CN117863178A - A multi-robot cascade system control method and device - Google Patents

Abstract

The invention discloses a control method and a device for a multi-mechanical arm cascade system, wherein each mechanical arm in the multi-mechanical arm cascade system is provided with a wireless close-range positioning assembly, and the control method comprises the following steps: acquiring current position information of other mechanical arms in a preset space based on a wireless close-range positioning assembly of the current mechanical arm; acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm; judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of other mechanical arms; if yes, adjusting a preset moving path of the current mechanical arm; if not, controlling the current mechanical arm to run according to the preset moving path. And acquiring the position information of other adjacent mechanical arms in real time through the wireless close-range positioning assembly, and if collision risk exists, adjusting the moving path of the current mechanical arm to support cascading and cooperation among a plurality of mechanical arms.

Description

A multi-robot cascade system control method and device

Technical Field

The present invention relates to the technical field of robot arm control, and in particular to a multi-robot arm cascade system control method and device.

Background technique

With the rapid development of industrial automation, collaborative robotic arms are increasingly used in production lines, assembly lines, logistics sorting, home services and other fields. However, existing robotic arm control methods mainly focus on the control of a single robotic arm, and lack support for the cascading and collaboration of multiple robotic arms. This limits the use of robotic arms in complex and large-scale tasks and hinders the development of industrial automation.

At the same time, in terms of traditional usage, collaborative robots mainly focus on the collaboration between robots and human operators. Although there are certain applications in the industrial sector, it is not enough to achieve a high degree of collaborative work between multiple robots, especially between different types of robots. In multi-device collaboration, communication and collaborative control are key issues. Existing technologies have challenges in real-time data transmission, task coordination, collision detection and path planning, so collaboration in a multi-robot environment is not easy to achieve. Existing technologies mostly use distributed control systems to allow multiple robots to work in the same environment, but these solutions are usually customized and can only be used in specific scenarios; usually, technicians program and teach each robotic arm, fix the motion path of each robotic arm, and prevent motion interference between robotic arms. In complex scenarios, this places high demands on technicians, and often requires a lot of time for debugging and testing, which increases the difficulty of collaborative use of robotic arms. At the same time, it lacks high intelligence and flexibility, making it difficult to achieve complex collaborative tasks. The existing multi-robotic arm control solutions mainly have the following problems:

1. Long technical development and debugging time: When multiple robotic arms work together, the robotic arm itself does not know the positional relationship between it and other robotic arms. Usually the robotic arm is in a fixed position or moves in a relatively fixed manner. Technicians debug the motion path of each robotic arm through teaching programming to prevent interference. This often requires technicians to debug repeatedly, and it often takes a long time to determine the motion path of each robotic arm.

2. Poor flexibility: Multi-machine collaboration often adopts a fixed workflow, which means that once the process changes or the position relationship between the robotic arms changes, each robotic arm needs to be re-debugged and reprogrammed, making it impossible to use it quickly; in addition, if the scene changes, the position space changes, or the number of robotic arms changes, re-debugging is also required to meet the scene requirements.

3. When there are many types of robotic arms, each robotic arm has different load conditions, range of motion, flexibility, speed, etc., requiring technicians to be familiar with the performance of each robotic arm and design a reasonable robotic arm collaboration process, which requires more design cycles.

4. The tasks of the robotic arms are relatively independent. Each robotic arm often handles a single task and is not part of the entire collaborative system. It is difficult to provide timely remedies and reallocate tasks when other robotic arms encounter problems.

Summary of the invention

The purpose of an embodiment of the present invention is to provide a control method and device for a multi-robotic arm cascade system. The wireless short-range positioning component on each robotic arm in the multi-robotic arm cascade system obtains the position information of other adjacent robotic arms in real time to avoid each other. If there is a risk of collision, the movement path of the current robotic arm is adjusted. The multi-robotic arm cascade system supports cascading and collaboration between multiple robotic arms based on the actual operating status, and can efficiently handle complex tasks or processes.

