Multi-robot control synchronization system and method based on distributed clocks

A distributed control and controller technology, applied in time division multiplexing systems, multiplexing communications, electrical components, etc., to reduce complexity, improve network bandwidth utilization, and reduce jitter

Active Publication Date: 2017-09-22
SHENZHEN INOVANCE TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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However, there is still room for improvement in terms of data communicat...

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  • Multi-robot control synchronization system and method based on distributed clocks
  • Multi-robot control synchronization system and method based on distributed clocks
  • Multi-robot control synchronization system and method based on distributed clocks

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Embodiment Construction

[0045] 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 creative efforts fall within the protection scope of the present invention.

[0046] figure 1 Shown is a schematic diagram of a distributed control system provided by an embodiment of the present invention. Such as figure 1 As shown, the distributed control system provided by the present invention adopts a master-slave communication mode, including a master controller 110 and a plurality of slave controllers 120, and a cascaded network is used between the master controller 110 and a plurality of slave controllers 120 to connect chrysanthemu...

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Abstract

The invention discloses a distributed control system and a distributed control method, in particular to a multi-robot control synchronization system and a multi-robot control synchronization method based on distributed clocks. The multi-robot control synchronization system comprises a master controller and a plurality of slave controllers, wherein the master controller is used for acquiring link structures of the plurality of slave controllers so as to determine a network topology of the distributed control system, completing initialization of the plurality of slave controllers, acquiring timestamp information of the plurality of slave controllers, calculating conduction delay and initial deviation of each slave controller relative to the master controller separately, and judging whether the plurality of slave controllers are synchronized with the master controller; and if so, the master controller sets a synchronization cycle of the distributed control system, and data exchange and clock drift compensation are conducted between the master controller and the plurality of slave controllers within the synchronization cycle. The invention further provides the distributed control method. Through effectively improving the utilization rate of network bandwidth and reducing complexity of connection between control systems, the jitter among the controllers is reduced to the minimum.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a multi-robot synchronous control system and method based on distributed clocks. Background technique [0002] With the continuous development of the automation industry, each production line puts forward higher requirements on the production efficiency and product quality of products. Flexibility, integration, multitasking, and synchronization have become the characteristics that robot control systems must possess. In order to meet the requirements of modern manufacturing industry, multi-robot cooperative work has become a development trend; based on this, how to realize multi-robot cooperative motion control on the basis of open architecture software and hardware has become one of the focuses of current research in the field of industrial robots. [0003] For the synchronous control technology of multi-robots, the following control strategies are currently available...

Claims

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Application Information

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IPC IPC(8): H04J3/06
CPCH04J3/0638H04J3/0644H04J3/065
Inventor 杨磊潘铜
Owner SHENZHEN INOVANCE TECH
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