CN114851207B - Anti-collision control method and system for double robots and multi-robot system - Google Patents
Anti-collision control method and system for double robots and multi-robot system Download PDFInfo
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- CN114851207B CN114851207B CN202210653766.4A CN202210653766A CN114851207B CN 114851207 B CN114851207 B CN 114851207B CN 202210653766 A CN202210653766 A CN 202210653766A CN 114851207 B CN114851207 B CN 114851207B
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an anti-collision control method and system for double robots and a multi-robot system. The control method comprises the following steps: establishing real-time communication between a master robot and a slave robot; when the host robot and the slave robot run respective preset motion tasks, the host robot receives real-time motion data of the slave robot sent by the slave robot in real time and predicts collision risks of the two in combination with the real-time motion data of the slave robot; when the master robot prejudges that the collision risk exists with the slave robot, the master robot actively avoids the slave robot so that the slave robot can preferentially run the preset movement task. By adopting the control method, the host robot can realize dynamic avoidance autonomously, avoid collision, ensure the execution efficiency of the double robots to the maximum extent, improve the production efficiency, and simultaneously adopt a single avoidance strategy, so that the calculation force requirement of anti-collision detection can be reduced, the response speed of the robots is improved, and the avoidance action precision is higher.
Description
Technical Field
The invention belongs to the field of cooperative motion of double robots, and particularly relates to an anti-collision control method and system for double robots and a multi-robot system.
Background
In an automated production line, due to space limitation or task requirements, situations may occur in which two robots (e.g., SCARA robots) are installed in relatively close positions, resulting in overlapping areas in the working space. When two robots simultaneously execute the motion tasks, the risk of collision exists in the overlapped working space. In this case, the motion task trajectories of the two robots can be controlled manually so as to avoid overlapping, thereby ensuring that no collision occurs. However, this method requires careful design of the robot program by the user, and places a relatively large limitation on the use of the robot.
The present invention has been made in view of this.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an anti-collision control method, an anti-collision control system and a multi-robot system for double robots, wherein when the double robots complete respective expected tasks, the main robots autonomously realize dynamic avoidance, so that collision is avoided, the execution efficiency of the double robots can be ensured to the greatest extent, the production efficiency is improved, meanwhile, an independent avoidance strategy is adopted, the calculation force requirement of anti-collision detection can be reduced, the response speed of the robots is improved, and the avoidance action precision is higher.
In order to solve the above technical problems, the present invention provides an anti-collision method for controlling a dual robot, the dual robot including a master robot and a slave robot, a working space of the master robot and the slave robot having a coincidence region, the master robot being communicable with the slave robot, the anti-collision method comprising:
establishing real-time communication between a master robot and a slave robot;
enabling the master robot and the slave robot to run respective preset motion tasks;
when the host robot and the slave robot run respective preset motion tasks, the host robot receives real-time motion data of the slave robot sent by the slave robot in real time and predicts collision risks of the two in combination with the real-time motion data of the slave robot;
when the master robot prejudges that the collision risk exists with the slave robot, the master robot actively avoids the slave robot so that the slave robot can preferentially run the preset movement task.
Further optionally, the master robot actively dodges the slave robot to make the slave robot preferentially execute the preset motion task, including:
the main robot determines a safety area of the collision point according to the collision risk;
the main robot gives up to travel to the position of the pre-interpolation point, and travels to the safety area to perform the next pre-judgment.
Further optionally, when the master robot predicts that there is no collision risk with the slave robot, the master robot proceeds to perform its preset motion task.
Further optionally, the slave robot and the master robot respectively calculate respective current position bounding box models and pre-interpolation point position bounding box models in the travelling process;
the real-time motion data of the slave robot, which are sent by the slave robot, comprise a current position bounding box model of the slave robot, a pre-interpolation point position bounding box model and current speed information and acceleration information of the slave robot;
the real-time motion data of the main robot comprise a current position bounding box model of the main robot, a pre-interpolation point position bounding box model and current speed information and acceleration information of the model;
the method for predicting collision risk by the master robot in real time by receiving the real-time motion data of the slave robot sent by the slave robot and combining the real-time motion data of the master robot comprises the following steps: and the master robot calculates whether collision risks exist at the current time of the two parties and the positions of the two parties at each future time through the bounding box model of the current positions of the two parties and the subsequent pre-interpolation point positions and the current speed information and the acceleration information of the two parties.