In order to solve the above technical problems, a first aspect of an embodiment of the present invention provides a multi-robot cascade system control method, in which each robot in the multi-robot cascade system is provided with a wireless short-range positioning component, comprising the following steps:

Based on the wireless short-range positioning component of the current robotic arm, the current position information of other robotic arms in the preset space is obtained;

Based on the preset moving path of the current robotic arm, obtaining predicted position information of the current robotic arm in the next detection cycle;

Determine whether the predicted position information of the current robotic arm in the next detection cycle overlaps or partially overlaps with the current position information of the other robotic arms;

If yes, adjusting the preset moving path of the current robotic arm;

If not, the current robotic arm is controlled to move according to the preset moving path.

Furthermore, several robotic arms in the multi-robotic arm cascade system are connected via Ethernet data, and after the wireless short-range positioning component based on the current robotic arm obtains the current position information of other robotic arms in the preset space, it includes:

Acquire the preset moving path of the other robotic arms via Ethernet;

Obtaining preset position information of the other robotic arms in the next detection cycle;

When determining whether the predicted position information of the current robotic arm in the next detection cycle overlaps or partially overlaps with the predicted position information of the other robotic arms in the next detection cycle, the preset moving path of the current robotic arm is adjusted.

Furthermore, before obtaining the preset moving path of the other robot arm through Ethernet, the method further includes:

Based on the wireless short-range positioning components of the current robotic arm and the other robotic arms, the Ethernet port information of the other robotic arms is obtained, and an Ethernet data connection is established.

Furthermore, before the wireless short-range positioning component based on the current robotic arm obtains the current position information of other robotic arms in the preset space, it also includes:

Receive its corresponding subtask based on the current robotic arm;

generating a plurality of planned movement paths for the subtasks;

Receiving the planned movement paths generated by a plurality of the other robotic arms adjacent to the current robotic arm;

In combination with the planned movement paths generated by each of the other robot arms, an optimal path is selected from the plurality of planned movement paths generated by the current robot arm.

Furthermore, after selecting an optimal path from among the several planned movement paths generated by the current robot arm, the method further includes:

Receiving fault status information sent by the other robotic arms;

Based on the position information of the other robotic arms in a faulty state and their planned movement paths, several planned movement paths of the current robotic arm are regenerated, and the optimal path is reselected to control the current robotic arm to run according to the optimal path.

Accordingly, a second aspect of an embodiment of the present invention provides a multi-robot cascade system control device, wherein each robot in the multi-robot cascade system is provided with a wireless short-range positioning component, including:

A current position acquisition module, which is used to acquire the current position information of other robotic arms in a preset space based on the wireless short-range positioning component of the current robotic arm;

A predicted position acquisition module, which is used to acquire predicted position information of the current mechanical arm in the next detection cycle based on the preset movement path of the current mechanical arm;

A position overlap judgment module, which is used to judge whether the predicted position information of the current mechanical arm in the next detection cycle overlaps or partially overlaps with the current position information of the other mechanical arms;

A robot arm control module, used for adjusting a preset moving path of the current robot arm when the predicted position information of the current robot arm in the next detection cycle overlaps or partially overlaps with the current position information of the other robot arms;

The robotic arm control module is also used to control the current robotic arm to move according to the preset moving path when the predicted position information of the current robotic arm in the next detection cycle does not overlap or does not partially overlap with the current position information of the other robotic arms.

Furthermore, several robotic arms in the multi-robotic arm cascade system are connected via Ethernet data, and the multi-robotic arm cascade system control device further includes: a wired data judgment module, and the wired data judgment module includes:

A second path acquisition unit, used for acquiring the preset moving path of the other robot arm through Ethernet;

A position acquisition unit, used to acquire preset position information of the other mechanical arms in the next detection cycle;

The first path adjustment unit adjusts the preset moving path of the current robot arm when determining whether the predicted position information of the current robot arm in the next detection cycle overlaps or partially overlaps with the predicted position information of the other robot arms in the next detection cycle.

Furthermore, the wired data determination module further includes:

A port information acquisition unit is used to acquire the Ethernet port information of the other robotic arms based on the wireless short-range positioning components of the current robotic arm and the other robotic arms, and to establish an Ethernet data connection.

