Multi-robot collaborative transportation method
A collaborative transportation and multi-robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as insufficient PL energy, excessive energy redundancy, and inability to complete tasks, so as to reduce special space requirements and increase storage density. , The effect of reducing the difficulty of Pa collaborative work
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[0051] Example 1: No host situation
[0052] 1. When there is no central control system Ma. Ma's work is undertaken by Pa, who is capable of computing. Pa can be one or more. Suppose Pa who undertakes Ma task is Pama. When only one assumption Ma is selected, the Pa with the best robustness is selected. When more than one can be selected, the calculation method can be one of the following two forms: A: multiple Pa calculate the same data and content. B: Multiple Pas perform distributed operations.
[0053] 2. The robot Pa or Se detects the target Ca parameter, and Pama judges the type and quantity of the robot Pa needed to carry Ca.
[0054] The criteria for judgment are as follows: (all must be met).
[0055] 1) Judgment of the number of use: Suppose there are n types of robots Pa, and the numbers of different types of robots are represented by Pa1, Pa2...Pan. Assuming that the mass of the target object Ca is Mca, the payload of the robot Pa1...Pan is Mpa1...Mpan, respectively. ...
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[0069] Example 2: Parking lot view
[0070] 1. The whole includes a central control system Ma, multiple robots Pa, and a data acquisition system Se in the work area.
[0071] 2. The robot Pa or Se detects the Ca parameters of the target vehicle, and the central control system Ma determines the type and number of the robot Pa needed to carry Ca.
[0072] The criteria for judgment are as follows: (all must be met).
[0073] 1) Judgment of the number of use: Suppose there are n types of robots Pa, and the numbers of different types of robots are represented by Pa1, Pa2...Pan. Assuming that the mass of the target object Ca is Mca, the payload of the robot Pa1...Pan is Mpa1...Mpan, respectively. Then the number of used robots Pa should satisfy the formula:
[0074] Pa1*Mpa1+Pa2*Mpa2+…Pan*Mpan≥Mca.
[0075] When n takes 1, that is, when only one robot is selected, the number of robots Pax and the load capacity of the robot Mpax satisfy Pax≥Mca÷Mpax.
[0076] 2) Judgment of the qualified worki...
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