CN117644519A - Multi-robot synchronous control method and system and multi-robot synchronous workstation - Google Patents
Multi-robot synchronous control method and system and multi-robot synchronous workstation Download PDFInfo
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Abstract
The invention discloses a multi-robot synchronous control method and system and a multi-robot synchronous workstation, wherein the synchronous method comprises the following steps: s1: taking a control system of a robot as a main control system, wherein the main control system is configured with two EtherCAT master stations; the control system of other robots is used as a slave control system, and the slave control system is provided with an EtherCAT master station; s2: completing connection configuration of a master station slave station and a slave control system master station slave station of a master control system; s3: synchronizing control periods of the control systems; s4: the main control system uniformly controls all robots to realize the motion synchronization among the robots. The control period of each control system is synchronized through EtherCAT, and the main control system uniformly controls each robot, so that the motion synchronization among the robots is realized. The invention can more flexibly configure the single machine work or the multi-machine cooperative work of the robot.
Description
Technical Field
The invention relates to the field of robot control, in particular to a multi-robot synchronous control method and system and a multi-robot synchronous workstation.
Background
As industrial robots are increasingly used in automated production, the application field is deeper and deeper, and in certain high-precision or high-difficulty process application occasions, the requirement on automated application cannot be met by using a single robot, so that the requirement on linkage cooperation of multiple robots is created. The industrial robot manufacture is advanced to precision, sensitization and flexibility, and the tracking precision and flexibility of a control system are improved
The synchronization performance puts higher demands. The problem of control synchronization among multiple robots is not only related to controlling the operation of the cooperation of the multiple robots, but also related to the precision of robot control and machining.
Disclosure of Invention
When the robots need cooperative movement, an alternative way is to use EtherCAT expansion capability, increase the EtherCAT servo quantity connected with a single control system, discard the control system of the slave robot for use, and disable various resources in the control system of the slave robot, if external connection lines exist in an electric cabinet of the control system of the slave robot, then the external connection lines are required to be re-wired, thus greatly wasting the deployment time and not having flexible expansion capability.
The invention provides a multi-robot synchronous control method and system and a multi-robot synchronous workstation, which aim to solve the problems that the synchronization between robots is poor, the deployment flexibility of the cooperative work of the multiple robots is increased, the hot plug effect of 'just-in-time' is achieved, the linkage actions of the multiple robots are asynchronous, and the pose sharing time lag of the robots in the prior multi-robot linkage control by utilizing the EtherCAT technology.
The first aspect provides a multi-robot synchronous control method, comprising the following steps:
s1: taking a control system of a robot as a main control system, wherein the main control system is configured with two EtherCAT master stations; the control system of other robots is used as a slave control system, and the slave control system is provided with an EtherCAT master station;
s2: the EtherCAT master station of the master control system is connected with the input port of the slave station, and the output port of the slave station is connected with the input port of the EtherCAT slave station of the slave control system; the output port of the EtherCAT slave station of the previous slave control system is connected with the input port of the next EtherCAT slave station; the EtherCAT master station of each control system is connected with a motor driver of the corresponding robot;
s3: synchronizing control periods of the control systems;
s4: the main control system uniformly controls all robots to realize the motion synchronization among the robots.
In one embodiment, in S3, the system time of the EtherCAT devices is the same, and each EtherCAT slave station outputs a signal synchronously, so that signals between control systems are synchronized. The synchronization of signals output by the slave station chips of each control system means that signals sent by the slave stations of each control system ethercat occur simultaneously, and the master processor of the control system synchronously responds to the corresponding signals and synchronously executes control instructions so as to achieve the action synchronization of the robot.
In S4, the main control system receives robot feedback data through the EtherCAT master station, establishes the space relation of each robot, plans the track and logic control of each robot, and issues a robot instruction to the control system of the corresponding robot;
each control system acquires the robot instruction, and uploads the feedback data of the robot to the main control system; and distributing the corresponding robot instruction to the corresponding servo driver through the EtherCAT network, and executing the instruction issued by the main control system to achieve the action synchronization of the robot.
