CN115609582B - Multi-mobile manipulator cooperative transportation control method and system - Google Patents

Multi-mobile manipulator cooperative transportation control method and system Download PDF

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Publication number
CN115609582B
CN115609582B CN202211241785.2A CN202211241785A CN115609582B CN 115609582 B CN115609582 B CN 115609582B CN 202211241785 A CN202211241785 A CN 202211241785A CN 115609582 B CN115609582 B CN 115609582B
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workpiece
manipulator
dimensional coordinate
manipulators
coordinate system
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CN115609582A (en
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姜成
朱永飞
乔闯
窦海
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Jiangsu Gaobei Electrical Equipment Co Ltd
Yunlu Composites Materials Shanghai Co Ltd
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Jiangsu Gaobei Electrical Equipment Co Ltd
Yunlu Composites Materials Shanghai Co Ltd
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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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a method and a system for controlling cooperative transportation of multiple mobile manipulators, wherein the method comprises the following steps: the computer vision module collects images of the large-sized workpiece and establishes a three-dimensional coordinate system of the large-sized workpiece; dividing the large workpiece into a plurality of subareas according to a three-dimensional coordinate system, and obtaining the number of manipulators for carrying the large workpiece in the subareas; the control terminal sends carrying instructions of large-scale workpieces to the controller according to the number of the manipulators, and the mobile platform and the controllers of the manipulators receive the carrying instructions to form executing instructions; the manipulator runs the execution instruction and lifts the appointed position of the object according to the regional division. The system comprises: the system comprises a computer vision module, a control terminal, a manipulator and a mobile platform. The invention realizes automatic identification of large workpieces, is convenient for a plurality of mobile manipulators to realize cooperative transportation of objects, and provides reference data for how to reasonably arrange lifting positions of the plurality of mobile manipulators.

Description

Multi-mobile manipulator cooperative transportation control method and system
Technical Field
The invention relates to the technical field of manipulator control, in particular to a multi-mobile manipulator cooperative conveying control method and system.
Background
The manipulator is an automatic operation device which can simulate some action functions of human hands and arms and mainly comprises an executing mechanism, a driving mechanism and a control system, and is used for grabbing and carrying objects or operating tools according to a fixed program. In practical application of the manipulator, some large workpieces need to be transported frequently, and because of the large weight of the large workpieces, the manipulator on one side cannot be lifted forcefully during transportation, and meanwhile, damage to the manipulator can be caused. For example: when the braiding machine works, the workpiece to be braided is required to be lifted. If the manipulators are arranged on two sides of the object to realize cooperative transportation, not only can powerful lifting be performed, but also damage to the manipulators can be reduced, so that the research on how to realize cooperative transportation control has great significance.
In the prior art, CN202011464476.2 is a manipulator with lifting function, and the manipulator comprises a transverse moving mechanism, wherein the top of the transverse moving mechanism is provided with a guide mechanism, a moving seat is arranged on the transverse moving mechanism, a steering motor is fixedly arranged in the moving seat, the end part of an output shaft of the steering motor is fixedly connected with a lifting mechanism, and one side of the lifting mechanism is provided with the lifting mechanism. The multi-degree-of-freedom manipulator and the lifting mechanism are switched through the steering motor, the lifting mechanism is driven by the first driving motor to horizontally move, so that the lifting plates on the two clamping arms can be positioned in the middle of an object, the two clamping arms are driven by the third driving motor to fold, the object is lifted onto the lifting plates, then the clamping arms are driven by the second driving motor to lift, and the lifting operation of the heavy object is realized.
