponding mobile mechanical arm device; the mobile mechanical arm device is suitable for completing corresponding work tasks according to decision instructions, multiple mobile mechanical arm devices are planned in a large-scale production line to complete respective appointed work tasks, the purposes of unified control and decentralized management are achieved, and the work efficiency is higher.
Description
Technical Field
The invention belongs to the technical field of multi-mobile mechanical arm control, and particularly relates to a multi-mobile mechanical arm cooperative work system and a cooperative work method.
Background
With the continuous progress of computer science and technology, the automation and intelligence of industrial manufacturing are rapidly developed. As an automatic device, the mobile mechanical arm plays a great role in the automatic intelligent application process of industrial manufacturing, and the technical research on the mobile mechanical arm is more and more deep and the application is more and more extensive. The movable mechanical arm can efficiently replace manual work to realize the carrying and processing links of a plurality of angles and positions, and can complete the work tasks which cannot be completed manually and have high difficulty, severe environment and limited working space. The moving robot can be roughly classified into a single moving robot and a multi-moving robot, both of which are widely used in the modern industry. The single mobile mechanical arm often executes an independent work task, and the control is simpler; however, the multiple mobile mechanical arms are usually matched with each other to complete a common task, or coordinate with each other to complete a set of work tasks, so that the coordination control is complicated. At present, a lot of researches on a method for cooperative control of multiple mobile mechanical arms exist, and each research has advantages and certain disadvantages. On the basis of the existing research, the invention provides a multi-mobile mechanical arm cooperative working method and a control system, adopts a three-layer structure design idea, is suitable for planning a plurality of mobile mechanical arms in a large-scale production line to finish respective assigned working tasks, and achieves the purposes of unified control and decentralized management.
Therefore, a new multi-mobile-arm cooperative work system and a new multi-mobile-arm cooperative work method need to be designed based on the technical problems.
Disclosure of Invention
The invention aims to provide a multi-mobile mechanical arm cooperative work system and a cooperative work method.
In order to solve the above technical problem, the present invention provides a multi-mobile-arm cooperative work system, including:
the system comprises an upper computer and a plurality of mobile mechanical arm devices;
the upper computer is suitable for sending a decision-making instruction to the corresponding mobile mechanical arm device;
the mobile mechanical arm device is suitable for completing corresponding work tasks according to decision instructions.
Further, the host computer includes: the main processor module, and a main communication module, a man-machine interaction module and a sensor module which are electrically connected with the main processor module;
the human-computer interaction module is suitable for generating an operation instruction;
the sensor module is adapted to collect information;
the main processor module is suitable for generating a decision instruction according to the operation instruction and the information;
the main processor module is suitable for sending a decision-making instruction to the mobile mechanical arm device through the main communication module.
Further, the sensor module includes: laser, camera, inertial navigation and encoder;
the encoder is adapted to collect mileage data;
the laser is adapted to collect distance data;
the camera is adapted to acquire image data;
the inertial navigation is adapted to acquire attitude data.
Further, the mobile robot arm device includes: the system comprises a mobile mechanical arm body, a slave processor module, a slave communication module, a driving mechanism and an analog signal acquisition module, wherein the slave communication module, the driving mechanism and the analog signal acquisition module are electrically connected with the slave processor module;
the slave communication module is suitable for receiving the decision instruction sent by the master communication module and sending the decision instruction to the slave processor module;
the slave processor module is suitable for controlling the driving mechanism to drive the mobile mechanical arm body to complete corresponding work tasks according to decision instructions;
the analog signal acquisition module is suitable for monitoring the working state of the movable mechanical arm body;
the slave communication module is suitable for sending a working state to the master communication module, and the human-computer interaction module is suitable for displaying the working state of the corresponding mobile mechanical arm body.
Further, the analog quantity signal collected by the analog signal collection module comprises: the spatial position and the shaft state of the movable mechanical arm body during working are moved to monitor the working state of the movable mechanical arm body.