The robot feedback data comprise pose, state and other data.
In one embodiment, 2 signals are synchronously generated by the EtherCAT slave station corresponding to the control system in period and used as interrupt input of the control system, the output signals have sequence, and when the previous signal occurs, the main control system issues a robot instruction and receives feedback data of each robot; when the latter signal occurs, each control system executes the instruction issued by the main control system, so as to achieve the action synchronization of the robot.
A second aspect provides a multi-robot synchronization control system comprising:
the main control system module is used for receiving the position feedback data of the robots, establishing the spatial relationship of the robots, planning the trajectories of the robots and issuing control instructions to the slave control system;
the slave control system module is used for acquiring the track and the instruction of the robot and uploading the position of the robot to the master control system;
the EtherCAT module is used for transmitting data between the control system and the servo driver and distributing track data output by the control system to the corresponding servo driver of the robot, wherein the main control system is provided with two EtherCAT master stations, and the slave control system is provided with one EtherCAT master station; and the communication connection is used for the robots to realize data transmission between the master control system and the slave control system.
In a third aspect, a multi-robot synchronization workstation is provided, comprising:
at least two robot bodies;
the servo driving system is matched with the robot body;
and the multi-robot synchronous control system is matched with the robot body.
Specifically, a main control system module or a slave control system module is installed on the robot body;
the robot body is provided with a servo control system, the servo control system comprises a plurality of servo drives, and the servo drives are controlled by a slave station of a control system module to move so as to drive the robot to move.
In a fourth aspect, there is provided an electronic device comprising:
at least one processor, and at least one memory communicatively coupled to the processor;
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the multi-robot synchronization control method described previously.
In a fifth aspect, a non-transitory computer readable storage medium is provided, the non-transitory computer readable storage medium storing computer instructions for causing the computer to perform any of the aforementioned multi-robot synchronization control methods.
Compared with the prior art, the invention has at least the following beneficial effects: the robot main control system has the functions of an EtherCAT double master station and an EtherCAT slave station. The robot control system can be connected with the EtherCAT servo control robot by using EtherCAT master0 or master1 alone, and can also work cooperatively in a mode of combining a plurality of systems. The robot has the advantages of good flexibility, more flexible application and configuration of single-machine work or multi-machine collaborative work of the robot, more accurate control, no auxiliary tool, simple deployment and the like.
Drawings
FIG. 1 is a schematic diagram of the connection relationship between a main control system and EtherCAT; the connection relation between the slave control system and the EtherCAT is similar to that between the slave control system and the EtherCAT;
FIG. 2 is a schematic diagram of the connection relationship of the components of the main control system;
fig. 3 is a schematic structural diagram of an electronic device according to the present invention;
fig. 4 is a schematic structural diagram of a non-transitory computer readable storage medium according to the present invention.
Detailed Description
With the objects, technical solutions and advantages of the embodiments of the present invention made more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals or letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
The relevant schematic diagrams are shown in fig. 1 and 2.
Example 1
A multi-robot synchronous control method comprises the following steps:
developing a control system supporting both an EtherCAT slave station and a double master station, wherein the control system selected for the slave robot can select to be provided with the EtherCAT slave station and the double master station or the EtherCAT slave station and a single master station;
if an ARM processor supporting more than 2 Ethernet is used as a main control chip of the robot control system, the robot control system simultaneously supports an EtherCAT slave station and a double master station.
In this embodiment, the ARM processors of the two ethernet networks are control system processors, and the processors have multiple CPU cores and higher main frequencies, have strong operation performance, and can meet the requirement of a single controller for uniformly planning and controlling the operation capability of multiple robots. The two ethernet networks enable the control system to have the capability of configuring more than two EtherCAT master stations.