Furthermore, the multi-manipulator cascade system control device further includes: a task generation module, the task generation module including:

A task receiving unit, configured to receive a corresponding subtask based on the current robotic arm;

A first path generation unit, which is used to generate a plurality of planned movement paths for the subtask;

A second path receiving unit, which is used to receive the planned movement paths generated by a plurality of other robotic arms adjacent to the current robotic arm;

The first path selection unit is used to combine the planned movement paths generated by each of the other robotic arms and select an optimal path from the several planned movement paths generated by the current robotic arm, so that the current robotic arm and any of the other robotic arms do not overlap or partially overlap in the same space and time.

Furthermore, the task generation module also includes:

A fault information receiving unit, which is used to receive the fault status information sent by the other mechanical arms;

The first path adjustment unit is used to regenerate several planned movement paths of the current robot arm based on the position information of the other robot arm in a faulty state and its planned movement path, and reselect the optimal path to control the current robot arm to run according to the optimal path.

The above technical solution of the embodiment of the present invention has the following beneficial technical effects:

1. Through the wireless short-range positioning component on each robot in the multi-robot cascade system, the position information of other adjacent robot arms is obtained in real time to avoid each other. If there is a risk of collision, the moving path of the current robot arm is adjusted. The multi-robot cascade system supports the cascade and collaboration between multiple robot arms according to the actual operating status, and can efficiently handle complex tasks or processes;

2. The multi-robot cascade system can autonomously generate execution plans for the subtasks assigned to each robot, and perform pre-simulation to obtain the optimal overall execution plan for the system;

3. When one or more robotic arms in a multi-robotic arm cascade fails, the other robotic arms can adjust the assigned task content in real time, reallocate and continue execution.

BRIEF DESCRIPTION OF THE DRAWINGS

1 is a flow chart of a multi-manipulator cascade system control method provided by an embodiment of the present invention;

2 is a flow chart of obtaining preset location information for the next detection cycle via Ethernet according to an embodiment of the present invention;

3 is a block diagram of a multi-manipulator cascade system control device module provided by an embodiment of the present invention;

FIG4 is a block diagram of a wired data determination module provided in an embodiment of the present invention;

FIG5 is a block diagram of a task generation module provided by an embodiment of the present invention.

Reference numerals:

1. Current position acquisition module, 2. Prediction position acquisition module, 3. Position overlap judgment module, 4. Robotic arm control module, 5. Wired data judgment module, 51. Second path acquisition unit, 52. Position acquisition unit, 53. First path adjustment unit, 54. Port information acquisition unit, 6. Task generation module, 61. Task receiving unit, 62. First path generation unit, 63. Second path receiving unit, 64. First path selection unit, 65. Fault information receiving unit, 66. First path adjustment unit.

Detailed ways

In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

Referring to FIG. 1 , a first aspect of an embodiment of the present invention provides a multi-robot cascade system control method, wherein each robot in the multi-robot cascade system is provided with a wireless short-range positioning component, comprising the following steps:

Step S200, obtaining the current position information of other robotic arms in a preset space based on the wireless short-range positioning component of the current robotic arm.

The robot arm is equipped with a wireless short-range positioning communication module (Ultra Wide Band, UWB). After the robot arm is turned on, it scans the surrounding devices through the wireless short-range positioning communication module to obtain the spatial relative position of the adjacent robot arm in real time. Once the adjacent robot arm approaches the current robot arm, the relative spatial position between the two or more robot arms can be known to determine whether it is a nearby robot arm.

In addition, multiple robotic arms in the multi-robotic arm cascade system can be formed into a large robotic arm distributed network in a location space; further, a relatively large environmental space can also be divided into multiple small-scale sub-networks, and then multiple sub-networks can be networked into a main network. When a robotic arm moves from sub-network A to the vicinity of sub-network B, it automatically switches from sub-network A to sub-network B. Automatic wireless networking is carried out through relative distance, and a distributed communication network is constructed to realize real-time information exchange and collaborative planning, which improves the flexibility and adaptability of the system.

Step S300, based on the preset moving path of the current robot arm, obtain the predicted position information of the current robot arm in the next detection cycle.

The robot is operating normally, the preset movement path has been determined, and the robot can now obtain information about where it should be in the next detection cycle or after several detection cycles.

Step S400 , determining whether the predicted position information of the current robot arm in the next detection cycle overlaps or partially overlaps with the current position information of other robot arms.

Step S500: If yes, adjust the preset moving path of the current robot arm.

Step S600: If not, control the current robot arm to move according to the preset moving path.

