Multi-machine cooperative carrying control method, system and device under limited information

Abstract

The present disclosure relates to the technical field of multi-mobile robot cooperative carrying, and particularly relates to a multi-machine cooperative carrying control method and system and device under limited information. The multi-machine cooperative carrying control method under limited information comprises: acquiring a carrying track parameter set corresponding to a load; controlling a central controller to determine a control speed corresponding to the load according to the carrying track parameter set; and controlling a robot controller to control at least one mobile robot to carry the load according to the control speed. The present disclosure can reduce the implementation difficulty and cost of the multi-machine carrying system, reduce the failure probability of the system, and enhance the reliability of the system.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of multi-mobile robot cooperative carrying, and particularly relates to a multi-robot cooperative carrying control method and system and device under limited information. BACKGROUND

[0002] With the development of science and technology, mobile robots have been widely used in warehouse logistics, home service, planet exploration and other fields. However, in the face of complex carrying tasks, single mobile robot operation has limitations in load capacity, flexibility and other aspects. Multi-robot cooperative carrying can realize carrying large objects with small robots, and the flexibility and robustness of the system are greatly improved. However, in related multi-robot cooperative carrying systems, there are many system state information that need to be fed back, which increases the implementation difficulty and cost of the system, increases the failure probability of the system, and reduces the reliability of the system. SUMMARY

[0003] The present disclosure provides a multi-robot cooperative carrying control method and system and device under limited information, which mainly aims to reduce the implementation difficulty and cost of the multi-robot carrying system, reduce the failure probability of the system, and enhance the reliability of the system.

[0004] According to an aspect of the present disclosure, a multi-robot cooperative carrying control method under limited information is provided, comprising:

[0005] obtaining a carrying trajectory parameter set corresponding to a load;

[0006] controlling a central controller to determine a control speed corresponding to the load according to the carrying trajectory parameter set;

[0007] controlling a robot controller to control at least one mobile robot to carry the load according to the control speed.

[0008] Optionally, the carrying trajectory parameter set comprises a target pose, a target speed and a real-time pose, and the controlling the central controller to determine the control speed corresponding to the load according to the carrying trajectory parameter set comprises:

[0009] determining an error parameter set corresponding to the load according to the target pose, the target speed and the real-time pose, wherein the error parameter set comprises a position tracking error, a position tracking error change rate, an orientation tracking error and an orientation tracking error change rate;

[0010] controlling the central controller to generate the control speed corresponding to the load according to the error parameter set.

[0011] Optionally, the controlling the central controller to generate the control speed corresponding to the load according to the error parameter set comprises:

[0012] controlling the central controller to generate the control speed corresponding to the load according to the error parameter set by using proportional-integral-derivative control.

[0013] Optionally, the controlling the central controller to generate the control speed corresponding to the load according to the error parameter set comprises:

[0014] taking the position tracking error, the orientation tracking error and the target speed as control inputs of a control law of the central controller, and controlling the central controller to track by using a kinematic trajectory tracking control law of the omnidirectional mobile robot to obtain the control speed corresponding to the load.

[0015] Optionally, the controlling the robot controller to control the at least one mobile robot to carry the load according to the control speed comprises:

[0016] controlling the robot controller to map the control speed into a robot reference speed, wherein the robot reference speed comprises a target orientation angle and a control linear speed;

[0017] controlling the robot controller to generate a robot control angular speed according to the target orientation angle and a real-time orientation angle corresponding to the at least one mobile robot;

[0018] controlling the at least one mobile robot to carry the load according to the robot control angular speed and the control linear speed.

[0019] Optionally, before the controlling the robot controller to generate the robot control angular speed according to the target orientation angle and the real-time orientation angle corresponding to the at least one mobile robot, the method further comprises:

[0020] monitoring an adaptive joint connected between the at least one mobile robot to obtain the real-time orientation angle corresponding to the at least one mobile robot.

[0021] According to another aspect of the present disclosure, there is provided a multi-robot cooperative carrying control system under limited information, comprising: at least one mobile robot, a load, a bearing plate, an adaptive joint, a load positioning sensor, a central controller and at least one robot controller; wherein,

[0022] the load positioning sensor is arranged on the load and is used to monitor a real-time pose of the load;

[0023] the at least one mobile robot is connected through the adaptive joint and the bearing plate, the bearing plate is used to place the load, and the adaptive joint is used to monitor a real-time orientation angle corresponding to the at least one mobile robot;

[0024] A central controller is configured to acquire a set of carrying track parameters corresponding to the load, and determine a control speed corresponding to the load according to the set of carrying track parameters.

[0025] The robot controller is arranged in the mobile robot, and the robot controller corresponds to the mobile robot one-to-one. The robot controller is configured to receive the control speed input by the central controller, and control at least one mobile robot to carry the load according to the control speed.

[0026] Optionally, the adaptive joint comprises an angle sensor; wherein,

[0027] The angle sensor is configured to monitor a real-time orientation angle of the mobile robot.

[0028] Optionally, the adaptive joint further comprises a first adapter plate, a second adapter plate, an air valve, an air spring, a rotating shaft, a bearing, a base plate, a bearing flange, a locking nut, a screw, and a bearing seat. The angle sensor comprises an angle sensor stator and an angle sensor rotor; wherein,

[0029] The first adapter plate is fixedly connected to the upper part of the air spring and the bearing plate, respectively.

[0030] The air valve is installed on the air inlet of the air spring, and is configured to inflate and lock the air spring.

[0031] The second adapter plate is fixedly connected to the lower part of the air spring and the rotating shaft, respectively.

