Multi-machining-robot cooperation method for hardware flexible production workshop

Abstract

The invention provides a multi-robot cooperation method for a hardware flexible production workshop; distribution of workpiece machining tasks and circulation of workpieces on different stations can be achieved, and meanwhile high calculation cost is avoided. According to the method, a distributed cooperation method is fully used; aiming at the condition of the prior art, distribution of workpiecemachining tasks and circulation of the workpieces on different stations can be achieved, and meanwhile large calculation cost is avoided. According to the invention, a multi-AGV path conflict resolution method is adopted to avoid possible collision of AGVs in the moving process. According to the invention, a centralized intervention adjustment method is used for discovering and predicting systemconflicts and faults, timely scheduling and adjustment are carried out, and the automation level and the flexibility level of the hardware workshop are improved.

Description

technical field [0001] The invention relates to the technical field of multi-agent cooperation, in particular to a multi-processing robot cooperation method in a flexible hardware production workshop. Background technique [0002] At present, the hardware industry is facing challenges such as product diversification, small batches, and rapid changes in market demand. However, the traditional production mode has a low level of automation, and it is difficult to meet the needs of small batches and multiple batches of rapid production line switching. It is urgent to improve the level of automation and intelligence. level. The modular hardware production workshop can well adapt to changing and flexible production needs. The processing robots in the modular hardware workshop only need to replace tooling, fixtures and a small number of process modules, and can realize fast tangent and flexible production of various types of multi-process products. [0003] In the multi-processin...

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Problems solved by technology

The above methods have their own advantages and disadvantages. The centralized method relies too much on the central management node. Once the central management node is paralyzed, the workshop will not be able to continue processing tasks; and for the distributed method, although the dependence on the central management node is low, due to each An agent can only obtain local information, and problems such as congestion and collisions are prone to occur in the workshop

[0004] At present, researchers have conducted in-depth research on the task allocation method of workshop processing robots and have applied for a large number of intellectual property rights, but most of the research focuses on isomorphic automatic guided vehicles (Automated Guided Vehicle, referred to as AGV). The traditional dynamic scheduling method, although part of it involves distributed dynamic task allocation, is still limited to the task allocation of AGV. For the processing of multi-variety and small-batch products in the hardware flexible workshop, various conflicts that are prone to occur in the complex workshop environment and failure

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