In a specific embodiment of the present invention, the A-star algorithm is used to check for interference. When the detection result of the A-star algorithm is "interference exists", it is determined that there is an overlap or partial overlap, and the preset movement path of the current robot arm is adjusted. When the detection result of the A-star algorithm is "no interference exists", it is determined that there is no overlap or partial overlap, and there is no need to adjust the preset movement path of the robot arm, and the robot arm can continue to operate according to the current state.

Based on the possible positions of the two, it is determined whether the two adjacent robotic arms may interfere with each other or overlap (partially overlap) in position. The wireless short-range positioning communication module on each robotic arm scans the positions of the adjacent robotic arms in its surrounding environment, realizing real-time position detection of multiple robotic arms in the multi-robotic arm cascade system, and based on the mutual detection and path adjustment between two or more robotic arms, active collision and interference adjustment of multiple robotic arms is realized, without the need for temporary manual adjustment, which greatly improves the operating efficiency of the multi-robotic arm cascade system.

Specifically, referring to FIG. 2 , several robotic arms in the multi-robotic arm cascade system are connected via Ethernet data. After the wireless short-range positioning component based on the current robotic arm in step S200 obtains the current position information of other robotic arms in the preset space, the following steps are included:

Step S220, obtaining the preset moving paths of other robot arms through Ethernet.

Step S230, obtaining preset position information of other robot arms in the next detection cycle.

Step S240, when determining whether the predicted position information of the current robot arm in the next detection cycle overlaps or partially overlaps with the predicted position information of other robot arms in the next detection cycle, adjust the preset moving path of the current robot arm.

In order to enable the current robot arm to obtain complete data from one or more adjacent robot arms, each robot arm in the multi-robot cascade system is connected to each other via Ethernet. Each robot arm is a node in the distributed network. By obtaining complete operating data from other robot arms in the network, it can determine whether a collision occurs and develop the optimal path to avoid collision.

The robot arms share their own performance parameters in the distributed network and can obtain the operating parameters and operating status of all other robot arms, including the range of motion, carrying capacity and flexibility. Users can connect to any robot arm in the distributed network and input the tasks to be completed and the execution order of each task through a graphical user interface (GUI). This interface can provide intuitive visual feedback, allowing users to easily select and adjust task parameters.

Furthermore, before obtaining the preset moving paths of other robot arms through Ethernet in step S220, the method further includes:

Step S210, based on the wireless short-range positioning components of the current robotic arm and other robotic arms, obtain the Ethernet port information of other robotic arms and establish an Ethernet data connection.

If there is a possible position overlap or partial overlap between the current robotic arm and other adjacent robotic arms, the current robotic arm can obtain the Ethernet data port of the wireless short-range positioning component on the other adjacent robotic arms through its wireless short-range positioning component, establish wired data communication, obtain the complete path information of the other adjacent robotic arms, and formulate a specific path to avoid each other.

In a specific implementation of the embodiment of the present invention, step S200, before obtaining the current position information of other robotic arms in the preset space based on the wireless short-range positioning component of the current robotic arm, further includes:

Step S110, receiving the corresponding subtask based on the current robotic arm.

Step S120: generating a plurality of planned moving paths for the subtasks.

Step S130, receiving planned movement paths generated by a number of other robotic arms adjacent to the current robotic arm.

Step S140, combining the planned movement paths generated by each other robot arm, selecting an optimal path from the several planned movement paths generated by the current robot arm, so that the current robot arm and any other robot arm do not overlap or partially overlap in the same time and space.

The present invention adopts the A-star heuristic search algorithm when selecting the optimal path step in real time, uses the position information of the nearby manipulators, including the manipulator model, joint angle, etc., and defines the starting point and target point for each nearby manipulator by establishing a spatial link model, and establishes a search graph based on the position relationship, and estimates the cost from the current point to the target point through the heuristic function. Initialize the Open table and the Closed table, the Open table is used to store the nodes to be visited, and the Closed table is used to store the nodes that have been visited. At the beginning, only the starting node is in the Open table. The node with the smallest cost is selected from the Open table as the current node, and then expanded. When expanding, all possible next nodes are considered and their costs are calculated. If a certain next node is already in the Closed table, or the new cost is greater than the original cost, the node is skipped. Otherwise, the node is added to the Open table and its parent node is set as the current node. When expanding the node, it is necessary to check whether interference occurs. This can be achieved by checking whether the new node intersects with the planned path. If there is interference, the path needs to be adjusted or re-planned, and the steps of searching and checking interference are repeated until the target node is found or the Open table is empty. If the target node is found, we can trace back from the node to the starting node to get the optimal path. If the Open table is empty, it means that no path is found, and the planned path is output, one path for each robot arm.