[0032] The rotating shaft is hingedly connected to the bearing seat through the bearing, forming a rotating pair, and the axis of the rotating pair coincides with the axis of the air spring.

[0033] The locking nut and the bearing flange are configured to compress the inner ring of the bearing and the outer ring of the bearing.

[0034] The bearing seat is fixedly installed on the base plate, and the base plate is fixedly installed on the mobile robot.

[0035] The angle sensor stator is installed on the base plate, and the angle sensor rotor is installed at the end of the rotating shaft.

[0036] According to another aspect of the present disclosure, a multi-robot cooperative carrying control device under limited information is provided, comprising:

[0037] A set acquisition unit is configured to acquire a set of carrying track parameters corresponding to the load.

[0038] A speed determination unit is configured to control the central controller to determine a control speed corresponding to the load according to the set of carrying track parameters.

[0039] A load carrying unit is configured to control a robot controller to control at least one mobile robot to carry the load according to the control speed.

[0040] Optionally, the carrying trajectory parameter set includes a target pose, a target speed, and a real-time pose, and the speed determining unit is configured to control the central controller to determine the control speed corresponding to the load according to the carrying trajectory parameter set, and specifically configured to:

[0041] determine an error parameter set corresponding to the load according to the target pose, the target speed, and the real-time pose, wherein the error parameter set includes a position tracking error, a position tracking error change rate, an orientation tracking error, and an orientation tracking error change rate;

[0042] control the central controller to generate the control speed corresponding to the load according to the error parameter set.

[0043] Optionally, the speed determining unit is configured to control the central controller to generate the control speed corresponding to the load according to the error parameter set, and specifically configured to:

[0044] control the central controller to generate the control speed corresponding to the load according to the error parameter set by using proportional-integral-derivative control.

[0045] Optionally, the speed determining unit is configured to control the central controller to generate the control speed corresponding to the load according to the error parameter set, and specifically configured to:

[0046] use the position tracking error, the orientation tracking error, and the target speed as control inputs of a control rate in the central controller, and control the central controller to track the control rate by using an omni-directional mobile robot kinematic trajectory tracking control rate, to obtain the control speed corresponding to the load.

[0047] Optionally, the load carrying unit is configured to control the robot controller to control the at least one mobile robot to carry the load according to the control speed, and specifically configured to:

[0048] control the robot controller to map the control speed into a robot reference speed, wherein the robot reference speed includes a target orientation angle and a control linear speed;

[0049] control the robot controller to generate a robot control angular speed according to the target orientation angle and a real-time orientation angle corresponding to the at least one mobile robot;

[0050] control the at least one mobile robot to carry the load according to the robot control angular speed and the control linear speed.

[0051] Optionally, the load carrying unit is further configured to:

[0052] monitor an adaptive joint connected between the at least one mobile robot to obtain a real-time orientation angle corresponding to the at least one mobile robot.

[0053] According to another aspect of the present disclosure, a multi-robot collaborative carrying control system under limited information is provided, comprising:

[0054] at least one processor; and

[0055] a memory in communication with the at least one processor; wherein

[0056] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of the preceding aspects.

[0057] According to another aspect of the present disclosure, a non-transitory computer readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to perform the method of any one of the preceding aspects.

[0058] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method of any one of the preceding aspects.

[0059] In one or more embodiments of the present disclosure, by obtaining a carrying trajectory parameter set corresponding to the load, controlling a central controller to determine a control speed corresponding to the load according to the carrying trajectory parameter set, and controlling a robot controller to control at least one mobile robot to carry the load according to the control speed, the feedback demand of the state information of the mobile robot can be reduced, the implementation difficulty and cost of the system can be reduced, the failure probability of the system can be reduced, and the reliability of the system can be enhanced.

[0060] It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0061] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0062] Figure 1 Fig. 1 shows a flow diagram of a first multi-robot cooperative transportation control method under limited information according to an embodiment of the present disclosure;

[0063] Figure 2 Fig. 2 shows a flow diagram of a second multi-robot cooperative transportation control method under limited information according to an embodiment of the present disclosure;

[0064] Figure 3 Fig. 3 shows a trajectory tracking control diagram of a load according to an embodiment of the present disclosure;

[0065] Figure 4 Fig. 4 shows an initial state diagram of a multi-robot cooperative transportation control system under limited information according to an embodiment of the present disclosure;

[0066] Figure 5 Fig. 5 shows a speed analysis diagram of a mobile robot according to an embodiment of the present disclosure;

[0067] Figure 6 Fig. 6 shows a control architecture diagram of a multi-robot cooperative transportation control method under limited information according to an embodiment of the present disclosure;

[0068] Figure 7 Fig. 7 shows a structure diagram of a multi-robot cooperative transportation control system under limited information according to an embodiment of the present disclosure;

[0069] Figure 8 Fig. 8 shows a cross-sectional view of an adaptive joint according to an embodiment of the present disclosure;

[0070] Figure 9 Fig. 9 shows a structure diagram of a multi-robot cooperative transportation control device under limited information according to an embodiment of the present disclosure;

[0071] Figure 10 Fig. 10 is a block diagram of a multi-robot cooperative transportation control system under limited information for implementing a multi-robot cooperative transportation control method under limited information according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0072] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, which should be considered in a descriptive sense only. It will thus be recognized by those of ordinary skill that the embodiments described herein can be carried out in a variety of ways. For purposes of simplicity and clarity, technical and scientific terms used herein are commonly used and are readily understood by those with ordinary skill in the art. Also, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

[0073] The present disclosure is described in detail below with reference to specific embodiments.