Further, the drive mechanism includes: a drive circuit and a DC motor;
the slave processor module is suitable for controlling the driving circuit to drive the direct current motor according to a decision instruction so as to drive the mobile mechanical arm body to complete corresponding work tasks.
On the other hand, the invention also provides a multi-mobile mechanical arm cooperative working method, which comprises the following steps:
generating an operation instruction and collecting information;
generating a decision instruction according to the operation instruction and the information; and
and finishing the corresponding work task according to the decision instruction.
Further, the multi-mobile-mechanical-arm cooperative work method is suitable for achieving corresponding work tasks by adopting the multi-mobile-mechanical-arm cooperative work system.
The invention has the beneficial effects that the invention adopts the upper computer and a plurality of movable mechanical arm devices; the upper computer is suitable for sending a decision-making instruction to the corresponding mobile mechanical arm device; the mobile mechanical arm device is suitable for completing corresponding work tasks according to decision instructions, multiple mobile mechanical arm devices are planned in a large-scale production line to complete respective appointed work tasks, the purposes of unified control and decentralized management are achieved, and the work efficiency is higher.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a functional block diagram of a multi-motion robotic arm cooperative system in accordance with the present invention;
FIG. 2 is a schematic block diagram of a three-layer structure of a multi-mobile-arm cooperative system according to the present invention;
FIG. 3 is a functional block diagram of a host computer according to the present invention;
FIG. 4 is a functional block diagram of a mobile robotic arm apparatus according to the present invention;
fig. 5 is a flow chart of a method for cooperative work of multiple mobile robotic arms according to the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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.
Example 1
Fig. 1 is a schematic block diagram of a multi-motion robot cooperative system according to the present invention.
As shown in fig. 1, this embodiment 1 provides a multi-mobile-arm cooperative work system, including: the system comprises an upper computer and a plurality of mobile mechanical arm devices; the upper computer is suitable for sending a decision-making instruction to the corresponding mobile mechanical arm device; the mobile mechanical arm device is suitable for completing corresponding work tasks according to decision instructions, multiple mobile mechanical arm devices are planned in a large-scale production line to complete respective appointed work tasks, the purposes of unified control and decentralized management are achieved, and the work efficiency is higher.
Fig. 2 is a schematic block diagram of a three-layer structure of a multi-mobile-arm cooperative system according to the present invention.
As shown in fig. 2, in this embodiment, the multi-mobile-arm cooperative work system may be divided into three layers, that is, a human-computer interaction module in the upper computer is used as a human-computer interaction operation layer of the system, a sensor module and a main processor module in the upper computer are used as a task space planning decision layer, and the mobile mechanical arm device is used as an execution layer.
Fig. 3 is a schematic block diagram of an upper computer according to the present invention.
As shown in fig. 3, in this embodiment, the upper computer includes: the system comprises a main processor module (which CAN be but is not limited to an industrial PC), a main communication module (which CAN be but is not limited to a zigbee module, a CAN bus and the like which are connected with a mobile mechanical arm device) electrically connected with the main processor module, a human-computer interaction module (which CAN be but is not limited to a touch screen display with a friendly human-computer interaction interface which is connected with the main processor module through a serial port line) and a sensor module; the man-machine interaction module can be divided into a man-machine interaction operation area and a mobile mechanical arm working state monitoring area, and the main processor module is provided with a USB interface and can be connected with a mouse to replace a touch screen to operate the man-machine interaction operation area; the human-computer interaction module is suitable for generating an operation instruction; an operator performs task allocation on different mobile mechanical arms through a human-computer interaction operation area of a human-computer interaction operation layer 1 and sends an operation instruction; the sensor module is adapted to collect information; the main processor module is suitable for generating a decision instruction through data processing according to the operation instruction and the information; the main processor module is suitable for sending a decision-making instruction to the mobile mechanical arm device through the main communication module.
