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Integrated mobile collaborative robot control system based on field bus

A fieldbus, mobile collaboration technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems that robots cannot work continuously and cannot be combined, and achieve the effect of improving completion efficiency, avoiding task delays, and rationally assigning tasks

Active Publication Date: 2021-11-12
深圳墨影科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the robot generally adopts a rechargeable battery to provide power, and the general running time is about 2 hours, which will inevitably cause the robot to fail to work continuously. For example, Chinese patent CN107817801A provides a robot control method, device, robot and charging stand, so that the robot In the case of passive interruption of the charging process, rapid recognition by lidar and infrared alignment are used to eliminate deviations to automatically find the charging stand for charging. It has the advantages of rapid recharging and high-precision alignment, but it cannot be combined with tasks and robots. Make a reasonable schedule

Method used

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  • Integrated mobile collaborative robot control system based on field bus

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0060] The present invention is an integrated mobile collaborative robot control system based on the field bus, including: a task decomposition unit, the task decomposition unit is used to respectively decompose the tasks corresponding to each robot, obtain m subtask categories, and respectively m subtasks The class is assigned a priority value Yu, u=1, 2, ..., m; the power collection unit is used to collect the remaining power information corresponding to each robot; the task monitoring unit obtains the remaining task amount of each robot every preset time W1, Rj represents the remaining task amount of robot j; the comprehensive analysis unit analyzes the pre-completion degree Dj of the robot every time it receives the remaining task amount information of the robot; Redistribute the remaining tasks, and return the redistribution results to the controller. Combined with the situation of the tasks and robots, make reasonable scheduling, and redistribute the tasks in time to ensu...

Embodiment 2

[0071] The sub-task classes are respectively core tasks, related tasks, and adjustable tasks, and the division method is as follows:

[0072] Step S001: The task allocation unit allocates a task every time W1 (all tasks allocated each time are guaranteed to have no timing requirements, that is, the tasks allocated this time can be completed within time W1), and obtain all tasks allocated within time W1;

[0073] Step S002: choose a task i from all tasks;

[0074] Step S003: Obtain the task i selected in step S002, and retrieve the number of tasks associated with it, and mark the number of associated tasks as: Gi;

[0075] If Gi>G, mark task i as a core task, that is, such tasks are highly relevant, and if this task cannot be completed, many tasks will not be completed;

[0076] If Gi≦G, task i is marked as a related task, that is, the relevance of such tasks is lower than that of core tasks, and if the task cannot be completed, fewer tasks will not be completed;

[0077] If ...

Embodiment 3

[0086] As an embodiment provided by the present invention, preferably, the steps for the task allocation unit to reassign the remaining tasks according to the pre-completion degree Dj are:

[0087] Determine the size of the pre-completion degree Dj, if Dj≦D, perform the task reassignment step; otherwise, maintain the original assigned task;

[0088] Step F001: Call the robot corresponding to the pre-completion degree Dj≦D, and obtain its remaining tasks;

[0089] Step F002: Obtain the subtask class to which the remaining tasks belong and the priority value Yu corresponding to the subtask class;

[0090] Step F003: Continue to sort the remaining tasks sequentially according to the pre-sorting order rules;

[0091] Step F004: Calculate the number Kj of tasks expected to be performed by the robot according to the prearrangement sequence;

[0092] Step F005: intercepting the first Kj tasks according to the prearrangement order, and marking them as executable tasks, and marking t...

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Abstract

The invention discloses an integrated mobile collaborative robot control system based on a field bus, and relates to the technical field of robot control. The system comprises a task decomposition unit for decomposing tasks corresponding to a robot, a task monitoring unit for obtaining the quantity of remaining tasks of the robot, a comprehensive analysis unit for analyzing the pre-completion degree Dj of the robot, and a task distribution unit for redistributing the remaining tasks according to the pre-completion degree Dj. According to the system, task delay caused by insufficient electric quantity is avoided by pre-estimating the completion condition of each robot for distributed tasks, reasonable scheduling is performed in combination with the conditions of the tasks and the robots, the tasks are re-distributed in time, it is ensured that each task is completed smoothly, and the robot is prevented from being insufficient in power, each task and the corresponding power consumption form a power consumption table, and the power consumption table is updated in real time to form data reference of each task and the corresponding power consumption, so that a reference basis is provided for distribution of subsequent tasks, the tasks are reasonably distributed, and the task completion efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of robot control, in particular to an integrated mobile collaborative robot control system based on field bus. Background technique [0002] At present, with the rapid development of the robot industry, robots are more and more widely used in life and industry. However, with more and more widespread use, the scheduling of robots has become an important issue that needs to be improved urgently. For example, Chinese patent CN112015185A discloses a local scheduling method, device, and robot for a robot, which completes priority delivery according to the remaining delivery time and the number of current scheduling tasks on the same target floor; improves the delivery efficiency of the robot, and avoids the need for the robot to work on multiple tasks. Run back and forth between points. [0003] As another example, Chinese patent CN109800937B discloses a robot cluster scheduling system. The task solving engine d...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1682B25J9/1602
Inventor 刘伟刘聪张猛杨胜体张慧斌朱彬能陈钰明
Owner 深圳墨影科技有限公司
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