Second, CN202111316798.7 is an intelligent manipulator that machining used, including the equipment base, equipment base top movable mounting has the platform that turns to, turn to platform surface movable mounting has robotic arm, fixed mounting has supporting mechanism on the equipment base, turn to platform one side and lie in supporting mechanism top and install the mechanism of lifting, supporting mechanism includes location steel hoop, the support frame, first expansion bracket, adjusting bolt, the second expansion bracket, the mechanism of lifting includes first lifting plate, the buffering rubber pad, the second lifting plate, hinge and location cassette, be provided with the detection support body on first lifting plate and the second lifting plate, fixed mounting has detection mechanism on the detection support body, detection mechanism includes data wire, the ultrasonic flaw detector, display screen, detection probe and positioning bolt. Although the intelligent manipulator for machining can be convenient for a user to overhaul the manipulator, the manipulator on one side cannot carry out powerful lifting on a carried object, and meanwhile, the manipulator is damaged.
In the third prior art, CN202111429654.2 is a plate feeding system, which comprises a platform and a bending part; the lifting mechanism comprises a lifting frame, a conveying belt is used for conveying the plates to the lifting frame, the lower end of the lifting frame is fixedly connected with a connecting seat, the first-stage telescopic rod is hinged to one side of the connecting seat, which is close to the baffle plate, the lifting frame is used for lifting the plates when the first-stage telescopic rod stretches, and the connecting seat is connected with the second-stage telescopic rod; the first-stage telescopic rod stretches to lift the lifting frame; the second-stage telescopic rod stretches to push the connecting seat and the lifting frame to incline; two first drive mechanisms located in baffle platform the place ahead, rear, every first drive mechanism includes: the device comprises a first screw rod transversely arranged, a first nut spirally sleeved outside the first screw rod, a manipulator fixedly arranged on the first nut, a first motor connected with the first screw rod and a sensor for measuring the displacement of the manipulator; the first screw rod is driven to rotate and drive the first nut and the manipulator to transversely move until the manipulator moves to a preset distance when the first motor is started, and although the longitudinal distance between the manipulators on two sides can be adjusted so as to adapt to the longitudinal lengths of different plates, the single-side manipulator can not forcefully lift a conveyed object, and meanwhile the manipulator can be damaged.
The problem that the single-side manipulator cannot carry out powerful lifting on objects and damage is caused to the manipulator exists in the first, second and third prior art at present. Compared with the prior art, the method and the system for controlling the cooperative transportation of the multiple mobile manipulators have the advantages that the cooperative transportation of the large-sized objects is realized by adopting the cooperative control of the multiple mobile manipulators, so that the powerful lifting of the large-sized objects is realized, and the damage to the manipulators is reduced.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-mobile manipulator cooperative transportation control method, which comprises the following steps:
the computer vision module collects images of the large-sized workpiece and establishes a three-dimensional coordinate system of the large-sized workpiece;
dividing the large workpiece into a plurality of subareas according to a three-dimensional coordinate system, and obtaining the number of manipulators for carrying the large workpiece in the subareas;
the control terminal sends out a carrying instruction of the large-sized workpiece according to the number controllers of the manipulators, and the mobile platform and the controllers of the manipulators receive the carrying instruction to form an executing instruction;
the manipulator runs the execution instruction and lifts the appointed position of the object according to the regional division.
Optionally, the computer vision module collects images of a large workpiece, specifically including:
shooting an image of the whole shape of the large-sized workpiece through a camera connected with the control terminal, and performing noise reduction treatment on the image to obtain a noise-reduced image;
and acquiring edge characteristics of the large workpiece by adopting edge refinement of the image after noise reduction, so as to obtain the edge characteristics of the complete image of the complete large workpiece.
Optionally, the area division of the large workpiece is performed according to a three-dimensional coordinate system, which specifically includes:
performing interval slicing processing on point cloud data of a three-dimensional coordinate system of a large-sized workpiece along the directions of coordinate axes x, y and z;
projecting the interval slice processing to the xy plane of a three-dimensional coordinate system, and acquiring an external polygon of the interval slice processing by adopting a scattered point contour algorithm and a Delaonet triangle network;
and (3) obtaining a smooth polygon by adopting a Bezier curve, calculating the processing area and the volume of each interval slice, calculating the mass center of the large-sized workpiece based on the area and the volume, and determining the number and the positions of the manipulators according to the number of the mass centers.