The multi-robot cascade system can decompose the task into N subtasks according to the task requirements and the characteristics of each robot in the network, and assign them to the corresponding robot. When assigning tasks, factors such as the range of motion, carrying capacity, flexibility, power consumption, and positional relationship between each robot are considered.

Each subtask will be sent to each robotic arm through a wired network. Each robotic arm generates multiple trajectories of different paths according to the assigned subtasks and shares them with other robotic arms through wired Ethernet. Each robotic arm performs task simulation previews with robotic arms that may interfere with it, selects appropriate trajectories to notify nearby robotic arms, and the robotic arms make them move according to the previewed posture, position and motion parameters, and cooperate with other robotic arms. The control program can include a series of instructions and algorithms for controlling the posture, speed, trajectory and other motion parameters of the robotic arm, as well as the logic for information exchange and collaborative control with other robotic arms.

During the execution process, the multi-robot cascade system will monitor the status and task execution of each robot in real time, and provide information feedback and adjustments through the communication network. If an abnormality or an unexpected situation is found, the subtasks will be redistributed and the motion trajectory will be adjusted in the distributed network to ensure the smooth completion of the task. By monitoring the status of the robot and the execution of the task in real time, the status information such as the position, posture, speed and other motion parameters of the robot, as well as the completion of the task and abnormal conditions can be shared. This information can be fed back to the network nodes of each robot in real time through the communication network to adjust and optimize the process.

Furthermore, after selecting an optimal path from among the several planned movement paths generated by the current robot arm in step S140, the method further includes:

Step S150, receiving fault status information sent by other robotic arms.

Step S160, based on the position information of other robot arms in a faulty state and their planned movement paths, several planned movement paths of the current robot arm are regenerated, and the optimal path is reselected to control the current robot arm to run according to the optimal path.

In the process of multi-robot cascade collaboration, various abnormal situations may occur, such as robot arm failure, communication interruption, new robot arm approaching, robot arm withdrawal, etc. To this end, the present invention also provides an exception handling mechanism. When an abnormal situation is detected, corresponding processing measures will be automatically taken, such as reallocating tasks, adjusting control programs, alarm prompts, etc., to minimize the impact of abnormalities on task execution. Through the exception handling mechanism, various abnormal situations can be effectively dealt with to ensure the smooth completion of tasks.

Correspondingly, please refer to FIG. 3 , a second aspect of an embodiment of the present invention provides a multi-robot cascade system control device, in which each robot in the multi-robot cascade system is provided with a wireless short-range positioning component, including:

A current position acquisition module 1, which is used to acquire the current position information of other robotic arms in a preset space based on the wireless short-range positioning component of the current robotic arm;

Prediction position acquisition module 2, which is used to obtain the prediction position information of the current robot arm in the next detection cycle based on the preset movement path of the current robot arm;

A position overlap judgment module 3 is used to judge whether the predicted position information of the current robot arm in the next detection cycle overlaps or partially overlaps with the current position information of other robot arms;

A robot arm control module 4, which is used to adjust the preset moving path of the current robot arm when the predicted position information of the current robot arm in the next detection cycle overlaps or partially overlaps with the current position information of other robot arms;

The robot arm control module 4 is also used to control the current robot arm to move according to a preset moving path when the predicted position information of the current robot arm in the next detection cycle does not overlap or does not partially overlap with the current position information of other robot arms.

Further, referring to FIG. 4 , several robotic arms in the multi-robotic arm cascade system are connected via Ethernet data, and the multi-robotic arm cascade system control device further includes: a wired data judgment module 5, and the wired data judgment module 5 includes:

A second path acquisition unit 51, which is used to acquire the preset moving paths of other robot arms through Ethernet;

A position acquisition unit 52, which is used to obtain preset position information of other robot arms in the next detection cycle;

The first path adjustment unit 53 adjusts the preset moving path of the current robot arm when determining whether the predicted position information of the current robot arm in the next detection cycle overlaps or partially overlaps with the predicted position information of other robot arms in the next detection cycle.