[0074] In a first embodiment, as shown in Figure 1 Fig. 1, a multi-robot cooperative transportation control method under limited information is provided.Figure 1 A flowchart of a first multi-machine cooperative carrying control method under limited information provided by an embodiment of the present disclosure is shown. The method can be implemented by a computer program and run on a device for carrying out the multi-machine cooperative carrying control method under limited information. The computer program can be integrated in an application or run as a standalone tool application. The method can be executed by a multi-machine cooperative carrying control system under limited information.

[0075] Specifically, the multi-machine cooperative carrying control method under limited information includes:

[0076] S11, obtaining a carrying trajectory parameter set corresponding to a load;

[0077] According to some embodiments, the carrying trajectory parameter set refers to a set of parameters needed for carrying the load. The carrying trajectory parameter set does not refer to a specific parameter. The carrying trajectory parameters in the carrying trajectory parameter set include but are not limited to a target pose to which the load needs to be carried, a target speed required for carrying the load, a real-time pose of the load, etc.

[0078] In some embodiments, the load refers to a carrying object. The load does not refer to a specific load.

[0079] As can be easily understood, when the multi-machine cooperative carrying control system under limited information performs multi-machine cooperative carrying control, the multi-machine cooperative carrying control system under limited information can obtain the carrying trajectory parameter set corresponding to the load.

[0080] S12, controlling a central controller to determine a control speed corresponding to the load according to the carrying trajectory parameter set;

[0081] According to some embodiments, the central controller refers to a controller for controlling peripheral devices through a protocol. In the present disclosure, the central controller can be used to control a robot controller.

[0082] In some embodiments, the control speed corresponding to the load refers to a speed adopted by the multi-machine cooperative carrying control system under limited information when carrying the load. The control speed does not refer to a specific speed. For example, the control speed can change when the state of the load changes.

[0083] As can be easily understood, when the multi-machine cooperative carrying control system under limited information obtains the carrying trajectory parameter set corresponding to the load, the multi-machine cooperative carrying control system under limited information can control the central controller to determine the control speed corresponding to the load according to the carrying trajectory parameter set.

[0084] S13, controlling a robot controller to control at least one mobile robot to carry the load according to the control speed.

[0085] According to some embodiments, the robot controller refers to a device for controlling the robot to complete certain actions or tasks according to instructions and sensing information, which is the heart of the robot and determines the pros and cons of the performance of the robot. The robot controller does not refer to a fixed controller. The structure of the robot controller includes but is not limited to serial processing structure, parallel processing structure, etc.

[0086] It is easy to understand that when the multi-machine cooperative carrying control system under limited information controls the central controller to determine the control speed corresponding to the load according to the carrying trajectory parameter set, the multi-machine cooperative carrying control system under limited information can control the robot controller to control at least one mobile robot to carry the load according to the control speed.

[0087] In summary, the method provided by the embodiments of the present disclosure acquires the carrying trajectory parameter set corresponding to the load, controls the central controller to determine the control speed corresponding to the load according to the carrying trajectory parameter set, and controls the robot controller to control at least one mobile robot to carry the load according to the control speed. Therefore, by carrying the load according to the carrying trajectory parameter set corresponding to the load, the feedback demand of the state information of the mobile robot can be reduced, the implementation difficulty and cost of the system can be reduced, the failure probability of the system can be reduced, and the reliability of the system can be enhanced.

[0088] Please refer to Figure 2 , Figure 2 A flowchart of a second multi-machine cooperative carrying control method under limited information provided by the embodiments of the present disclosure is shown. The method can be executed by a multi-machine cooperative carrying control system under limited information. Specifically, the multi-machine cooperative carrying control method under limited information includes:

[0089] S21, acquiring a carrying trajectory parameter set corresponding to a load;

[0090] According to some embodiments, the carrying trajectory parameters in the carrying trajectory parameter set include but are not limited to a target pose to which the load needs to be carried, a target speed required for carrying the load, a real-time pose of the load, etc. Wherein, the pose includes coordinates and orientation.

[0091] In some embodiments, the real-time pose of the load can be determined by a load positioning sensor arranged on the load.

[0092] In some embodiments, the target pose does not refer to a fixed pose. For example, when a position modification instruction for the target pose is acquired, the target pose can change.

[0093] In some embodiments, the target speed does not refer to a fixed speed. For example, when a speed modification instruction for the target speed is acquired, the target speed can change.

[0094] It is easy to understand that when the multi-machine cooperative carrying control system under limited information performs multi-machine cooperative carrying control, the multi-machine cooperative carrying control system under limited information can obtain a carrying trajectory parameter set corresponding to the load.

[0095] S22, determining an error parameter set corresponding to the load according to the target pose, the target speed and the real-time pose; beg According to some embodiments, the error parameters in the error parameter set include but are not limited to position tracking error, position tracking error rate, orientation tracking error and orientation tracking error rate, etc.

[0097] In some embodiments, the position tracking error does not refer to a fixed error. The position tracking error includes but is not limited to the position tracking error of the load described in the global coordinate system O-xy, the position tracking error of the load described in the load coordinate system B-xy, etc.

[0098] In some embodiments, the orientation tracking error does not refer to a fixed error. The orientation tracking error includes but is not limited to the orientation tracking error of the load described in the global coordinate system O-xy, the orientation tracking error of the load described in the load coordinate system B-xy, etc.

[0099] According to some embodiments, the tracking error of the load described in the global coordinate system O-xy can be expressed as:

[0100]

[0101] Where [x br , y br , θ br ] represents the tracking error of the load described in the global coordinate system O-xy, x beg represents the position tracking error of the x-axis direction of the load, y beg represents the position tracking error of the y-axis direction of the load, and θ beg represents the orientation tracking error of the load.