Further alternatively, the host robot calculates, from the current positions of the two parties, the bounding box model of the subsequent pre-interpolation point positions, and the current speed information and acceleration information, whether the positions of the two parties at each future time and each position of each future time have collision risk, including:
the main robot calculates the positions of the two parties at all times according to the current positions, the speed and the acceleration of the two parties;
judging whether the bounding box models at the positions of the current moment and each future moment have overlapping areas one by one;
if there is an overlap region, then a collision risk is considered.
Further optionally, proceeding to the safe area, performing the next pre-determination includes:
the main robot gives up running to the position of the pre-interpolation point and runs to the preset safe distance from the critical position of the collision point;
and calculating a bounding box model of a subsequent pre-interpolation point by the master robot according to the current position of the safety area where the master robot is located and the position of the pre-interpolation point, and combining the bounding box model with a slave robot bounding box model sent by the slave robot to analyze and pre-judge collision risks of the master robot and the slave robot bounding box model again.
Further optionally, the master robot and the slave robot are both multi-joint mechanical arms; the bounding box model is a cubic bounding box.
The invention also proposes a multi-robot collision avoidance control system comprising one or more processors and a non-transitory computer readable storage medium storing program instructions, the one or more processors being adapted to implement a method according to any of the above-mentioned aspects when the one or more processors execute the program instructions.
The invention also provides a multi-robot system, which comprises a master robot and a slave robot, and is characterized in that a superposition area exists in working spaces of the master robot and the slave robot, and the master robot can communicate with the slave robot, and adopts the method of any one of the technical schemes or comprises the anti-collision control system of the technical scheme.
Further optionally: the anti-collision control system comprises a first communication module and a first controller which are arranged on the host robot, a second communication module and a second controller which are arranged on the slave robot, wherein the first controller is provided with a first storage module and a first calculation module, the second controller is provided with a second storage module and a second calculation module, and the first communication module and the second communication module realize real-time communication between the host robot and the slave robot.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects: under the condition that the working spaces of the two robots are in a superposition area, the slave robots are in real-time communication with the master robot, and the master robot prejudges whether collision positions exist in the follow-up tasks or not based on real-time motion data of the slave robots and real-time motion data of the master robot, so that accuracy of prejudging results is improved. If the collision risk does not exist in the pre-judging process, the master robot and the slave robot execute respective preset motion tasks, and once the collision risk is pre-judged, the master robot actively avoids the slave robot, so that the slave robot preferentially operates the preset motion tasks, and performs the next pre-judging process in the active avoidance process until the two parties complete the expected tasks. Therefore, collision can be effectively avoided, the execution efficiency of the master robot and the slave robot is guaranteed to the maximum extent, and the production efficiency is improved. Meanwhile, by adopting a single avoiding mode, the calculation force requirement of the anti-collision method can be reduced, and the response speed of the robot is improved. In addition, the invention can realize accurate pre-judgment of collision risk without depending on additional sensors, thereby saving cost.
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort. In the drawings:
fig. 1 shows a schematic flow chart of a robot anti-collision method according to an embodiment of the invention.
Fig. 2a shows one of effect demonstration diagrams of an anti-collision control method of a dual robot according to an embodiment of the present invention.
Fig. 2b shows a second effect demonstration diagram of the anti-collision control method of the dual robots according to an embodiment of the present invention.
Fig. 2c illustrates a third demonstration of the effect of the collision prevention control method of the dual robots according to an embodiment of the present invention.
Fig. 2d shows a fourth effect demonstration diagram of the anti-collision control method of the dual robots according to an embodiment of the present invention.
Fig. 3 is a flow chart schematically showing an anti-collision control method of a dual robot according to an embodiment of the present invention.
Wherein: 1 a master robot, 11 a first large arm, 12 a first small arm, 13 a first joint, 14 a first end, 2a slave robot, 21 a second large arm, 22 a second small arm, 23 a second joint, 24 a second end.