In this embodiment, an EtherCAT slave chip is extended on a master control chip by using an SPI or parallel bus, and the EtherCAT slave chip generally supports an SPI interface or a parallel bus interface, and is connected to the EtherCAT slave chip by using the SPI or parallel bus, and signals SYNC0 and SYNC1 of the EtherCAT slave chip are used as output signals to be accessed to the master control chip, and meanwhile, an EtherCAT slave software function of a control system is developed, so that the control system has an EtherCAT slave communication capability.
Taking a control system of one robot as a main control system, wherein the main control system is provided with two EtherCAT master stations, which are named master0 and master1; the control system of other robots is used as a slave control system, and the slave control system is provided with an EtherCAT master station which is named master1. The master control system and the slave control system simultaneously support EtherCAT slave stations.
The EtherCAT slave station has an input port and an output port, and uses a chain connection for wiring.
The master0 of the EtherCAT master station of the master control system is connected with the input port of the slave station, and the output port of the EtherCAT slave station of the master control system is connected with the input port of the EtherCAT slave station of the slave control system; the output port of the EtherCAT slave station of the last slave control system is connected with the input port of the next EtherCAT slave station. The main control system forms an EtherCAT communication network between control systems through EtherCAT master0 and slave stations of each control system, and the EtherCAT communication network between the control systems.
EtherCAT master1 of each control system is respectively connected with the EtherCAT slave station servo driver of the robot to form an EtherCAT communication network controlled by the robot, which is called a robot control EtherCAT network. The control period of each control system is synchronized through EtherCAT, and the main control system uniformly controls each robot, so that the motion synchronization among the robots is realized.
In this embodiment, the EtherCAT master1 of the master/slave control system and the connection-corresponding slave station serve; in this embodiment, the robot may have a plurality of slave station servo units, and may be a multi-axis robot such as a 4-axis robot, a 6-axis robot, or a 7-axis robot; taking a 4-axis robot as an example: the master control system EtherCAT master1 is connected with EtherCAT servoA1, EEtherCAT servoA2, etherCAT servoA3 and EtherCAT servoA 4; the slave control system EtherCATmaster 1 is connected with EtherCATservoB1, etherCATservoB2, etherCATservoB3 and EtherCATservoB 4.
The EtherCAT distributed clock (DC, distributed Clock) can be such that all EtherCAT devices use the same time system. The slave device may generate a synchronization signal for interrupt control or triggering digital quantity input and output based on the synchronized system time.
The master control system and the robots of the slave control systems are in EtherCATDC synchronization, and EtherCAT distributed clocks (DC, distributed Clock) can enable all EtherCAT devices to use the same EtherCAT system time, and the EtherCAT slave stations of the control systems generate synchronization SYNC0 and SYNC1 signals at the synchronized system time according to the control requirements of the robots under the same system time, so that the synchronization of the SYNC0 and SYNC1 signals between the control systems occurs. The periodic signal is generated at a predetermined time node such that the output signals between the control systems occur periodically and synchronously.
The main control system uses an EtherCAT network among robots to receive pose data of the robots, establishes a space coordinate relation of the robots and plans the movement of the robots.
The EtherCAT slave station signals in the control system generate and form time intervals with sequence. In one embodiment, the EtherCAT slave stations SYNC0 and SYNC1 in the control system form a gap, with SYNC0 occurring prior to SYNC1, and the gap of signals is such that the control system can complete the interaction of data between the two EtherCAT networks.
Before the first signal occurs, the master control system uses the EtherCAT network among robots to complete data interaction between the master control system and the slave control system, and when the first signal occurs, the control system completes data exchange between the two EtherCAT networks. For the control system of the robot selected as the main control system, the main control system needs to control other robots and robots corresponding to the main control system, and the control of the robots corresponding to the main control system also carries out data interaction through EtherCAT.
And each control system is synchronous with EtherCAT DC among EtherCAT servo of the robot. When the second signal occurs, the control system receives the data of each robot servo motor through the master0 and issues the motion instruction of each servo motor. In one embodiment, the first signal is selected from SYNC0 and the second signal is selected from SYNC1.
