Mobile multi-robot moving splicing control method and system
A multi-robot and control method technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as the inability to meet collaborative control, and achieve the effect of high splicing efficiency and high practicability
Pending Publication Date: 2020-06-26
HEBEI NORMAL UNIV
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Problems solved by technology
However, the control of existing robots is generally single-robot control. With the popularization of multi-robot collaborative applications, in the process of multi-robot collaboration, splicing and collaboration are required to complete the work, and the existing control methods can no longer meet the needs of collaborative control.
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[0018] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0019] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
[0020] In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indic...
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The invention discloses a mobile multi-robot moving splicing control method and system. The method comprises the steps that coordinates of multiple mobile robots in a world coordinate system are determined based on a wireless transmission network; any of the robots is chosen, the sum of linear distances by which the rest of the mobile robots need to move to the position of the chosen robot is calculated, moving paths are planned, and a reference robot is chosen based on a moving optimality principle; the global position and orientation of the reference robot and the global positions and orientations of the rest of the mobile robots relative to the reference robot are obtained, and the moving paths of the rest of the mobile robots are planned based on the global positions and orientations of the reference robot and the rest of the mobile robots; and the rest of the mobile robots on the two sides of the reference robot are controlled to move towards the reference robot until all the robots are spliced in sequence. By means of the above control method and system, the multi-robot can be effectively controlled to move and splicing operation can be completed, the splicing efficiency is high, safety and reliability are achieved, and the practicability is quite high.
Description
technical field [0001] The invention relates to the technical field of automatic control, in particular to a mobile multi-robot mobile splicing control method and system. Background technique [0002] With the widespread application of automatic control technology, the application of robot technology is also increasing. However, the control of existing robots is generally single-robot control. With the popularization of multi-robot collaborative applications, in the process of multi-robot collaboration, splicing and collaboration are required to complete the work, and the existing control methods can no longer meet the needs of collaborative control. Contents of the invention [0003] In view of the above technical problems, the present invention provides a mobile multi-robot mobile splicing control method and system that can effectively control the cooperative splicing of robots, have high splicing efficiency, and are safe and reliable. [0004] In order to solve the abo...
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IPC IPC(8): B25J9/16
CPCB25J9/1682B25J9/1664B25J9/1602
Inventor 赵华赵佳吕清王翔高睿李佳莹张翠玲王雨林
Owner HEBEI NORMAL UNIV