It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Detailed Description
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "contacting," and "communicating" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In order to solve the problem that when two robots simultaneously execute respective expected tasks, there is a risk of collision with each other in a coincident working space, the present embodiment proposes an anti-collision method for controlling a dual robot, which includes a master robot and a slave robot, where there is a coincident region in the working spaces of the master robot and the slave robot, the master robot can communicate with the slave robot.
A collision prevention control method of a dual robot according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of an anti-collision control method according to an embodiment of the present invention, and referring to fig. 1, the anti-collision control method includes:
s100, establishing real-time communication between the master robot and the slave robot.
Specifically, in the case that the overlapping area exists in the working spaces of the two robots, network connection of the master robot and the slave robot is established so that the two robots can communicate in real time.
S102, enabling the master robot and the slave robot to run respective preset motion tasks.
S104, when the master robot and the slave robot run respective preset motion tasks, the master robot receives the slave robot real-time motion data sent by the slave robot in real time and prejudges collision risks of the master robot and the slave robot in combination with the slave robot real-time motion data.
Specifically, the slave robot sends real-time motion data to the master robot, and the master robot prejudges whether collision positions exist in the follow-up tasks or not based on the real-time motion data of the slave robot and the real-time motion data of the master robot, so that the prejudging result is more accurate.
S108, when the master robot predicts that the collision risk exists with the slave robot, the master robot actively avoids the slave robot so that the slave robot can preferentially run the preset motion task.
If the pre-interpolation position where the collision happens subsequently exists, the host robot adopts an active avoidance strategy, namely, the host robot actively avoids the pre-interpolation position where the collision happens, so that the slave robot preferentially runs the preset motion task of the slave robot, the collision can be avoided, the execution efficiency of the slave robot is ensured to the maximum extent, meanwhile, the independent avoidance strategy is adopted, the calculation force requirement of an anti-collision method can be reduced, and the response speed of the robot is improved.
Optionally, in an implementation manner of this embodiment, the master robot actively dodges the slave robot to make the slave robot preferentially execute its preset motion task, including: the main robot determines a safety area of the collision point according to the collision risk; the main robot gives up to travel to the position of the pre-interpolation point, and travels to the safety area to perform the next pre-judgment.
S110, when the pre-judging result of the master robot is that the collision risk does not exist between the master robot and the slave robot, the master robot continues to run to execute the preset movement task.
Specifically, under the condition that the working spaces of the two robots have overlapping areas, the master robot is always in a collision detection state, and if the slave robot cannot collide with the slave robot at the current position and the subsequent pre-interpolation position, the master robot can execute the preset motion task. Once the collision risk exists in the pre-judgment, the host robot gives up to travel to the position of the pre-interpolation point, and proceeds to the safety area of the pre-interpolation point to perform the next pre-judgment, and after the collision risks of the two parties are eliminated, the host robot continues to execute the preset motion task, so that the dynamic avoidance is realized, the collision can be effectively avoided, the execution efficiency of the double robots is ensured, and the production efficiency is improved.
Further optionally, the slave robot and the master robot respectively calculate respective current position bounding box models and pre-interpolation point position bounding box models in the travelling process;
the real-time motion data of the slave robot, which are sent by the slave robot, comprise a current position bounding box model of the slave robot, a pre-interpolation point position bounding box model and current speed information and acceleration information of the slave robot;
and the slave robot and the master robot respectively calculate the current position bounding box model and the pre-interpolation point position bounding box model in the process of executing the respective preset motion tasks.
The real-time motion data of the main robot comprise a current position bounding box model of the main robot, a pre-interpolation point position bounding box model and current speed information and acceleration information of the main robot.
Specifically, the real-time motion data refers to a current position bounding box model, a pre-interpolation point position bounding box model and current speed information and acceleration information of a robot (including a master robot and a slave robot) when the robot executes a preset motion task. The master robot and the slave robot respectively calculate respective real-time motion data, so that the calculation force requirement of anti-collision detection can be reduced.
Further alternatively, the master robot receiving the slave robot real-time motion data transmitted from the slave robot in real time and predicting collision risk in combination with its own real-time motion data includes: and the master robot calculates whether collision risks exist at the current time of the two parties and the positions of the two parties at each future time through the bounding box model of the current positions of the two parties and the subsequent pre-interpolation point positions and the current speed information and the acceleration information of the two parties.