[0102] Where [x r , y r , θ r ] represents the coordinates and orientation of the virtual load coordinate system B br -x r y r in the global coordinate system O-xy; θ r represents the included angle between the x r axis of the virtual load coordinate system B b -x b y b and the x b axis of the global coordinate system O-xy.

[0103] wherein, [x b ,y b ,θ b ] represents the pose (coordinates and orientation) of the load in the global coordinate system O-xy, i.e., the real-time pose of the load; θ b represents the angle between the x-axis of the global coordinate system O-xy and the x-axis of the load coordinate system B-xy.

[0104] In some embodiments, the x-axis in the load coordinate system B-xy represents the heading direction of the multi-machine collaborative carrying control system under the limited information. The point B represents the control point of the multi-machine collaborative carrying control system under the limited information. Specifically, when the load is placed on the carrying plate, the point B can be selected at the geometric center of the carrying plate.

[0105] In some embodiments, the virtual load coordinate system B r -x r y r is used to represent the target pose (trajectory) and target speed of the load.

[0106] According to some embodiments, the tracking error of the load described in the load coordinate system B-xy can be represented by the following formula:

[0107]

[0108] wherein, [x be ,y be ,θ be ] represents the tracking error of the load described in the load coordinate system B-xy, x be represents the position tracking error of the x-axis direction of the load, y be represents the position tracking error of the y-axis direction of the load, and θ be represents the orientation tracking error of the load.

[0109] It is easy to understand that when the multi-machine collaborative carrying control system under the limited information obtains the carrying trajectory parameter set corresponding to the load, the multi-machine collaborative carrying control system under the limited information can determine the error parameter set corresponding to the load according to the target pose, target speed and real-time pose in the carrying trajectory parameter set.

[0110] S23, the control central controller generates a control speed corresponding to the load according to the error parameter set;

[0111] According to some embodiments, when the control central controller generates a control speed corresponding to the load according to the error parameter set, the method adopted includes but is not limited to adopting proportion integral differential (Proportion Integral Differential, PID) control, adopting control rate and other methods.

[0112] According to some embodiments, when the central controller is controlled to generate the control velocity corresponding to the load according to the error parameter set by using the PID control method, the central controller can be controlled to generate the control velocity corresponding to the load according to the error parameter set by using the proportional-integral-derivative control. Specifically, the central controller can be controlled to generate the control velocity corresponding to the load according to the position tracking error, the rate of change of the position tracking error, the orientation tracking error, and the rate of change of the orientation tracking error by using the PID control.

[0113] According to some embodiments, when the motion control of the load can be equivalent to the trajectory tracking control of the omnidirectional mobile robot, the central controller can be controlled to generate the control velocity corresponding to the load according to the error parameter set by using the control rate. Specifically, the position tracking error, the orientation tracking error, and the target velocity can be taken as the control input of the kinematic trajectory tracking control rate of the omnidirectional mobile robot in the central controller, and the central controller can be controlled to generate the control velocity corresponding to the load by using the kinematic trajectory tracking control rate of the omnidirectional mobile robot.

[0114] In some embodiments, the kinematic trajectory tracking control rate of the omnidirectional mobile robot is not specific to a fixed control rate. For example, the kinematic trajectory tracking control rate of the omnidirectional mobile robot can be the kinematic trajectory tracking control rate of the Mecanum wheel omnidirectional mobile robot.

[0115] For example, the multi-machine cooperative carrying control system under limited information can control the central controller to take the target velocity [v bxr ,v byr ,w br ] of the load and the load tracking error [x be ,y be ,θ be ] in the load coordinate system as the control input, generate the control velocity [v bx ,v by ,w b ] corresponding to the load by using the kinematic trajectory tracking control rate of the omnidirectional mobile robot, as shown in FIGS. Figure 3 and Figure 4 .

[0116] wherein [v bxr ,v byr ,w br ] represents the target velocity of the load described in the virtual load coordinate system B r -x r y r ; v bxr represents the x-axis target linear velocity, v byr represents the y-axis target linear velocity, and w br represents the target angular velocity.[v bx ,v by ,wb v represents the control velocity of the load described in the load coordinate system B-xy; v bx v represents the x-axis control line velocity, v by w represents the y-axis control line velocity, w b v represents the control angular velocity.

[0117] According to some embodiments, when the control central controller tracks the control rate of the Mecanum wheel type omnidirectional mobile robot kinematics trajectory tracking control to obtain the control velocity of the load, the state equation of the load can be expressed as:

[0118]

[0119] wherein the control rate can take the following form:

[0120]

[0121] wherein k1, k2, k3 all represent control gain parameters, and k1, k2, k3 are all positive numbers greater than zero.

[0122] It is easy to understand that when the multi-machine cooperative carrying control system under limited information obtains the error parameter set corresponding to the load, the multi-machine cooperative carrying control system under limited information can control the central controller to generate the control velocity corresponding to the load according to the error parameter set. And control the central controller to send the control velocity corresponding to the load to all robot controllers through wired or wireless mode.

[0123] S24, control the robot controller to map the control velocity into the robot reference velocity;

[0124] According to some embodiments, the robot reference velocity is not specific to a fixed speed. The robot reference velocity includes but is not limited to the target orientation angle and control line velocity corresponding to the mobile robot.