Optionally, the method for searching the circumscribed polygon of the slice by adopting a scattered point contour algorithm and a delaunay triangulation network comprises the following steps:
after the interval slicing treatment is carried out for projection, a point cloud two-dimensional coordinate point set of the large-sized workpiece is obtained, and any two points in the point cloud two-dimensional coordinate point set define a circle with the radius of spectrum radius;
the point cloud two-dimensional coordinate point set is used for constructing a Delaonet triangle network, and judging the length of each side of the triangle of the Delaonet triangle network;
taking any triangle in the Delaonet triangle network, if the length of a certain side in the triangle is larger than 2 x spectrum radius, indicating that any two points in the point cloud two-dimensional coordinate point set are far away from each other, and a circle meeting the requirement cannot be constructed, deleting the triangle; if two points passing through a certain side and a circle with the radius of the spectrum radius contains other points, the two-dimensional coordinate point set of the point cloud is explained that any two points in the two-dimensional coordinate point set are not peripheral contour points, and the triangle is deleted;
and deleting triangle sides which do not accord with two points with the length of a certain side being more than 2 times of the spectrum radius or the spectrum radius of a certain side and the circle with the radius being the spectrum radius contains other points, wherein the rest sides are edges of the circumscribed polygon of the slice of the large-sized workpiece.
Optionally, after the closed loop search of all the slices in the x, y and z directions is completed, smoothing is performed by adopting a Bezier curve to obtain a smooth polygon, the area D and the volume E of each slice are calculated, interpolation and accumulation are performed on the calculation results of each slice to obtain centroid coordinates and volumes in the x, y and z directions, the centroid of the large-sized workpiece is obtained, and a manipulator is arranged at the centroid.
Optionally, the manipulator installed on the mobile platform lifts the designated position of the large workpiece according to the region division, which specifically includes:
dividing the region of the large workpiece according to a three-dimensional coordinate system to obtain the mass center and non-mass center of the large workpiece;
the method comprises the steps that a preset main manipulator is arranged near a centroid, if the main manipulator is near the centroid, the main manipulator is placed at the centroid, and if other manipulators are arranged near the main manipulator and the centroid, the main manipulator moves the manipulator to the centroid;
and the main manipulator controls other manipulators to reach the mass center and the non-mass center according to the regional division result.
Optionally, at least two manipulators are disposed at the center of mass, and at least one manipulator is disposed at each of the two ends of the non-center of mass.
Optionally, after the carrying is completed, the control terminal sends out a stop instruction, and the mobile platform and the manipulator recover to the initial position.
The invention provides a multi-mobile manipulator cooperative transportation control system, which comprises:
the computer vision module is connected with the control terminal and used for collecting images of the large-sized workpiece and establishing a three-dimensional coordinate system of the large-sized workpiece;
the control terminal is used for dividing the region of the large workpiece according to the three-dimensional coordinate system to obtain the number of mechanical arms required to carry the large workpiece; a carrying instruction of a large-sized workpiece is sent, and a controller of the mobile platform and each manipulator receives the carrying instruction;
the manipulator is used for executing an instruction for controlling the carrying of the large-sized workpiece of the terminal;
and the mobile platform is provided with a manipulator and is used for realizing the movement of the position of the manipulator.
Optionally, the computer vision module comprises: and the camera is used for shooting the image of the whole shape of the large workpiece, the computer vision module performs noise reduction treatment on the image to obtain a noise-reduced image, and the noise-reduced image adopts edge refinement to realize the acquisition of the edge characteristics of the large workpiece to obtain a complete image of the complete large workpiece.