In this embodiment, the sensor module includes: laser, camera, inertial navigation and encoder; the encoder is adapted to collect mileage data; the laser is adapted to collect distance data; the camera is adapted to acquire image data; the inertial navigation is adapted to acquire attitude data.
Fig. 4 is a schematic block diagram of the mobile robot arm device according to the present invention.
As shown in fig. 4, in the present embodiment, the mobile robot arm device includes: the system comprises a mobile mechanical ARM body, a slave processor module (which CAN be but is not limited to an ARM embedded system or an STM32 series single chip microcomputer and the like), a slave communication module (for example, a CAN bus, and a mobile mechanical ARM device CAN be hung on the CAN bus as a node), a driving mechanism and an analog signal acquisition module, wherein the slave communication module is electrically connected with the slave processor module; the slave communication module is suitable for receiving the decision instruction sent by the master communication module and sending the decision instruction to the slave processor module; the slave processor module is suitable for controlling the driving mechanism to drive the mobile mechanical arm body to complete corresponding work tasks according to decision instructions (analyzing motion control information of the decision instructions); the analog signal acquisition module is suitable for monitoring the working state of the movable mechanical arm body; the slave communication module is suitable for sending working states to the master communication module, the human-computer interaction module is suitable for displaying the working states of the corresponding mobile mechanical arm bodies (the working states of the mobile mechanical arm bodies are displayed in a mobile mechanical arm working state monitoring area), operation, management and monitoring are integrated, and the integration level is higher; in the mobile mechanical arm body working process, analog signal acquisition module gathers a plurality of analog quantity signals of mobile mechanical arm body, include: analog quantity signals are converted into digital signals through an analog-digital converter, the digital signals are input into the slave processor module, the slave processor module transmits the digital signals to the master processor module through the slave communication module, and therefore the digital signals are displayed in a mechanical arm working state monitoring area of the human-computer interaction module, and the working state of the movable mechanical arm body is displayed in real time.
In this embodiment, the analog quantity signal collected by the analog signal collection module includes: the spatial position and the shaft state of the movable mechanical arm body during working are monitored so as to monitor the working state of the movable mechanical arm body.
In this embodiment, the drive mechanism includes: a drive circuit (a drive module including the drive circuit) and a direct current motor; the slave processor module is suitable for controlling the driving circuit to drive the direct current motor according to a decision instruction so as to drive the mobile mechanical arm body to complete corresponding work tasks.
Example 2
Fig. 5 is a flow chart of a method for cooperative work of multiple mobile robotic arms according to the present invention.
As shown in fig. 5, on the basis of embodiment 1, embodiment 2 further provides a method for cooperative work of multiple mobile robot arms, including: generating an operation instruction and collecting information; generating a decision instruction according to the operation instruction and the information; and completing the corresponding work task according to the decision instruction.
In this embodiment, the multi-mobile-mechanical-arm cooperative work method is suitable for implementing a corresponding work task by using the multi-mobile-mechanical-arm cooperative work system; generating an operation instruction and acquiring information by a multi-mobile mechanical arm cooperative work system; the method for generating the decision instruction according to the operation instruction and the information and completing the corresponding work task according to the decision instruction has been described in detail in embodiment 1, and is not described in detail in this embodiment.
In summary, the present invention uses an upper computer and a plurality of mobile robot arm devices; the upper computer is suitable for sending a decision-making instruction to the corresponding mobile mechanical arm device; the mobile mechanical arm device is suitable for completing corresponding work tasks according to decision instructions, multiple mobile mechanical arm devices are planned in a large-scale production line to complete respective appointed work tasks, the purposes of unified control and decentralized management are achieved, and the work efficiency is higher.