[0125] According to some embodiments, when the mobile robot is an omnidirectional mobile robot, such as a Mecanum wheel type omnidirectional mobile robot, since the omnidirectional mobile robot has omnidirectional freedom in the plane, the control velocity of the omnidirectional mobile robot is [v ix ,v iy ,w i ], the control line velocity of which can be directly generated from the control velocity of the load by a velocity mapping function, specifically as follows:

[0126]

[0127] wherein v ix represents the x-axis component of the control line velocity of the i-th mobile robot, v iyrepresents the y-axis component of the control linear velocity of the i-th mobile robot, [r xi , yi represents the point A i is the coordinate in the load coordinate system B-xy, where i is a positive integer.

[0128] where the coordinate system A i -x i1 y i1 represents the initial coordinate system of the i-th robot; the coordinate system A i -x i1 y i1 is parallel to the axes of the coordinate system B-xy; the coordinate system A i -x i1 y i1 can be translated from the coordinate system B-xy by [r xi , yi represents the point A i represents the connection point of the i-th robot and the bearing plate (ignoring the linear deformation of the air spring in the horizontal plane). x i represents the direction of the front of the mobile robot.

[0129] In some embodiments, when the mobile robot is an omnidirectional mobile robot, such as a Mecanum wheel omnidirectional mobile robot, the corresponding target orientation angle of the mobile robot can be 0, i.e. θ ri = 0, where θ ri represents the target orientation angle of the i-th mobile robot.

[0130] According to some embodiments, when the mobile robot is a nonholonomic mobile robot, such as a differential drive mobile robot, a four-wheel drive side-slip steering mobile robot, a tracked mobile robot, etc., at this time, since the mobile robot only has [v ix ,w i ] two speeds under the robot coordinate system, v iy = 0, therefore, the control velocity of the mobile robot is [v i ,w i ], v i is the linear velocity of the front direction of the mobile robot, i.e. the control linear velocity of the mobile robot. At this time, the control linear velocity of the mobile robot can be generated by the speed mapping function from the control velocity of the load, and the control linear velocity and the target orientation angle of the mobile robot are as follows:

[0131]

[0132] It is easy to understand that when the multi-machine cooperative carrying control system under limited information obtains the control speed corresponding to the load, the multi-machine cooperative carrying control system under limited information can control the robot controller to map the control speed to the robot reference speed.

[0133] S25, monitoring the adaptive joint connected between the at least one mobile robot to obtain the real-time orientation angle corresponding to the at least one mobile robot;

[0134] According to some embodiments, Figure 5 A speed analysis schematic diagram of a mobile robot provided by an embodiment of the present disclosure is shown. As Figure 5 shown, the speed of the mobile robot can be analyzed according to the initial pose and real-time pose of the mobile robot to obtain the control linear speed, target orientation angle and real-time orientation angle of the mobile robot. Wherein, the coordinate system A i -x i2 y i2 represents the real-time coordinate system of the i th robot, l i represents the distance between the connection point A i of the robot i and point B.

[0135] It is easy to understand that when the multi-machine cooperative carrying control system under limited information obtains the target orientation angle in the robot reference speed, the multi-machine cooperative carrying control system under limited information can monitor the adaptive joint connected between the at least one mobile robot to obtain the real-time orientation angle corresponding to the at least one mobile robot.

[0136] S26, controlling the robot controller to generate the robot control angular velocity according to the target orientation angle and the real-time orientation angle corresponding to the at least one mobile robot;

[0137] According to some embodiments, the robot controller can generate the control angular velocity w i of the mobile robot according to the orientation angle error and its rate of change of the mobile robot through proportional integral differential control. At this time, the angular velocity control can make the robot vehicle head direction always consistent with the target orientation.

[0138] In some embodiments, the orientation angle error of the mobile robot can be determined according to the following formula:

[0139] θ ei = θ ri - θ si

[0140] Wherein, θ ei represents the orientation angle error of the i th mobile robot, θ si represents the real-time orientation angle of the i th mobile robot.

[0141] It is easy to understand that when the multi-machine cooperative carrying control system under limited information obtains the target orientation angle in the robot reference speed and the real-time orientation angle corresponding to at least one mobile robot, the multi-machine cooperative carrying control system under limited information can control the robot controller to generate the robot control angular velocity according to the target orientation angle and the real-time orientation angle corresponding to at least one mobile robot.

[0142] S27, control at least one mobile robot to carry the load according to the robot control angular velocity and the control linear velocity.

[0143] According to some embodiments, when any mobile robot is controlled to carry the load according to the robot control angular velocity and the control linear velocity, the control linear velocity and the control angular velocity can be converted into the control angular velocity of the mobile robot wheel according to the robot control angular velocity and the control linear velocity, combined with the structural parameters of the mobile robot, so as to control the mobile robot to carry the load.

[0144] In some embodiments, Figure 6 A control architecture schematic diagram of a multi-machine cooperative carrying control method under limited information provided by the embodiments of the present disclosure is shown. As shown in Figure 6 As shown, the target pose sequence and the target speed sequence of the load can be generated by trajectory according to the initial point and the target point of the load. Thus, through the loop steps S21-S27, the multiple mobile robots can be controlled to cooperatively carry the load along the target trajectory from the initial point to the target point.

[0145] It is easy to understand that when the multi-machine cooperative carrying control system under limited information obtains the robot control angular velocity, the multi-machine cooperative carrying control system under limited information can control at least one mobile robot to carry the load according to the robot control angular velocity and the control linear velocity.

