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Multirobot collision preventing method and system

A robot and multi-machine technology, applied in control/adjustment systems, instruments, motor vehicles, etc., can solve the problems of increasing the range of robot activities and not being able to predict collisions well, so as to ensure real-time calculation, prevent stuck, reduce The effect of judging time

Active Publication Date: 2017-01-11
SHANDONG ZHONGHAO PLASTIC IND CO LTD
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  • Abstract
  • Description
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Problems solved by technology

[0008] The purpose of the present invention is to provide a multi-robot anti-collision method and system to solve the problem that the existing anti-collision method cannot predict the collision well, improve the mobility of the robot in a complex environment, and increase the range of motion of the robot

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  • Multirobot collision preventing method and system

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Embodiment Construction

[0091] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.

[0092] In order to make the drawing concise, each drawing only schematically shows the parts related to the present invention, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked. Herein, "a" not only means "only one", but also means "more than one".

[0093] The presen...

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Abstract

The invention discloses multirobot collision preventing method and system. Robots obtains motion speeds and motion tracks to obtain positions of simulated movements within a preset time and create an environmental map; coordinates of the geometric profile peaks of the robots are sequentially obtained; whether the robots collide with obstacles or other robots or not according to different judgment methods, and time marks are made; all collision marking information and robot position related information are acquired, the environmental map is updated, and the moving speeds and the moving tracks of the robots are adjusted. The collision between the robots and the obstacles or other robots can be greatly avoided, normal operation of most of robots can be effectively ensured, different judgment times can be adopted for predicted collision between the robots and the obstacles and predicted collision between the robots, and the calculation time can be greatly shortened.

Description

technical field [0001] The invention relates to the field of multi-machine collaborative robots, in particular to a multi-robot anti-collision method and system. Background technique [0002] With the rise of the robot industry, more and more industries have introduced robots. The automation transformation of a single robot is to replace the production line with a production line. As a part of the entire production line, it is difficult to take out a robot alone. Broken, without a backup of the design, the entire production line may stop. There are inefficiencies in some areas, where the robot movement and not being able to collide is a very important issue. In the field of autonomous mobile multi-robots, in order to achieve greater work efficiency, a single robot moves at a relatively high speed, and collisions may cause damage to the robot or other personal and property losses. With modern industrial robots moving at considerable speeds, collisions often cause severe dama...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0289
Inventor 李杰张小章征贵
Owner SHANDONG ZHONGHAO PLASTIC IND CO LTD
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