Specifically, when the main robots perform anti-collision detection based on the bounding box models of the two parties, the real-time running speeds of the two robots are considered, so that whether the collision risk exists at the positions of the two parties at the current moment and each future moment can be predicted, and the accuracy of the pre-judgment calculation is improved.
Further alternatively, the host robot calculates, from the current positions of the two parties, the bounding box model of the subsequent pre-interpolation point positions, and the current speed information and acceleration information, whether the positions of the two parties at each future time and each position of each future time have collision risk, including: the main robot calculates the positions of the two parties at all times according to the current positions, the speed and the acceleration of the two parties; judging whether the bounding box models at the positions of the current moment and each future moment have overlapping areas one by one; if there is an overlap region, then a collision risk is considered.
Specifically, the host robot predicts whether the two parties have collision risks in respective subsequent tasks based on the real-time motion data of the two parties. The positions of the two parties at each future moment can be calculated by combining the current position, the speed and the acceleration of the two parties and the bounding box models of the current position and the subsequent pre-interpolation point position of the two parties, and whether the running tracks of the two parties at the same moment overlap or not can be judged by judging whether the bounding box models of the positions of the two parties at the current moment and each future moment have overlapping areas one by one, so that the accuracy of the pre-judgment result is improved.
Further optionally, proceeding to the safe area, performing the next pre-determination includes:
the main robot gives up running to the position of the pre-interpolation point and runs to within a preset safety distance from the critical position of the collision point. Specifically, the host robot actively avoids the collision point within a preset safety distance from the critical position of the collision point, so that collision can be effectively avoided.
And calculating a bounding box model of a subsequent pre-interpolation point by the master robot according to the current position of the safety area where the master robot is located and the position of the pre-interpolation point, and combining the bounding box model with a slave robot bounding box model sent by the slave robot to analyze and pre-judge collision risks of the master robot and the slave robot bounding box model again.
Further optionally, the master robot and the slave robot are both multi-joint mechanical arms; the bounding box model is a cubic bounding box.
Further, if the master robot and the slave robot move only in one plane as a multi-joint robot arm, it is preferable that the bounding box model is a rectangular bounding box, i.e., a cubic bounding box model having a height of 0.
Specifically, the master and slave robots are both SCARA (Selective Compliance Assembly Robot Arm, selectively compliant mount robot arm) robots.
It should be noted that the bounding box model is not limited to a cube, and other shapes can be used, depending on the specific shape of the robot, the more accurate the bounding box model, the more accurate the robot avoidance action. In this embodiment, the master robot and the slave robot are both multi-joint mechanical arms, when the master robot and the slave robot move in a plane, the rectangular bounding box algorithm is selected to calculate the bounding box model because the rectangular is more closely related to the cross section shape of the slave robot, so that the calculation force is saved, the purpose of accurately bounding the bounding box model can be achieved, the collision risk of the two robots is predicted based on the calculation force, the predicted result is more accurate, the response of the robot is faster, and real-time and accurate avoidance actions can be performed.
Fig. 2a is an effect illustration of each of a master robot and a slave robot performing its preset motion task, which are involved in an anti-collision control method according to an embodiment of the present invention. Fig. 2b is a schematic diagram illustrating an effect of active avoidance of a host robot according to an embodiment of the present invention. Fig. 2c is an explanatory view of an effect of the slave robot continuing to perform its preset task, which is involved in the anti-collision control method of an embodiment of the present invention. Fig. 2d is a diagram showing the effect of the master robot and the slave robot continuing to execute the preset tasks involved in the anti-collision control method according to an embodiment of the present invention. Fig. 3 is a flow chart of an anti-collision control method of a dual robot according to an embodiment of the invention.
