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Multi-robot cooperative path planning method

A path planning and multi-robot technology, applied in the direction of instruments, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of poor flexibility and low efficiency, achieve the effect of universality and improve the efficiency of path optimization

Active Publication Date: 2017-08-01
SHANGHAI ELECTRICGROUP CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the problem of multi-robot collaboration in domestic products is mostly solved by teaching methods and robot end-point reverse solutions, but only considers the coupling motion in robot collaboration. This method has low efficiency and poor flexibility.

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Embodiment Construction

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0031] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0032] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0033] The invention proposes a multi-robot path planning method based on the combination of active vision ...

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Abstract

The invention relates to the field of robot path planning and particularly relates to a multi-robot cooperative path planning method. A workpiece is provided, a main robot and a slave robot are defined, and the main information of the main robot and the slave information of the slave robot are acquired; the main robot adopts an active vision mode to acquire the information of the workpiece; according to the main information and the slave information, a robot model is built, and an environment model is built according to the workpiece information; according to the robot model and the environment model, the main robot determines the working tasks and the working paths of the main robot and the slave robot; and the main robot and the slave robot execute the working tasks according to the working paths. A three-dimensional object is intelligently identified through a binocular active vision system, which is not limited to features of the color and the shape and the like of the object. A sectional path planning technology is adopted, the path optimization efficiency is improved, a handshake collision avoidance problem in multi-robot superimposed motion can be solved, and dynamic adjustment of each joint and online optimization of the path during the multi-robot processing process can be realized.

Description

technical field [0001] The invention relates to the field of robot work, in particular to a multi-robot collaborative path planning method. Background technique [0002] Traditional industrial robots basically do not have the ability to cooperate, and most of the processing is completed by human intervention. With the improvement of process requirements and the complexity of industrial operations, it is difficult for a single robot operation to meet industrial needs. As an important branch in the field of robotics research, the multi-robot cooperative system has received more and more attention. In a large number of multi-robot research, the problem of multi-robot collaborative path planning has become the focus of research. Specific robot collaboration often refers to a specific environment, uses sensor information to obtain synchronization during the work process, and coordinates operations through information sharing. Realizing effective path planning, collaborative ope...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0289
Inventor 吕燕蒋知峰张力蒋劲峰
Owner SHANGHAI ELECTRICGROUP CORP
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