The control terminal acquires the image of the large workpiece, establishes a three-dimensional coordinate system, realizes automatic identification of the large workpiece, facilitates the cooperative transportation of the large workpiece by a plurality of mobile manipulators, provides reference data for reasonably arranging the lifting positions of the plurality of mobile manipulators, and is beneficial to improving the lifting stability of the large workpiece; according to the invention, the large workpiece is subjected to regional division to obtain the number of manipulators for carrying the large workpiece, and the sizes of the large workpiece can be different in actual production, so that the number of required movable manipulators can be different, and therefore, the mass center part is determined by regional division of the large workpiece, so that the large workpiece is carried, the number of unnecessary movable manipulators is reduced, the energy consumption is saved, and the production cost of enterprises is reduced; the large-scale workpiece is carried by the mobile platform and the manipulator, the mobile platform changes the position of the manipulator, the manipulator realizes a specific carrying function, the autonomous control capability of the control terminal is improved, and the autonomous control of the cooperative carrying of the large-scale workpiece is truly realized; the invention realizes the cooperative transportation of large-sized workpieces and the intelligent control of the whole cooperative transportation process.
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 thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a flow chart of a method for controlling collaborative handling of multiple mobile robots in an embodiment of the invention;
FIG. 2 is a flow chart of a computer vision module capturing images of a large workpiece in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of the division of regions for a large workpiece in an embodiment of the invention;
FIG. 4 is a flowchart of a search slice circumscribed polygon in accordance with an embodiment of the present invention;
FIG. 5 is a flow chart of a designated position for lifting a large workpiece in accordance with an embodiment of the present invention;
fig. 6 is a block diagram of a coordinated handling control system of a multi-mobile manipulator according to an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Example 1
As shown in fig. 1, the embodiment of the invention provides a multi-mobile manipulator cooperative transportation control method, which comprises the following steps:
s100: the method comprises the steps that a computer vision module carried by a control terminal collects images of a large-sized workpiece and establishes a three-dimensional coordinate system of the large-sized workpiece;
s200: the control terminal divides the large workpiece into a plurality of subareas according to the three-dimensional coordinate system, and the number of manipulators for carrying the large workpiece in the subareas is obtained;
s300: the control terminal sends carrying instructions of large-scale workpieces to the controller according to the number of the manipulators, and the mobile platform and the controllers of the manipulators receive the carrying instructions to form executing instructions;
s400: and the manipulator operates the execution instruction and lifts the appointed position of the object according to the region division, and after the carrying is completed, the control terminal sends out the stop instruction, and the mobile platform and the manipulator recover the initial position.
The working principle and beneficial effects of the technical scheme are as follows: the control terminal acquires the image of the large workpiece, establishes a three-dimensional coordinate system, realizes automatic identification of the large workpiece, facilitates the cooperative transportation of the large workpiece by a plurality of mobile manipulators, provides reference data for reasonably arranging the lifting positions of the plurality of mobile manipulators, and is beneficial to improving the lifting stability of the large workpiece; according to the invention, the large workpiece is subjected to regional division to obtain the number of manipulators for carrying the large workpiece, and the sizes of the large workpiece can be different in actual production, so that the number of required movable manipulators can be different, and therefore, the mass center part is determined by regional division of the large workpiece, so that the large workpiece is carried, the number of unnecessary movable manipulators is reduced, the energy consumption is saved, and the production cost of enterprises is reduced; the large-scale workpiece is carried by the mobile platform and the manipulator, the mobile platform changes the position of the manipulator, the manipulator realizes a specific carrying function, the autonomous control capability of the control terminal is improved, and the autonomous control of the cooperative carrying of the large-scale workpiece is truly realized; the invention realizes the cooperative transportation of large-sized workpieces and the intelligent control of the whole cooperative transportation process.
Example 2
As shown in fig. 2, on the basis of embodiment 1, the computer vision module provided in the embodiment of the present invention acquires an image of a large workpiece, and specifically includes:
s101: shooting an image of the whole shape of the large-sized workpiece through a camera connected with the control terminal, and performing noise reduction treatment on the image to obtain a noise-reduced image;
s102: and acquiring edge characteristics of the large workpiece by adopting edge refinement of the image after noise reduction, so as to obtain the edge characteristics of the complete image of the complete large workpiece.
