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Multi-robot cooperated operation task description method

A multi-robot, task-based technology, applied in the field of intelligent robots, can solve problems such as low efficiency

Active Publication Date: 2018-09-14
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] In order to solve the above technical problems, the present invention provides a description method for multi-robot collaborative tasks, which can overcome the current method of describing multi-robot collaborative tasks by expressing the details of each sub-action of the robot and the constraint relationship between different sub-actions The problem of low efficiency

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Embodiment Construction

[0087] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, wherein the schematic embodiments and descriptions are only used to explain the present invention, but are not intended to limit the present invention.

[0088] Such as figure 1 As shown, it is a schematic diagram of the initial state of the robot operation object in the specific embodiment of the present invention. Among them, each part Base stores the workbench P 2 On the workbench, each part Top is stored on workbench P 1 superior. Bench P for assembly and storage 3 at P 2 nearby; P 3 away from P 1 far.

[0089] As shown in FIG. 2 , it is a schematic diagram of the target general task in the specific embodiment of the present invention. The total target task is recorded as Task, and the robot operation unit is required to complete the assembly of 6 identical assemblies A, and place them vertically on P 3 ,Such as Figure 2a , 2b sho...

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Abstract

The invention discloses a multi-robot cooperated operation task description method, which is divided into three levels to describe a general objective task: (1) all product level subtasks which compose the general objective task are described; (2) the priority, change characteristic state sequences, optimization objective and reference coordinate system of each product level subtask are described;(3) the state sequence of each change characteristic of each product level subtask is described. The multi-robot cooperated operation task description method provided by the invention can express a general operation task of robot workstations which can be easily read and identified by a computer, so that subsequent intelligent decision making for the task assignment and scheduling of the robots is facilitated, the decomposition, subtask sequences, time-sequence constraint relation and the like of a robot task processed by the current artificial method are effectively solved, and the full automation and intelligence of robot operation and production are realized.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a description method for multi-robot cooperative operation tasks. Background technique [0002] With the continuous development of information technology and robot technology, robots are playing an increasingly important role in industrial production. At the same time, with the proposal and development of themes such as "Industry 4.0" and "Made in China 2025", and the current production tends to be more and more small batch, personalized, and the manufacturing cycle is getting shorter and shorter, flexible and intelligent manufacturing is my country's The inevitable trend of manufacturing development. Therefore, the job requirements for robots are also increasing, and the complexity of job tasks is increasing. It is becoming more and more difficult for a single robot job to meet production needs. Workstations composed of multi-robot systems can complete more diverse...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1682
Inventor 翟敬梅郭培森
Owner SOUTH CHINA UNIV OF TECH
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