[0146] In summary, the method provided by the embodiments of the present disclosure comprises the following steps: acquiring a set of carrying track parameters corresponding to a load; determining a set of error parameters corresponding to the load according to a target pose, a target speed and a real-time pose; controlling a central controller to generate a control speed corresponding to the load according to the set of error parameters; controlling a robot controller to map the control speed into a robot reference speed; monitoring an adaptive joint connected between at least one mobile robot to obtain a real-time orientation angle corresponding to the at least one mobile robot; controlling the robot controller to generate a robot control angular velocity according to a target orientation angle and the real-time orientation angle corresponding to the at least one mobile robot; and controlling the at least one mobile robot to carry the load according to the robot control angular velocity and a control linear speed. Therefore, the motion control of the mobile robot can be realized by the real-time orientation feedback of the adaptive joint, the multi-robot cooperative carrying is realized, the feedback demand of the state information of the mobile robot can be reduced, the implementation difficulty and cost of the system can be reduced, the failure probability of the system can be reduced, and the reliability of the system can be enhanced. Meanwhile, the method provided by the embodiments of the present disclosure is applicable to the complete or incomplete constraint mobile robot, and the multi-robot cooperative carrying control system under limited information can realize omnidirectional motion.

[0147] In the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solutions comply with relevant laws and regulations and do not violate public order and good customs.

[0148] According to the embodiments of the present disclosure, the present disclosure further provides a multi-robot cooperative carrying control system under limited information. Figure 7 A structure schematic diagram of a multi-robot cooperative carrying control system under limited information provided by the embodiments of the present disclosure is shown. As shown in the figure, the multi-robot cooperative carrying control system under limited information comprises at least one mobile robot 3, a load, a bearing plate 1, an adaptive joint 2, a load positioning sensor, a central controller and at least one robot controller 4; wherein, Figure 7

[0149] The load positioning sensor is arranged on the load and is used to monitor the real-time pose of the load;

[0150] The at least one mobile robot 3 is connected with the bearing plate 1 through the adaptive joint 2, the bearing plate 1 is used to place the load, and the adaptive joint 2 is used to monitor the real-time orientation angle corresponding to the at least one mobile robot 3;

[0151] The central controller is used to acquire a set of carrying track parameters corresponding to the load and determine a control speed corresponding to the load according to the set of carrying track parameters;

[0152] ​The robot controller 4 is arranged in the mobile robot 3, and the robot controller 4 corresponds to the mobile robot 3 one by one, and the robot controller 4 is used to receive the control speed input by the central controller, and control at least one mobile robot to carry the load according to the control speed.

[0153] According to some embodiments, the load, the load positioning sensor, the central controller are not shown in Figure 7 .

[0154] In some embodiments, the mobile robot 3 is not particularly specified to a fixed robot. The mobile robot 3 includes but is not limited to an omnidirectional mobile robot, a two-wheel differential mobile robot, a four-wheel drive side-slip steering mobile robot, a tracked mobile robot, etc.

[0155] According to some embodiments, when the central controller is connected with at least one robot controller 3 respectively, the connection mode includes but is not limited to wired connection, wireless connection, etc. When the robot controller 3 receives the control speed input by the central controller, the control speed input by the central controller can be received through wired connection, wireless connection, etc.

[0156] Optionally, the adaptive joint 2 includes an angle sensor; wherein,

[0157] The angle sensor is used to monitor the real-time orientation angle of the mobile robot.

[0158] Optionally, Figure 8 A cross-sectional view of an adaptive joint provided by an embodiment of the present disclosure is shown. As Figure 8 shown, the adaptive joint further includes a first adapter plate 201, a second adapter plate 213, an air valve 202, an air spring 203, a rotating shaft 204, a bearing 205, a base plate 206, a bearing flange 207, a locking nut 210, a screw 211, a bearing seat 212, and an angle sensor including an angle sensor stator 208 and an angle sensor rotor 209; wherein,

[0159] The first adapter plate 201 is fixedly connected with the upper part of the air spring 203 and the load bearing plate 1 respectively;

[0160] The air valve 202 is installed on the air inlet of the air spring 203, and is used to inflate and lock the air spring 203;

[0161] The second adapter plate 213 is fixedly connected with the lower part of the air spring 203 and the rotating shaft 204 respectively;

[0162] The rotating shaft 204 is hinged to the bearing seat 212 through the bearing 205, forming a rotating pair, and the axis of the rotating pair coincides with the axis of the air spring 203;

[0163] The lock nut 210 and the bearing flange 207 are used to press the inner ring of the bearing 205 and the outer ring of the bearing 205;

[0164] The bearing seat 212 is fixedly installed on the base plate 206, and the base plate 206 is fixedly installed on the mobile robot 3;

[0165] The angle sensor stator 208 is installed on the base plate 206, and the angle sensor rotor 209 is installed at the end of the rotating shaft 204.

[0166] In summary, the system provided by the embodiment of the present disclosure includes at least one mobile robot, a load, a bearing plate, an adaptive joint, a load positioning sensor, a central controller, and at least one robot controller; the load positioning sensor is arranged on the load to monitor the real-time pose of the load; the at least one mobile robot is connected through the adaptive joint and the bearing plate, the bearing plate is used to place the load, and the adaptive joint is used to monitor the real-time orientation angle of the corresponding at least one mobile robot; the central controller is used to obtain a set of carrying track parameters corresponding to the load, and determine a control speed corresponding to the load according to the set of carrying track parameters; the robot controller is arranged in the mobile robot, and the robot controller corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller, and control the at least one mobile robot to carry the load according to the control speed. Therefore, by the real-time orientation angle fed back by the adaptive joint, the motion control of the mobile robot can be realized, the multi-machine cooperative carrying can be realized, the feedback demand of the state information of the mobile robot can be reduced, the implementation difficulty and cost of the system can be reduced, the failure probability of the system can be reduced, and the reliability of the system can be enhanced. At the same time, the method provided by the embodiment of the present disclosure is applicable to complete or incomplete constraint mobile robots, and the multi-machine cooperative carrying control system under limited information can realize omnidirectional motion.

