A method and system for collaborative transfer control of multiple mobile robots

Abstract

The invention belongs to the technical field related to intelligent control, and discloses a multi-mobile robot cooperative transfer control method and system, including the following steps: (1) selecting two robot subsystems from among multiple robot subsystems to form a negotiation pilot layer, The rest of the robot subsystems constitute the follower layer; (2) The robot subsystems of the negotiating pilot layer receive instructions at the same time and calculate their target poses according to the destination of the workpiece, and perform path planning according to the environmental information; (3) calculate respectively to get (4) Negotiate to determine the common speed along the direction of the workpiece; (5) Correct the respective original speed control quantities to achieve coordinated operation; at the same time, the robot subsystem of the follower layer ensures that the robot subsystem of the follower layer and the two sides of the negotiated leader layer The relative distance of each robot subsystem is kept constant and the motion control is performed. The invention improves the utilization efficiency, saves a lot of cost, and has good versatility.

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...

AI Technical Summary

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

Images