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

Inactive Publication Date: 2017-05-31
HANGZHOU JIMU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the robot PL transports the small object Ca, the energy redundancy is too much, a

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[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. ...

Example Embodiment

[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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Abstract

The invention discloses a multi-robot collaborative transportation method. Multiple robots collaboratively drive a target object to a target position; and the types and the quantity of the robots are determined through a central control system or a robot with calculation capacity via a judgment algorithm. According to the multi-robot collaborative transportation method, multiple low-power robots can be used for collaboratively transporting the target object which has the weight higher than the load capacity of the single robot. After the power is reduced, the robots can realize space minimization, thus realizing the advantage that the robots can enter a gap between the object and the ground or enter a gap between the object and another object; and therefore, the storage density of the object is increased, and the special space requirement for a storage device is reduced.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to a multi-robot cooperative transportation method. Background technique [0002] With the development of technology, AGV technology, drone technology, and carrier robot technology are developing rapidly. When the traditional single robot PL is used to carry the object Ca, the output energy of the single robot PL is required to be greater than or equal to the energy required for the movement of the object Ca, which requires the robot to be designed to meet the maximum demand for the object Ca to be transported. However, when the robot PL transports the small object Ca, the energy redundancy is too much, and when the object exceeds the design index, the PL energy is insufficient to complete the task. Contents of the invention [0003] The purpose of the present invention is to improve a multi-robot cooperative transportation method for the above-mentioned deficiencies in t...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 祁卫陈阳昕郭雨
Owner HANGZHOU JIMU TECH CO LTD
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