[0167] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solution comply with relevant laws and regulations and do not violate public order and good customs.

[0168] The following is an embodiment of the device of the present disclosure, which can be used to execute the method embodiments of the present disclosure. For details not disclosed in the device embodiments of the present disclosure, please refer to the method embodiments of the present disclosure.

[0169] Please refer to Figure 9Fig. 9 is a structural schematic diagram of a multi-machine cooperative carrying control device under limited information according to an embodiment of the present disclosure. The multi-machine cooperative carrying control device under limited information can be realized by software, hardware or a combination of both to become all or part of the device. The multi-machine cooperative carrying control device under limited information 900 includes a set obtaining unit 901, a speed determining unit 902 and a load carrying unit 903, wherein:

[0170] The set obtaining unit 901 is configured to obtain a carrying trajectory parameter set corresponding to the load.

[0171] The speed determining unit 902 is configured to control the central controller to determine the control speed corresponding to the load according to the carrying trajectory parameter set.

[0172] The load carrying unit 903 is configured to control the robot controller to control at least one mobile robot to carry the load according to the control speed.

[0173] Optionally, the carrying trajectory parameter set includes a target pose, a target speed and a real-time pose, and the speed determining unit 902 is configured to control the central controller to determine the control speed corresponding to the load according to the carrying trajectory parameter set, and specifically configured to:

[0174] determine an error parameter set corresponding to the load according to the target pose, the target speed and the real-time pose, wherein the error parameter set includes a position tracking error, a position tracking error change rate, an orientation tracking error and an orientation tracking error change rate.

[0175] control the central controller to generate the control speed corresponding to the load according to the error parameter set.

[0176] Optionally, the speed determining unit 902 is configured to control the central controller to generate the control speed corresponding to the load according to the error parameter set, and specifically configured to:

[0177] control the central controller to generate the control speed corresponding to the load according to the error parameter set by using proportional-integral-derivative control.

[0178] Optionally, the speed determining unit 902 is configured to control the central controller to generate the control speed corresponding to the load according to the error parameter set, and specifically configured to:

[0179] use the position tracking error, the orientation tracking error and the target speed as control inputs of an omni-directional mobile robot kinematic trajectory tracking control rate in the central controller, and control the central controller to track the control rate by using the omni-directional mobile robot kinematic trajectory tracking control rate, to obtain the control speed corresponding to the load.

[0180] Optionally, the load carrying unit 903 is configured to control the robot controller to control the at least one mobile robot to carry the load according to the control speed, and specifically configured to:

[0181] control the robot controller to map the control speed to a robot reference speed, wherein the robot reference speed comprises a target orientation angle and a control linear speed;

[0182] control the robot controller to generate a robot control angular speed according to the target orientation angle and a real-time orientation angle corresponding to the at least one mobile robot;

[0183] control the at least one mobile robot to carry the load according to the robot control angular speed and the control linear speed.

[0184] Optionally, the load carrying unit 903 is further configured to, before the robot controller generates the robot control angular speed according to the target orientation angle and the real-time orientation angle corresponding to the at least one mobile robot:

[0185] monitor an adaptive joint connected between the at least one mobile robot to obtain the real-time orientation angle corresponding to the at least one mobile robot.

[0186] It should be noted that the multi-machine cooperative carrying control device under limited information provided by the above embodiments is used to execute the multi-machine cooperative carrying control method under limited information, and only the above-mentioned division of each functional module is used as an example for illustration. In actual application, the above-mentioned functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the multi-machine cooperative carrying control device under limited information and the multi-machine cooperative carrying control method under limited information provided by the above embodiments belong to the same concept, and the implementation process is detailed in the method embodiments. Here, it is not repeated.

[0187] In summary, the device provided by the embodiments of the present disclosure obtains a carrying trajectory parameter set corresponding to the load through the set acquisition unit; the speed determination unit controls the central controller to determine the control speed corresponding to the load according to the carrying trajectory parameter set; and the load carrying unit controls the robot controller to control the at least one mobile robot to carry the load according to the control speed. Therefore, by carrying the load according to the carrying trajectory parameter set corresponding to the load, the feedback demand of the state information of the mobile robot can be reduced, the implementation difficulty and cost of the system can be reduced, the failure probability of the system can be reduced, and the reliability of the system can be enhanced.

[0188] In the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0189] According to embodiments of the present disclosure, the present disclosure also provides a multi-machine cooperative carrying control system under limited information, a readable storage medium and a computer program product.

[0190] Figure 10 A schematic block diagram of an example multi-machine cooperative carrying control system 1000 under limited information that can be used to implement embodiments of the present disclosure is shown. The components shown herein, their connections and relationships, and their functions, are merely examples and are not meant to limit implementations of the present disclosure described and / or claimed herein.

[0191] As Figure 10 shown, the multi-machine cooperative carrying control system 1000 under limited information includes a computing unit 1001 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the multi-machine cooperative carrying control system 1000 under limited information can also be stored. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0192] A plurality of components in the multi-machine cooperative carrying control system 1000 under limited information are connected to the I / O interface 1005, including: an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a magnetic disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the multi-machine cooperative carrying control system 1000 under limited information to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0193] The computing unit 1001 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, and the like. The computing unit 1001 performs various methods and processes described above, such as the multi-robot collaborative transportation control method under limited information. For example, in some embodiments, the multi-robot collaborative transportation control method under limited information can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed onto the multi-robot collaborative transportation control system 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded onto the RAM 1003 and executed by the computing unit 1001, one or more steps of the multi-robot collaborative transportation control method under limited information described above can be performed. Alternatively, in other embodiments, the computing unit 1001 can be configured to perform the multi-robot collaborative transportation control method under limited information by any other appropriate means, such as by means of firmware.