The working principle and beneficial effects of the technical scheme are as follows: because the structure of the large-sized workpiece is complex, many of the large-sized workpiece are in irregular shapes, in the process of collecting images of the large-sized workpiece, the images of the whole shape of the large-sized workpiece are shot through a camera, noise reduction treatment is carried out on the images, additive noise and multiplicative noise in the images are removed, and images with higher precision are obtained; the image after noise reduction adopts edge refinement to realize the collection of the edge characteristics of the large workpiece, and aims at the complex structure of the large workpiece, the edge image of the large workpiece is refined, so that the edge information of the large workpiece with obvious characteristics is obtained, and the edge information is complete and continuous.
Example 3
Based on embodiment 2, the following formula is used for acquiring the edge characteristics F (x, y) of the large-scale workpiece by adopting edge refinement:
Figure BDA0003884519140000071
X＝[F(i-3,j),F(i-2,j),F(i-1,j),F(i,j),F(i+1,j),F(i+2,j),F(i+3,j)]
Y＝[F(i-3,j),F(i-2,j),F(i-1,j),F(i,j),F(i+1,j),F(i+2,j),F(i+3,j)]
wherein X is a one-dimensional matrix formed by 6 pixels in the horizontal direction of the large workpiece where the center pixel of the 6X 6 template is located, Y is a one-dimensional matrix formed by 6 pixels in the vertical direction of the large workpiece where the center pixel of the 6X 6 template is located, alpha is a controllable factor, the value is 0.8, X and Y respectively represent the abscissa and the ordinate of the image of the large workpiece, and i and j respectively represent the abscissa and the ordinate of the pixel in the one-dimensional matrix.
The working principle and beneficial effects of the technical scheme are as follows: according to the invention, edge refinement is adopted to realize the acquisition of the edge characteristics of the large workpiece, and the edge image of the large workpiece is refined to obtain the large workpiece edge information with obvious characteristics, so that the edge information is complete and continuous, the integrity and accuracy of the large workpiece edge information acquisition are ensured, meanwhile, a data foundation is laid for establishing a three-dimensional coordinate system of the large workpiece, and the control precision of multiple manipulators is also improved.
Example 4
As shown in fig. 3, on the basis of embodiment 1, the control terminal provided in the embodiment of the present invention performs region division on a large workpiece according to a three-dimensional coordinate system, and specifically includes:
s201: performing interval slicing processing on point cloud data of a three-dimensional coordinate system of a large-sized workpiece along the directions of coordinate axes x, y and z;
s202: projecting the interval slice processing to the xy plane of a three-dimensional coordinate system, and acquiring an external polygon of the interval slice processing by adopting a scattered point contour algorithm and a Delaonet triangle network;
s203: and (3) obtaining a smooth polygon by adopting a Bezier curve, calculating the processing area and the volume of each interval slice, calculating the mass center of the large-sized workpiece based on the area and the volume, and determining the number and the positions of the manipulators according to the number of the mass centers.
The working principle and beneficial effects of the technical scheme are as follows: the method comprises the steps of performing interval slicing processing on point cloud data of a three-dimensional coordinate system of a large-sized workpiece along the directions of coordinate axes x, y and z; after the interval slice processing is used for projection, a scattered point contour algorithm and a Delaonet triangle network are adopted to search for the external polygon of the slice, so that the complexity of searching for the external polygon of the slice by the scattered point contour algorithm is reduced, the calculation complexity is reduced, and the precision of the external contour of the large-scale workpiece is improved; after the area of each slice is calculated, the mass center of the large workpiece is obtained, and the determination of the mass center provides a reference for determining the positions of the manipulator and the moving platform, so that the stability of carrying the large workpiece is ensured.
