Motion track planning method and system for carrying robot

A technology for robot movement and handling robots, used in control/regulation systems, instruments, non-electric variable control, etc.

CN106647764AInactive Publication Date: 2017-05-10吴海波
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2017-05-10
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a motion track planning method and system for a carrying robot. The motion track planning method comprises the following steps: identifying stations of the same type in a factory, obtaining effective stations, obtaining geographical location information of each effective station in the factory as well as information of driving regions in the factory and component stacking state information of each effective station, carrying out priority ranking on each effective station, and generating a motion track of the carrying robot according to the geographical location information of each effective station, the information of the driving regions in the factory and a priority ranking result. In the whole process, the priority ranking is carried out on each effective station based on the component stacking state information of each effective station, and the motion track is generated based on the location information of the effective stations (stations of the same type), the information of the driving regions in the factory and the priority ranking, so that reasonable planning on the motion track of the carrying robot can be realized.
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Description

technical field

[0001] The invention relates to the technical field of robot control, in particular to a method and a system for planning a trajectory of a transport robot. Background technique

[0002] With the development of science and technology, more and more assembly line automation is used in the industrial field, such as the existing automobile assembly line, aircraft manufacturing assembly line, etc.

[0003] In the industrial production line, various types of intelligent automation equipment work in coordination, and finally complete the entire intelligent production process. In the assembly line production process, intelligent robots are often required to carry various raw materials, semi-finished products and parts.

[0004] The wide application of handling robots saves a lot of manpower and time, and improves industrial production efficiency. However, with the widespread adoption of handling robots, how to reasonably and effectively plan the driving trajecto...

Examples

Embodiment Construction

[0023] Such as figure 1 As shown, a moving robot trajectory planning method, including steps:

[0024] S100: identifying the same type of workstations in the factory, and obtaining valid workstations.

[0025] The classification of workstation types in the factory can be classified based on industry standards, or multiple workstations can be classified into one category based on the needs of practical applications, and the same category identification marks can be assigned to the workstations classified into one category. For example, the factory can be divided into stamping stations, milling stations and assembly stations. Different handling robots can be set up at different stations to carry the corresponding raw materials and finished products. For example, for the stamping station, the corresponding handling robot needs to carry the stamping raw material (steel plate), and transport the stamped finished product of the stamping station to the next production Station. Her...