The collision prevention control method of the dual robot of the present invention is further described with reference to fig. 2a to 3. In the present embodiment, the master robot 1 and the slave robot 2 are both SCARA robots. The master robot 1 and the slave robot 2 are connected via a LAN (Local Area Network ) interface, the slave robot 2 can transmit its own data to the master robot 1 in real time via a TCP/IP network protocol, and the master robot 1 can receive the data in real time. As can be seen in fig. 2a, the master robot 1 comprises a first large arm 11, a first small arm 12, a first joint 13 and a first end 14, and the slave robot 2 comprises a second large arm 21, a second small arm 22, a second joint 23 and a second end 24. As shown in fig. 3, the collision prevention control method includes:
from the robot end:
s1, executing the expected task;
s2, calculating a surrounding box model of the current position of the self and a surrounding box model of the pre-interpolation position;
s3, sending the current position bounding box model, the pre-interpolation position bounding box model and the current speed and acceleration of the current position bounding box model and the pre-interpolation position bounding box model to the host robot;
and S4, running a motion task of the pre-interpolation position.
The main robot end:
s5, executing the expected task;
s6, calculating a surrounding box model of the current position of the self and a surrounding box model of the pre-interpolation position;
s7, acquiring a current position bounding box model, a pre-interpolation position bounding box model and current speed and acceleration of the slave robot, which are sent by the slave robot;
s8, pre-judging whether collision occurs or not according to the current position bounding box model and the pre-interpolation position bounding box model of the two parties and the current speed and acceleration of the two parties; if yes, executing S9; if not, executing S10;
s9, running to be within a preset safety distance from the critical position of the collision point;
s10, running a motion task of the pre-interpolation position.
Specifically, in the case where there is a region of overlap between the working spaces of the two SCARA robots, the master robot 1 and the slave robot 2 each perform their intended tasks, the slave robot 2 communicates with the master robot 1 in real time, and the bounding box model, speed, and acceleration information of the current position and the subsequent pre-interpolation point position are transmitted. The master robot 1 performs a preliminary judgment to calculate whether or not a collision will occur at the current position and the subsequent pre-interpolation position from the velocity, acceleration, and bounding box model information of both. If collision occurs at the subsequent position, the master robot 1 actively avoids the slave robot 2, gives up the motion task of the pre-interpolation position, and then moves to within the preset safety distance from the critical position of the collision point before collision, and enters the next pre-judgment calculation until the two parties realize the expected task, so as to realize multi-machine cooperation and autonomous avoidance. The method adopts the pre-judgment calculation and the rectangular bounding box method to carry out cooperative avoidance, so that the response of the robot is faster, and the avoidance action precision is higher.
It should be further noted that, the communications between two SCARA robots need to meet the requirements of bandwidth and real-time performance, and the LAN interface and the TCP/IP protocol are only examples, and the specific situation should be determined according to the actual situation. In addition, the priority of the master robot 1 and the slave robot 2 should be determined according to the situation, and alternatively, the master robot 1 may control the slave robot 2, and both may perform the avoidance operation.
The present embodiment also proposes a multi-robot collision avoidance control system comprising one or more processors and a non-transitory computer readable storage medium storing program instructions, the one or more processors being configured to implement a method according to any one of the above-described aspects when the one or more processors execute the program instructions.
The embodiment also provides a multi-robot system, which comprises a master robot and a slave robot, wherein the working space of the master robot and the working space of the slave robot have overlapping areas, the master robot can communicate with the slave robot, and the multi-robot system adopts the method of any one of the technical schemes or comprises the anti-collision control system of the technical scheme.
Further optionally: the anti-collision control system comprises a first communication module and a first controller which are arranged on the host robot, a second communication module and a second controller which are arranged on the slave robot, wherein the first controller is provided with a first storage module and a first calculation module, the second controller is provided with a second storage module and a second calculation module, and the first communication module and the second communication module realize real-time communication between the host robot and the slave robot.
Specifically, the first communication module and the second communication module comprise a LAN interface, a WiFi module, a bluetooth module and the like, and wired communication or wireless communication between the master robot and the slave machine is realized through the first communication module and the second communication module.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
The foregoing description is only illustrative of the preferred embodiment of the present invention, and is not to be construed as limiting the invention, but is to be construed as limiting the invention to any and all simple modifications, equivalent variations and adaptations of the embodiments described above, which are within the scope of the invention, may be made by those skilled in the art without departing from the scope of the invention.