Example 5
As shown in fig. 4, based on embodiment 4, the method for searching the circumscribed polygon of the slice by using the scattered point contour algorithm and the delaunay triangulation network according to the embodiment of the present invention includes:
s2021: after the interval slicing treatment is carried out for projection, a point cloud two-dimensional coordinate point set of the large-sized workpiece is obtained, and any two points in the point cloud two-dimensional coordinate point set define a circle with the radius of spectrum radius;
s2022: the point cloud two-dimensional coordinate point set is used for constructing a Delaonet triangle network, and judging the length of each side of the triangle of the Delaonet triangle network;
s2023: taking any triangle in the Delaonet triangle network, if the length of one side in the triangle is larger than 2 x spectrum radius, indicating that the distance between two points is too far, and a circle meeting the requirement cannot be constructed, deleting the triangle; if two points passing through a certain side and a circle with the radius of the spectrum radius contains other points, the two points are not peripheral outline points, and the triangle is deleted;
s2024: and deleting triangle sides which do not accord with two points with the length of a certain side being more than 2 times of the spectrum radius or the spectrum radius of a certain side and the circle with the radius being the spectrum radius contains other points, wherein the rest sides are edges of the circumscribed polygon of the slice of the large-sized workpiece.
The working principle and beneficial effects of the technical scheme are as follows: the method utilizes the scattered point contour algorithm and the Delaonet triangle network to search the external polygon of the slice, reduces the complexity of searching the external polygon of the slice by the scattered point contour algorithm, reduces the complexity of calculation, improves the precision of the external contour of the large-sized workpiece, and ensures the integrity and definition of the external edge of the large-sized workpiece.
Example 6
On the basis of embodiment 4, the method for calculating the mass center of the large workpiece by adopting the Bezier curve to obtain the smooth polygon and calculating the area of each slice comprises the following steps:
and (3) after the search of all the slices in the x, y and z directions is finished, smoothing by adopting a Bezier curve to obtain a smooth polygon, and calculating the area D and the volume E of each slice:
D＝(D 1 +D 2 )/2
E＝D×Δδ
wherein D is 1 Represents the area of the inner ring of the slice, D 2 The outer ring area of the slice is represented, the bottom area of the slice is represented by D, the volume of the slice is represented by delta, the calculation results of all the slices are interpolated and accumulated to obtain the barycenter coordinates and volumes in the x, y and z directions, so that the barycenter of the large-sized workpiece is obtained, and a manipulator is arranged at the barycenter.
The working principle and beneficial effects of the technical scheme are as follows: according to the invention, the smooth polygon is obtained by adopting the Bezier curve for smoothing, the area of each slice is calculated, the calculated results of each slice are interpolated and accumulated to obtain the mass center coordinates and volumes in the x, y and z directions, so that the mass center of the large workpiece is obtained.
Example 7
As shown in fig. 5, on the basis of embodiment 1, a manipulator installed on a mobile platform according to an embodiment of the present invention lifts a designated position of a large workpiece according to region division, and specifically includes:
s401: dividing the region of the large workpiece according to a three-dimensional coordinate system to obtain the mass center and non-mass center of the large workpiece; at least two manipulators are arranged at the mass center, and at least one manipulator is arranged at two ends in the non-mass center;
s402: the method comprises the steps that a preset main manipulator is arranged near a centroid, if the main manipulator is near the centroid, the main manipulator is placed at the centroid, and if other manipulators are arranged near the main manipulator and the centroid, the main manipulator moves the manipulator to the centroid;
s403: and the main manipulator controls other manipulators to reach the mass center and the non-mass center according to the regional division result.
The working principle and beneficial effects of the technical scheme are as follows: the control terminal of the invention divides the area of the large workpiece according to the three-dimensional coordinate system to obtain the mass center and the non-mass center of the large workpiece, at least two manipulators are arranged on the mass center, and at least one manipulator is arranged at both ends of the non-mass center to obtain the number of manipulators for carrying the large workpiece; the large-scale work piece has various shapes, and cooperation among the manipulators is realized by adopting a mode of presetting a main manipulator, so that the manipulators can reach the designated position according to the requirement, and stable carrying of the large-scale work piece is realized.
