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Cooperative motion planning method for multi-robot visual inspection system based on multi-level task assignment

A task distribution and multi-robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2022-01-25
UNIV OF SHANGHAI FOR SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the face of the complex static environment, the increase in the number of robots, and the measurement requirements of the visual inspection system, it is often difficult for existing methods to automatically plan the measurement path for a large number of detection features under complex body structures within a specified time.

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  • Cooperative motion planning method for multi-robot visual inspection system based on multi-level task assignment
  • Cooperative motion planning method for multi-robot visual inspection system based on multi-level task assignment
  • Cooperative motion planning method for multi-robot visual inspection system based on multi-level task assignment

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Embodiment Construction

[0032] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described below.

[0033] Such as figure 1 As shown, the present invention provides a collaborative motion planning method for a multi-robot visual inspection system:

[0034] S101: Use the forward and reverse kinematics of the robot and the working range of the robot to solve the working range of the robot, and determine a set of measuring points S measured by the robot according to the working range of each robot i with a set of survey points M that can be measured by multiple robots i , where i represents the robot number.

[0035] S102: Take the best measurement vector direction of each measurement feature as the center, and take (1) the Euclidean distance from the current measurement feature as ε; (2) the measurement point that meets the measurement requirements of its own and the current measurement fea...

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Abstract

The present invention proposes a multi-robot visual inspection system collaborative motion planning method based on multi-level task allocation. The present invention includes measurement task allocation, local path planning, global path planning, robot coordinated motion, etc., combined with the structure of the car body parts to be tested Features, through the design and development of algorithm programs and application steps, multi-robots can achieve collision-free and efficient inspection planning for complex parts.

Description

technical field [0001] The invention relates to the technical field of robot planning schemes, in particular to a collaborative motion planning method of a multi-robot visual detection system based on multi-level task allocation. Background technique [0002] Facing the increasingly competitive automotive market, automotive product precision testing equipment has also put forward higher requirements. It is changing from a three-coordinate measuring machine with high measurement accuracy and good flexibility, but long measurement time and insufficient portability to high measurement efficiency. online optical measurement transformation. Compared with traditional contact measurement equipment (such as three-coordinate measuring machine), non-contact optical measurement system can meet the online measurement of multiple hybrid models on the assembly line, making optical measurement gradually become the mainstream in assembly and manufacturing workshops. However, in the actual ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1676B25J9/1697B25J9/1679
Inventor 刘银华赵文政孙芮
Owner UNIV OF SHANGHAI FOR SCI & TECH