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Multi-robot autonomous control system

An autonomous control, multi-robot technology, applied in the field of robotics, can solve problems such as high performance requirements of the main control equipment

Active Publication Date: 2022-07-01
GOOGOL TECH SHENZHEN LTD GUANGDONG
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Based on this, it is necessary to provide a multi-robot autonomous control system that does not need to be connected to an external controller for the problem that the traditional protocol requires an extremely powerful main controller for calculation and scheduling, and has high requirements on the performance of the main control device.

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Embodiment Construction

[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and do not limit the protection scope of the present invention.

[0027] figure 1 A schematic diagram of the structure of each module of the robot in one embodiment is shown in FIG. 1 . The robot includes a drive control module 10 , an actuation module 20 , an I / O module 30 and an encoder module 40 .

[0028] The drive control module 10 can control the actuation module 20 to act.

[0029] The drive control module 10, the I / O module 30 and the encoder module 40 are connected to each other through a field bus, and use a real-time field bus protocol for data transmission.

[0030] The actuating module 20 receives an instru...

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Abstract

The invention relates to a multi-robot autonomous control system, which is characterized in that each of the robots includes a drive control module and an actuation module; the drive control module is controllable to actuate the actuation module; a plurality of the drive control modules They are communicated and connected to each other through a field bus; a plurality of the drive control modules cooperate with each other through the field bus to realize the synchronous control of the actuation modules. The multi-robot autonomous control system provided by the present invention has a safe and redundant design, supports multi-robot high real-time synchronization, and the synchronization period reaches 1ms. Distributed computing can save the master controller, realize data interaction between slave stations and on-site operation monitoring and adjustment from the cloud. The MAC protocol is used for network transmission between each chip, the transmission delay is much less than 1us, and the motion control cycle is completely synchronized with the servo cycle.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-robot autonomous control system. Background technique [0002] With the introduction and application of the concept of Industry 4.0, factory automation solutions have put forward new requirements for robot multi-machine collaboration and data acquisition, requiring high real-time and high reliability data transmission to achieve collaboration and monitoring between robot workstations at the factory level . Due to the large amount of data transmission and high real-time performance, the path is long. The traditional TCP / IP network transmission or parallel / serial bus mode can no longer meet the real-time requirements. The traditional protocol requires an extremely powerful main controller for operation and scheduling, and has high performance requirements for the main control equipment. An external controller needs to be connected outside the robot for data calculation and schedulin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161
Inventor 李泽源黄廉真焦建宇刘越
Owner GOOGOL TECH SHENZHEN LTD GUANGDONG
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