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Multi-mobile-robot cooperative transfer control method and system

A technology of mobile robot and control method, applied in control/regulation system, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as difficult to cope with

Active Publication Date: 2020-07-10
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

In the collaborative robot system, most of the wheels of mobile robots use mecanum wheels. Relying on the translation characteristics of the wheels, multiple robots can also move in unison, but it is difficult to cope with turning, so it is urgently needed Make further improvements and improvements to meet the current increasing process requirements

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  • Multi-mobile-robot cooperative transfer control method and system
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  • Multi-mobile-robot cooperative transfer control method and system

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Embodiment Construction

[0060] In order to make the object, technical solution and advantages of 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. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0061] see Figure 7 , the multi-mobile robot transport cooperative control method provided by the present invention, the control method mainly includes the following steps:

[0062] Step 1: Choose two robot subsystems among multiple robot subsystems to form the negotiation leader layer, and the remaining robot subsystems form the follower layer; the two selected robot subsystems are robot subs...

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Abstract

The invention belongs to the related technical field of intelligent control, and discloses a multi-mobile-robot cooperative transfer control method and system, and the method comprises the following steps: (1) randomly selecting two robot subsystems in a plurality of robot subsystems to form a negotiation pilot layer, and enabling the remaining robot subsystems to form a following layer; (2) synchronously receiving instructions by the robot subsystems of the negotiation pilot layer, then calculating respective target poses according to the destination of a workpiece, and planning a path according to environmental information; (3) respectively calculating to obtain speed control quantities; (4) negotiating to determine a common speed along the direction of the workpiece; and (5) respectively correcting respective original speed control quantities to achieve cooperative operation. Meanwhile, the robot subsystems of the following layer perform action control by ensuring that the relativedistance between the robot subsystems of the following layer and the two robot subsystems of the negotiation pilot layer is not changed. According to the method, the utilization efficiency is improved, a large amount of cost is saved, and the method has good universality.

Description

technical field [0001] The invention belongs to the technical field related to intelligent control, and more specifically, relates to a multi-mobile robot cooperative control method and system. Background technique [0002] With the continuous development of robot technology, more and more robots are used in the transfer of materials in smart factories and in the transfer of materials in smart warehouses. Among them, intelligent mobile robots have a wide variety and complete functions. They play a huge role in the automatic distribution and transfer of materials, and provide a solid technical foundation for intelligent factories and storage systems. However, in the application environment of some large-scale workpiece transfer, the existing intelligent robots cannot carry out a single operation. To carry large-scale workpiece goods, two or more robots must work together to realize the transfer of goods. Therefore, the cooperative operation control of multiple robots realize...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 陈建魁岳晓金卓鑫
Owner HUAZHONG UNIV OF SCI & TECH
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