Example 8
As shown in fig. 6, on the basis of embodiment 1, the multi-mobile manipulator cooperative conveyance control system provided by the embodiment of the invention includes:
the computer vision module is connected with the control terminal and used for collecting images of the large-sized workpiece and establishing a three-dimensional coordinate system of the large-sized workpiece;
the control terminal is used for dividing the region of the large workpiece according to the three-dimensional coordinate system to obtain the number of mechanical arms required to carry the large workpiece; a carrying instruction of a large-sized workpiece is sent, and a controller of the mobile platform and each manipulator receives the carrying instruction;
the manipulator is used for executing an instruction for controlling the carrying of the large-sized workpiece of the terminal;
the mobile platform is provided with a manipulator and is used for realizing the movement of the position of the manipulator;
the computer vision module further comprises: and the camera is used for shooting the image of the whole shape of the large workpiece, the computer vision module performs noise reduction treatment on the image to obtain a noise-reduced image, and the noise-reduced image adopts edge refinement to realize the acquisition of the edge characteristics of the large workpiece to obtain a complete image of the complete large workpiece.
The working principle and beneficial effects of the technical scheme are as follows: the control terminal acquires the image of the large workpiece, establishes a three-dimensional coordinate system, realizes automatic identification of the large workpiece, and facilitates the cooperative transportation of a plurality of mobile manipulators on the large workpiece; according to the invention, the mass center part is determined by dividing the large workpiece area, so that the large workpiece is carried, the number of unnecessary mobile manipulators is reduced, the energy consumption is saved, and the production cost of enterprises is reduced; the large-scale work piece is carried and is constituteed through moving platform and manipulator, and moving platform realizes the change of the position of manipulator, and specific transport function has been realized to the manipulator, has promoted control terminal's autonomous control ability.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (9)

1. The multi-mobile manipulator cooperative transportation control method is characterized by comprising the following steps of:
the computer vision module collects images of the large-sized workpiece and establishes a three-dimensional coordinate system of the large-sized workpiece;
dividing the large workpiece into a plurality of subareas according to a three-dimensional coordinate system, and obtaining the number of manipulators for carrying the large workpiece in the subareas;
the control terminal sends carrying instructions of large-scale workpieces to the controller according to the number of the manipulators, and the mobile platform and the controllers of the manipulators receive the carrying instructions to form executing instructions;
the manipulator runs the execution instruction and lifts the appointed position of the object according to the regional division;
dividing the region of the large workpiece according to a three-dimensional coordinate system, specifically comprising the following steps:
point cloud data of three-dimensional coordinate system of large-sized workpiece along coordinate axisx，yAndzperforming interval slicing treatment in the direction;
projecting a slice-by-slice process to a three-dimensional coordinate systemxyAfter the plane, obtaining an external polygon processed by interval slicing by adopting a scattered point contour algorithm and a Delaonet triangle network;
and (3) obtaining a smooth polygon by adopting a Bezier curve, calculating the processing area and the volume of each interval slice, calculating the mass center of the large-sized workpiece based on the area and the volume, and determining the number and the positions of the manipulators according to the number of the mass centers.
2. The method for controlling cooperative conveyance of multiple mobile robots according to claim 1, wherein the computer vision module collects images of a large workpiece, specifically comprising:
shooting an image of the whole shape of the large-sized workpiece through a camera connected with the control terminal, and performing noise reduction treatment on the image to obtain a noise-reduced image;
and acquiring edge characteristics of the large workpiece by adopting edge refinement of the image after noise reduction, so as to obtain the edge characteristics of the complete image of the complete large workpiece.