Claims (8)
1. A collision avoidance control method of a twin robot including a master robot and a slave robot, characterized in that there is a region of coincidence of working spaces of the master robot and the slave robot, the master robot being communicable with the slave robot, the collision avoidance control method comprising:
establishing real-time communication between the master robot and the slave robot;
enabling the master robot and the slave robot to run respective preset motion tasks;
when the master robot and the slave robot run respective preset motion tasks, the master robot receives real-time motion data of the slave robot sent by the slave robot in real time and prejudges collision risks of the master robot and the slave robot by combining the real-time motion data of the slave robot;
when the master robot prejudges that collision risk exists between the master robot and the slave robot, the master robot actively avoids the slave robot so that the slave robot can preferentially run preset motion tasks of the slave robot;
the master robot actively avoiding the slave robot to enable the slave robot to preferentially execute preset motion tasks, comprising:
the host robot determines a safety area of a collision point according to the collision risk;
the host robot gives up to travel to the position of the pre-interpolation point, and proceeds to the safety area to perform the next pre-judgment;
and when the predicted result of the master robot is that the collision risk does not exist between the master robot and the slave robot, the master robot continues to run to execute the preset movement task.
2. The method for controlling collision avoidance of a dual robot according to claim 1, wherein,
the slave robot and the master robot respectively calculate respective current position bounding box models and pre-interpolation point position bounding box models in the running process;
the slave robot real-time motion data transmitted by the slave robot comprises a current position bounding box model of the slave robot, a pre-interpolation point position bounding box model, current speed information and acceleration information of the slave robot;
the real-time motion data of the host robot comprise a current position bounding box model of the host robot, a pre-interpolation point position bounding box model, current speed information and acceleration information of the host robot;
the master robot receiving the slave robot real-time motion data sent by the slave robot in real time and predicting collision risks by combining the slave robot real-time motion data with the slave robot real-time motion data comprises the following steps: and the host robot calculates whether collision risks exist at the current time of the two parties and the positions of the two parties at each future time through the bounding box model of the current positions of the two parties and the subsequent pre-interpolation point positions and the current speed information and the acceleration information of the two parties.
3. The method according to claim 2, wherein the step of calculating, by the host robot, whether or not there is a risk of collision between the current positions of the two parties, the bounding box model of the subsequent pre-interpolation point position, the current velocity information, and the acceleration information, the positions of the two parties at each future time, and each position at each future time, includes:
the host robot calculates the positions of the two parties at all moments through the current positions, the speed and the acceleration of the two parties;
judging whether the bounding box models at the positions of the current moment and each future moment have overlapping areas or not;
if there is an overlap region, then a collision risk is considered.
4. The method for controlling collision avoidance of a dual robot according to claim 3,
and the step of advancing to the safety area, wherein the step of performing the next prejudgment comprises the following steps:
the host robot gives up running to the position of the pre-interpolation point and runs within a preset safety distance from the critical position of the collision point;
and the host robot calculates a bounding box model of a subsequent pre-interpolation point according to the current position of the safety area where the host robot is located and the position of the pre-interpolation point, and combines the bounding box model with a slave robot bounding box model sent by the slave robot to analyze and pre-judge collision risks of the two again.
5. The method for collision-prevention control of a double robot according to claim 4, further comprising:
the master robot and the slave robot are multi-joint mechanical arms;
the bounding box model is a cubic bounding box.
6. A dual robot collision avoidance control system comprising one or more processors and a non-transitory computer readable storage medium storing program instructions which, when executed by the one or more processors, are operable to implement the method of any of claims 1-5.
7. A multi-robot system comprising a master robot and a slave robot, wherein there is a region of coincidence of the working spaces of the master robot and the slave robot, the master robot being communicable with the slave robot, employing the method of any one of claims 1-5, or comprising the collision avoidance control system of claim 6.
8. A multi-robot system according to claim 7, wherein: the anti-collision control system comprises a first communication module and a first controller which are arranged on the master robot, a second communication module and a second controller which are arranged on the slave robot, wherein the first controller is provided with a first storage module and a first calculation module, the second controller is provided with a second storage module and a second calculation module, and the first communication module and the second communication module realize real-time communication between the master robot and the slave robot.
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