Furthermore, the wired data determination module 5 also includes:

The port information acquisition unit 54 is used to acquire the Ethernet port information of other robotic arms based on the wireless short-range positioning components of the current robotic arm and other robotic arms, and establish an Ethernet data connection.

Further, referring to FIG. 5 , the multi-manipulator cascade system control device further includes: a task generation module 6, and the task generation module 6 includes:

A task receiving unit 61, which is used to receive a corresponding subtask based on the current robot arm;

A first path generating unit 62, which is used to generate a plurality of planned moving paths for a subtask;

A second path receiving unit 63, which is used to receive planned moving paths generated by a number of other robotic arms adjacent to the current robotic arm;

The first path selection unit 64 is used to select an optimal path from a plurality of planned movement paths generated by the current robot arm in combination with the planned movement paths generated by each other robot arm, so that the current robot arm and any other robot arm do not overlap or partially overlap in the same space and time.

Furthermore, the task generation module 6 also includes:

A fault information receiving unit 65, which is used to receive fault status information sent by other robotic arms;

The first path adjustment unit 66 is used to regenerate several planned movement paths of the current robot arm based on the position information of other robot arms in a faulty state and their planned movement paths, and reselect the optimal path to control the current robot arm to run according to the optimal path.

Correspondingly, the third aspect of an embodiment of the present invention also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor executes the above-mentioned smart substation multi-compartment system-level protection function detection method.

In addition, the fourth aspect of the embodiment of the present invention further provides a computer-readable storage medium on which computer instructions are stored, and when the instructions are executed by a processor, the above-mentioned smart substation multi-bay system-level protection function detection method is implemented.

The embodiment of the present invention aims to protect a control method and device for a multi-robot cascade system, in which each robot in the multi-robot cascade system is provided with a wireless short-range positioning component, and the control method comprises the following steps: obtaining the current position information of other robots in a preset space based on the wireless short-range positioning component of the current robot; obtaining the predicted position information of the current robot in the next detection cycle based on the preset moving path of the current robot; determining whether the predicted position information of the current robot in the next detection cycle overlaps or partially overlaps with the current position information of other robots; if so, adjusting the preset moving path of the current robot; if not, controlling the current robot to run according to the preset moving path. The above technical solution has the following effects:

1. Through the wireless short-range positioning component on each robot in the multi-robot cascade system, the position information of other adjacent robot arms is obtained in real time to avoid each other. If there is a risk of collision, the moving path of the current robot arm is adjusted. The multi-robot cascade system supports the cascade and collaboration between multiple robot arms according to the actual operating status, and can efficiently handle complex tasks or processes;

2. The multi-robot cascade system can autonomously generate execution plans for the subtasks assigned to each robot, and perform pre-simulation to obtain the optimal overall execution plan for the system;

3. When one or more robotic arms in a multi-robotic arm cascade fails, the other robotic arms can adjust the assigned task content in real time, reallocate and continue execution.

Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

The present application is described with reference to the flowchart and/or block diagram of the method, device (system) and computer program product according to the embodiment of the present application. It should be understood that each process and/or box in the flowchart and/or block diagram, and the combination of the process and/or box in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes in the flowchart and/or one box or multiple boxes in the block diagram.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims (10)

1. The control method of the multi-mechanical arm cascade system is characterized in that each mechanical arm in the multi-mechanical arm cascade system is provided with a wireless close-range positioning assembly, and the control method comprises the following steps:

acquiring current position information of other mechanical arms in a preset space based on a wireless close-range positioning assembly of the current mechanical arm;

acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm;

judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of the other mechanical arms;

if yes, adjusting a preset moving path of the current mechanical arm;

if not, controlling the current mechanical arm to run according to the preset moving path.

2. The method for controlling a multi-mechanical arm cascade system according to claim 1, wherein the plurality of mechanical arms in the multi-mechanical arm cascade system are connected through ethernet data, and the wireless close-range positioning assembly based on the current mechanical arm acquires current position information of other mechanical arms in a preset space, and then comprises:

acquiring preset moving paths of the other mechanical arms through Ethernet;

acquiring preset position information of the other mechanical arms in the next detection period;

and when judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the predicted position information of the other mechanical arms in the next detection period, adjusting the preset moving path of the current mechanical arm.

