A collaborative method of multi-processing robots in hardware flexible production workshop

Abstract

The invention provides a multi-robot collaboration method in a hardware flexible production workshop, which can realize the assignment of workpiece processing tasks and the circulation of workpieces in different workstations, and at the same time avoid large calculation costs. The method of the present invention fully utilizes the distributed collaboration method, and can realize the assignment of workpiece processing tasks and the circulation of workpieces on different workstations, while avoiding large computational costs. The present invention adopts a multi-AGV path conflict resolution method to avoid possible collisions of the AGVs during the movement process. The invention uses the method of centralized intervention and adjustment to discover and predict system conflicts and faults, and to make timely scheduling and adjustment, thereby improving the automation level and flexibility level of the hardware workshop.

Description

technical field [0001] The invention relates to the technical field of multi-agent collaboration, in particular to a multi-processing robot collaboration method in a hardware flexible 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 is difficult to meet the needs of rapid production line switching in small batches and multiple batches. It is urgent to improve the level of automation and intelligence. level. The modular hardware production workshop can well adapt to the changeable and flexible production needs. The processing robot in the modular hardware workshop only needs to replace the tooling, jig and a small number of process modules to realize the rapid and flexible production of various types of multi-process products. [0003] In the multi-processing ro...

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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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