Because two signals between the robot control systems synchronously occur, the robot control systems simultaneously execute the communication and control of the control system and the EtherCAT servo by utilizing the two signals, and the synchronous action of the robots is achieved.
A robot control system is used as a main control system, the pose of each robot is obtained in real time, the spatial relationship of each robot is established, the motion of each robot is planned, and the problem that the position relationship among the robots is inaccurate due to the fact that the position data among the robots are not shared in real time when the robots act cooperatively is avoided.
Example two
A multi-robot synchronous control system comprises,
the main control system module is used for receiving the position feedback data of the robots, establishing the spatial relationship of the robots, planning the trajectories of the robots and issuing control instructions to the slave control system;
the slave control system module is used for acquiring the track and the instruction of the robot and uploading the position of the robot to the master control system;
the EtherCAT module is used for transmitting data between the control system and the servo driver and distributing track data output by the control system to the corresponding servo driver of the robot, wherein the main control system is provided with two EtherCAT master stations, and the slave control system is provided with one EtherCAT master station; and the communication connection is used for the robots to realize data transmission between the master control system and the slave control system.
Optionally selecting a control system of a robot (marked as a robot A) as a main control system, wherein an EtherCAT master1 of the main control system is respectively connected with slave station servo of different robots A;
referring to fig. 1, the master control system comprises a processor and an EtherCAT slave station chip, wherein the processor and the EtherCAT slave station chip are connected through a bus;
the control system of other robots (marked as a robot B) is a slave control system, and EtherCAT master1 of the slave control system is respectively connected with slave station servo of different robots B;
the slave control system comprises a processor and an EtherCAT slave station chip, and the processor is connected with the EtherCAT slave station chip through a bus;
master0 of the master control system is connected with an EtherCAT slave station receiving port of the master control system, and an EtherCAT slave station transmitting port of the master control system is connected with an EtherCAT slave station receiving port of the slave control system.
It should be noted that the number of robots B may be more than 1, such as robots C shown in the figure; when wiring is carried out, the wiring starts from a master0 of the master control system, is connected with an EtherCAT slave station receiving port of the master control system, and an EtherCAT slave station transmitting port of the master control system is connected with an EtherCAT slave station receiving port of the first slave control system;
the EtherCAT slave station transmitting port of the first slave control system is connected with the EtherCAT slave station receiving port of the second slave control system; and the circulation is performed until all slave control systems finish wiring, and data connection is realized.
After wiring is completed, using EtherCAT master0 of the main control system to configure EtherCAT slave of the main control system and EtherCAT slave DC of the plurality of control systems B to be synchronous, wherein the plurality of control systems have the same system time; the servo slave stations in the EtherCAT master1 of the master control system are synchronized with the servo slave stations in the EtherCAT master1 of the plurality of slave control systems through EtherCAT network data exchange.
Example III
A multi-robot synchronization workstation comprising: at least two robot bodies; the servo driving system is matched with the robot body; and the multi-robot synchronous control system is matched with the robot body.
The robot body is provided with a main control system module or a slave control system module;
the robot body is provided with a servo control system, the servo control system comprises a plurality of servo drives, and the servo drives are controlled by a slave station of a control system module to move so as to drive the robot to move.
Example IV
An electronic device, see fig. 2, 3, comprising: at least one processor, and at least one memory communicatively coupled to the processor;
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the multi-robot synchronization control method as previously described.
Referring now to fig. 3, a schematic diagram of an electronic device 100 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device in embodiments of the present disclosure may include, but is not limited to, a mobile or stationary terminal such as a telephone, PAD, computer, etc. The electronic device shown in fig. 3 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 3, the electronic device 100 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 101 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 102 or a program loaded from a storage means 108 into a Random Access Memory (RAM) 103. In the RAM 103, various programs and data necessary for the operation of the electronic apparatus 100 are also stored. The processing device 101, ROM 102, and RAM 103 are connected to each other by a bus 104. An input/output (I/O) interface 105 is also connected to bus 104.