3. The method for controlling cooperative transportation of multiple mobile robots according to claim 1, wherein the searching for the circumscribed polygon of the slice using a scatter-gather algorithm and a delaunay triangulation network comprises:
after the interval slicing treatment is carried out for projection, a point cloud two-dimensional coordinate point set of the large-sized workpiece is obtained, and any two points in the point cloud two-dimensional coordinate point set define a circle with the radius of a spectrum radius;
the point cloud two-dimensional coordinate point set is used for constructing a Delaonet triangle network, and judging the length of each side of the triangle of the Delaonet triangle network;
taking any triangle in the Delaonet triangle network, if the length of a certain side in the triangle is more than 2 times of the spectrum radius, indicating that any two points in the two-dimensional coordinate point set of the point cloud are too far apart to construct a circle meeting the requirement, deleting the triangle; if two points passing through a certain side and a circle with the radius of the spectrum radius contains other points, the two points in the two-dimensional coordinate point set of the point cloud are not peripheral contour points, and the triangle is deleted;
and deleting triangle sides which do not accord with the length of a certain side and are more than 2 times of the spectrum radius or triangle sides which pass through two points of the certain side and have the radius of the spectrum radius and contain other points, wherein the rest sides are edges of the circumscribed polygon of the slice of the large-sized workpiece.
4. The method for controlling cooperative conveyance of multiple mobile robots according to claim 3, wherein forx，yAndzafter the closed loop search of all the slices in the direction is completed, a Bezier curve is adopted to obtain a smooth polygon, and the area of each slice is calculatedDVolume and volumeEInterpolation and accumulation are carried out on the calculation results of each slice to obtainx，yAndzand the centroid coordinates and the volume of the direction obtain the centroid of the large-sized workpiece, and a manipulator is arranged on the centroid.
5. The multi-mobile manipulator cooperative transportation control method of claim 1, wherein the manipulator mounted on the mobile platform lifts the designated position of the large workpiece according to the region division, specifically comprising:
dividing the region of the large workpiece according to a three-dimensional coordinate system to obtain the mass center and non-mass center of the large workpiece;
the method comprises the steps that a preset main manipulator is arranged near a centroid, if the main manipulator is near the centroid, the main manipulator is placed at the centroid, and if other manipulators are arranged near the main manipulator and the centroid, the main manipulator moves the manipulator to the centroid;
and the main manipulator controls other manipulators to reach the mass center and the non-mass center according to the regional division result.
6. The method of claim 5, wherein at least two robots are disposed at a center of mass, and at least one robot is disposed at each of two ends of the non-center of mass.
7. The method of claim 5, wherein the control terminal issues a stop command after the completion of the transfer, and the mobile platform and the robot return to the initial positions.
8. The utility model provides a many mobile robot cooperation transport control system which characterized in that includes:
the computer vision module is connected with the control terminal and used for collecting images of the large-sized workpiece and establishing a three-dimensional coordinate system of the large-sized workpiece;
the control terminal is used for dividing the region of the large workpiece according to the three-dimensional coordinate system to obtain the number of mechanical arms required to carry the large workpiece; a carrying instruction of a large-sized workpiece is sent, and a controller of the mobile platform and each manipulator receives the carrying instruction; the dividing the region of the large-scale workpiece according to the three-dimensional coordinate system comprises the following steps: point cloud data of three-dimensional coordinate system of large-sized workpiece along coordinate axisx，yAndzperforming interval slicing treatment in the direction;
projecting a slice-by-slice process to a three-dimensional coordinate systemxyAfter the plane, obtaining an external polygon processed by interval slicing by adopting a scattered point contour algorithm and a Delaonet triangle network;
adopting Bezier curves to obtain smooth polygons, calculating the processing area and volume of each interval slice, calculating the mass center of a large-sized workpiece based on the area and the volume, and determining the number and the positions of the manipulators according to the number of the mass centers;
the manipulator is used for executing an instruction for controlling the carrying of the large-sized workpiece of the terminal;
and the mobile platform is provided with a manipulator and is used for realizing the movement of the position of the manipulator.
9. The multi-mobile manipulator cooperative conveyance control system of claim 8, wherein the computer vision module comprises: and the camera is used for shooting the image of the whole shape of the large workpiece, the computer vision module performs noise reduction treatment on the image to obtain a noise-reduced image, and the noise-reduced image adopts edge refinement to realize the acquisition of the edge characteristics of the large workpiece to obtain a complete image of the complete large workpiece.
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