All the components selected in the application are general standard components or components known by those skilled in the art, and the structure and the principle of the components can be known by technical manuals or by routine experiments.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. The processor may be one or more Central Processing Units (CPUs), and in the case of one CPU, the CPU may be a single-core CPU or a multi-core CPU. The communication interface may be a data transmission interface, a circuit or component such as a communication interface or receiver that may be configured to receive information,
in light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. A multi-mobile-arm cooperative work system, comprising:
the system comprises an upper computer and a plurality of mobile mechanical arm devices;
the upper computer is suitable for sending a decision-making instruction to the corresponding mobile mechanical arm device;
the mobile mechanical arm device is suitable for completing corresponding work tasks according to decision instructions.
2. The multi-mobile robotic arm collaborative system according to claim 1,
the host computer includes: the main processor module, and a main communication module, a man-machine interaction module and a sensor module which are electrically connected with the main processor module;
the human-computer interaction module is suitable for generating an operation instruction;
the sensor module is adapted to collect information;
the main processor module is suitable for generating a decision instruction according to the operation instruction and the information;
the main processor module is suitable for sending a decision-making instruction to the mobile mechanical arm device through the main communication module.
3. The multi-mobile robotic arm collaborative system according to claim 2,
the sensor module includes: laser, camera, inertial navigation and encoder;
the encoder is adapted to collect mileage data;
the laser is adapted to collect distance data;
the camera is adapted to acquire image data;
the inertial navigation is adapted to acquire attitude data.
4. The multi-mobile robotic arm collaborative system according to claim 3,
the mobile robot arm device includes: the system comprises a mobile mechanical arm body, a slave processor module, a slave communication module, a driving mechanism and an analog signal acquisition module, wherein the slave communication module, the driving mechanism and the analog signal acquisition module are electrically connected with the slave processor module;
the slave communication module is suitable for receiving the decision instruction sent by the master communication module and sending the decision instruction to the slave processor module;
the slave processor module is suitable for controlling the driving mechanism to drive the mobile mechanical arm body to complete corresponding work tasks according to decision instructions;
the analog signal acquisition module is suitable for monitoring the working state of the movable mechanical arm body;
the slave communication module is suitable for sending a working state to the master communication module, and the human-computer interaction module is suitable for displaying the working state of the corresponding mobile mechanical arm body.
5. The multi-mobile robotic arm collaborative system according to claim 4,
the analog quantity signal collected by the analog signal collecting module comprises: the spatial position and the shaft state of the movable mechanical arm body during working are moved to monitor the working state of the movable mechanical arm body.
6. The multi-mobile robotic arm collaborative system according to claim 5,
the drive mechanism includes: a drive circuit and a DC motor;
the slave processor module is suitable for controlling the driving circuit to drive the direct current motor according to a decision instruction so as to drive the mobile mechanical arm body to complete corresponding work tasks.
7. A multi-mobile mechanical arm cooperative work method is characterized by comprising the following steps:
generating an operation instruction and collecting information;
generating a decision instruction according to the operation instruction and the information; and
and finishing the corresponding work task according to the decision instruction.
8. The multi-moving robot cooperative working method according to claim 7,
the multi-mobile mechanical arm cooperative work method is suitable for achieving corresponding work tasks by adopting the multi-mobile mechanical arm cooperative work system as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010788592.3A CN111805524A (en) | 2020-08-07 | 2020-08-07 | Multi-mobile mechanical arm cooperative work system and cooperative work method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010788592.3A CN111805524A (en) | 2020-08-07 | 2020-08-07 | Multi-mobile mechanical arm cooperative work system and cooperative work method |
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| Publication Number | Publication Date |
|---|---|
| CN111805524A true CN111805524A (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010788592.3A Withdrawn CN111805524A (en) | 2020-08-07 | 2020-08-07 | Multi-mobile mechanical arm cooperative work system and cooperative work method |
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| CN (1) | CN111805524A (en) |
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2020
- 2020-08-07 CN CN202010788592.3A patent/CN111805524A/en not_active Withdrawn
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Application publication date: 20201023 |