In general, the following devices may be connected to the I/O interface 105: including input devices 106 such as a touch screen, touchpad, keyboard, mouse, sensor, etc.; an output device 107 including, for example, a Liquid Crystal Display (LCD), a vibrator, and the like; including a storage device 108 such as a hard disk; and communication means 109 including EtherCAT master-slave stations. The communication means 109 may allow the electronic device 100 to communicate wirelessly or by wire with other devices to exchange data. While an electronic device 100 having various means is shown in the figures, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 109, or from the storage means 108, or from the ROM 102. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 101.
Example five
A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform a multi-robot synchronization control method as described above.
Referring now to fig. 4, there is shown a schematic diagram of a computer readable storage medium suitable for use in implementing embodiments of the present disclosure, the computer readable storage medium storing a computer program capable of implementing a robot cell adjustment method as described in any one of the above when executed by a processor.
Although the invention has been described herein with reference to illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the scope and spirit of the principles of this disclosure. More specifically, various variations and modifications may be made to the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure. In addition to variations and modifications in the component parts and/or arrangements, other uses will be apparent to those skilled in the art.
Claims (8)
1. The multi-robot synchronous control method is characterized by comprising the following steps:
s1: taking a control system of a robot as a main control system, wherein the main control system is configured with two EtherCAT master stations; the control system of other robots is used as a slave control system, and the slave control system is provided with an EtherCAT master station;
s2: the EtherCAT master station of the master control system is connected with the input port of the slave station, and the output port of the slave station is connected with the input port of the EtherCAT slave station of the slave control system; the output port of the EtherCAT slave station of the previous slave control system is connected with the input port of the next EtherCAT slave station; the EtherCAT master station of each control system is connected with a motor driver of the corresponding robot;
s3: synchronizing control periods of the control systems;
s4: the main control system uniformly controls all robots to realize the motion synchronization among the robots.
2. The multi-robot synchronization control method of claim 1, wherein in S3, the system time of the EtherCAT devices is made the same, and each EtherCAT slave station synchronizes output signals to synchronize signals between control systems.
3. The multi-robot synchronization control method according to claim 1, wherein in S4:
the main control system receives robot feedback data through the EtherCAT master station, establishes the spatial relationship of each robot, plans each robot track and logic control, and issues a robot instruction to a control system of a corresponding robot;
each control system acquires the robot instruction, and uploads the feedback data of the robot to the main control system; and distributing the corresponding robot instruction to the corresponding servo driver through the EtherCAT network, and executing the instruction issued by the main control system to achieve the action synchronization of the robot.
4. The multi-robot synchronous control method as claimed in claim 3, wherein the EtherCAT slave station corresponding to the control system periodically and synchronously generates 2 signals as interrupt input of the control system, the output signals have a sequence, and when the previous signal occurs, the main control system issues a robot instruction and receives feedback data of each robot; when the latter signal occurs, each control system executes the instruction issued by the main control system, so as to achieve the action synchronization of the robot.
5. A multi-robot synchronization control system, comprising:
the main control system module is used for receiving the position feedback data of the robots, establishing the spatial relationship of the robots, planning the trajectories of the robots and issuing control instructions to the slave control system; the main control system configures two EtherCAT master stations;
the slave control system module is used for acquiring the track and the instruction of the robot, uploading the position of the robot to the master control system, and configuring an EtherCAT master station from the control system;
the EtherCAT module is used for data transmission between the control system and the servo driver and distributing the track data output by the control system to the corresponding servo driver of the robot; and the communication connection is used for the robots to realize data transmission between a master control system and a slave control system, the master control system is configured with two EtherCAT master stations, and the slave control system is configured with one EtherCAT master station.
6. A multi-robot synchronization workstation comprising:
at least two robot bodies;
the servo driving system is matched with the robot body;
and the multi-robot synchronization control system of claim 5, which is matched to the robot body.
7. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the multi-robot synchronization control method of any one of the preceding claims 1-4.
8. A non-transitory computer readable storage medium storing computer instructions for execution by a processor of the multi-robot synchronization control method of any one of claims 1-4.
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