3. The method for controlling a multi-arm cascade system according to claim 2, further comprising, before the acquiring the preset movement path of the other arm via ethernet:

and acquiring Ethernet port information of the other mechanical arms based on the current mechanical arm and the wireless close-range positioning assembly of the other mechanical arms, and establishing Ethernet data connection.

4. The method for controlling a multi-arm cascade system according to claim 2, wherein before the wireless short-distance positioning component based on the current arm obtains the current position information of other arms in the preset space, the method further comprises:

receiving corresponding subtasks based on the current mechanical arm;

generating a plurality of planned moving paths for the subtasks;

receiving the planned moving path generated by a plurality of other mechanical arms adjacent to the current mechanical arm;

and selecting an optimal path from a plurality of planned moving paths generated by the current mechanical arm by combining the planned moving paths generated by each other mechanical arm.

5. The method for controlling a multi-arm cascade system according to claim 4, further comprising, after selecting an optimal path from a plurality of planned moving paths generated by the current arm:

receiving fault state information sent by the other mechanical arms;

and regenerating a plurality of planned moving paths of the current mechanical arm based on the position information of the other mechanical arms in the fault state and the planned moving paths thereof, and reselecting an optimal path to control the current mechanical arm to operate according to the optimal path.

6. The utility model provides a many arms cascade system controlling means which characterized in that, every arm in many arms cascade system all is equipped with wireless closely locating component, includes:

the current position acquisition module is used for acquiring current position information of other mechanical arms in a preset space based on the wireless close-range positioning assembly of the current mechanical arm;

the predicted position acquisition module is used for acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm;

the position overlapping judging module is used for judging whether the predicted position information of the current mechanical arm in the next detection period overlaps or partially overlaps with the current position information of the other mechanical arms;

the mechanical arm control module is used for adjusting a preset moving path of the current mechanical arm when the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of the other mechanical arms;

the mechanical arm control module is further configured to control the current mechanical arm to operate according to the preset moving path when the predicted position information of the current mechanical arm in the next detection period is not overlapped or not partially overlapped with the current position information of the other mechanical arms.

7. The multi-arm cascade system control apparatus of claim 6, wherein a number of the arms in the multi-arm cascade system are connected by ethernet data, the multi-arm cascade system control apparatus further comprising: the wired data judging module comprises:

the second path acquisition unit is used for acquiring preset moving paths of the other mechanical arms through the Ethernet;

the position acquisition unit is used for acquiring preset position information of the other mechanical arms in the next detection period;

and the first path adjusting unit is used for adjusting a preset moving path of the current mechanical arm when judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the predicted position information of the other mechanical arms in the next detection period.

8. The multi-arm cascade system control apparatus of claim 7, wherein the wired data determination module further comprises:

and the port information acquisition unit is used for acquiring the Ethernet port information of the other mechanical arms based on the wireless close-range positioning assemblies of the current mechanical arm and the other mechanical arms and establishing Ethernet data connection.

9. The multi-arm cascade system control apparatus of claim 7, further comprising: a task generation module, the task generation module comprising:

a task receiving unit, configured to receive a corresponding subtask based on the current mechanical arm;

a first path generation unit for generating a plurality of planned moving paths for the subtasks;

a second path receiving unit, configured to receive the planned movement path generated by the plurality of other mechanical arms adjacent to the current mechanical arm;

the first path selection unit is used for selecting an optimal path from a plurality of planned moving paths generated by the current mechanical arm by combining the planned moving paths generated by each other mechanical arm, so that the current mechanical arm and any one of the other mechanical arms are not overlapped or partially overlapped in the same time and space.

10. The multi-arm cascade system control apparatus of claim 9, wherein the task generation module further comprises:

the fault information receiving unit is used for receiving fault state information sent by the other mechanical arms;

the first path adjusting unit is used for regenerating a plurality of planned moving paths of the current mechanical arm based on the position information of the other mechanical arms in the fault state and the planned moving paths of the other mechanical arms, and reselecting an optimal path to control the current mechanical arm to operate according to the optimal path.