[0194] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0195] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package, or entirely on a remote machine or server.

[0196] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0197] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0198] The systems and techniques described herein can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0199] The computer system can include clients and servers. This relationship can be. The servers are generally remote from the users and can be accessed via the Internet using a communication network. The relationship can be a client-server relationship, where the servers are the data servers and the clients are the users' computers. The servers can be cloud servers, also known as cloud computing servers or cloud hosts, which are a host product in the cloud computing service system. The servers can also be servers of a distributed system, or servers combined with a blockchain.

[0200] It should be understood that various forms of flow shown above can be used with orders of steps reordered, steps added, or steps deleted. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present disclosure are achieved, and the present disclosure is not limited herein.

[0201] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A multi-machine cooperative transportation control method under limited information, characterized in that, The method comprises: acquiring a set of carrying trajectory parameters corresponding to the load; controlling a central controller to determine a control speed corresponding to the load according to the set of carrying trajectory parameters; controlling a robot controller to control at least one mobile robot to carry the load according to the control speed; controlling the robot controller to generate a robot control angular velocity according to the target orientation angle and a real-time orientation angle corresponding to the at least one mobile robot; controlling the robot controller to map the control velocity to a robot reference velocity, wherein the robot reference velocity comprises a target orientation angle and a control linear velocity; when the mobile robot is an omnidirectional mobile robot, the control velocity of the omnidirectional mobile robot is v ix , v iy , w i ], v bx represents an axis control linear velocity, x v by represents an axis control linear velocity, y w b represents a control angular velocity, whose control linear velocity is generated directly from the control velocity of the load by a velocity mapping function, in particular as follows:​​ wherein, v ix denotes the axis component of the control linear velocity of the i x v iy denotes the axis component of the control linear velocity of the i y r xi , r yi denotes the coordinates of the point A i in the load coordinate system B - controlling the at least one mobile robot to carry the load according to the robot control angular velocity and the control linear velocity. , wherein, i is a positive integer; wherein the coordinate system A i - x i1 y i1 denotes the initial coordinate system of the i A i - x i1 y i1 each axis of the coordinate system B - The set of carrying trajectory parameters comprises a target pose, a target speed, and a real-time pose, and the central controller determines the control speed corresponding to the load according to the set of carrying trajectory parameters, comprising: is parallel to each axis of the coordinate system A i - x i1 y i1 is obtained by translating the coordinate system B - determining a set of error parameters corresponding to the load according to the target pose, the target speed, and the real-time pose, wherein the set of error parameters comprises a position tracking error, a position tracking error rate, an orientation tracking error, and an orientation tracking error rate; r xi , r yi A i denotes the connection point of the i x i axis denotes the heading direction of the mobile robot;​​​​​​​​ when the mobile robot is a nonholonomic mobile robot, the control velocity of the mobile robot is v i , w i , v i a linear velocity of a heading direction of the mobile robot, w i a control angular velocity of the mobile robot, the control linear velocity of the mobile robot being generated by the control velocity of the payload through a velocity mapping function, the control linear velocity of the mobile robot and the target orientation angle being specified as follows: controlling the central controller to generate the control speed corresponding to the load according to the set of error parameters. The control of the central controller to generate the control speed corresponding to the load according to the set of error parameters comprises:

2. The method of claim 1, wherein, controlling the central controller to generate the control speed corresponding to the load according to the set of error parameters by using proportional-integral-derivative control. The control of the central controller to generate the control speed corresponding to the load according to the set of error parameters comprises: taking the position tracking error, the orientation tracking error, and the target speed as control inputs of an omnidirectional mobile robot kinematic trajectory tracking control rate in the central controller, and controlling the central controller to track by using the omnidirectional mobile robot kinematic trajectory tracking control rate to obtain the control speed corresponding to the load.

3. The method of claim 2, wherein, Before the control of the robot controller to generate the robot control angular velocity according to the target orientation angle and the real-time orientation angle corresponding to the at least one mobile robot, the method further comprises: monitoring an adaptive joint connected between the at least one mobile robot to obtain the real-time orientation angle corresponding to the at least one mobile robot.

4. The method of claim 2, wherein, The method comprises: at least one mobile robot, load, bearing plate, adaptive joint, load positioning sensor, central controller, and at least one robot controller; wherein 5. The method of claim 4, wherein, the load positioning sensor is arranged on the load and is used to monitor a real-time pose of the load; the at least one mobile robot is connected through the adaptive joint and the bearing plate, the bearing plate is used to place the load, and the adaptive joint is used to monitor a real-time orientation angle corresponding to the at least one mobile robot; 6. A multi-machine cooperative transportation control system under limited information, characterized in that, the central controller is used to acquire a set of carrying trajectory parameters corresponding to the load and to determine a control speed corresponding to the load according to the set of carrying trajectory parameters; ​ ​ ​ ​ The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: controlling the robot controller to map the control velocity to a robot reference velocity, wherein the robot reference velocity comprises a target orientation angle and a control linear velocity; when the mobile robot is an omnidirectional mobile robot, the control velocity of the omnidirectional mobile robot is v ix , v iy , w i ], v bx denotes x the axis control linear velocity, v by denotes y the axis control linear velocity, w b denotes the control angular velocity, whose control linear velocity is directly generated from the control velocity of the load by a velocity mapping function, in particular as follows: wherein, v ix represents the i axis component of the control linear velocity of the x axis component of the control linear velocity of the v iy represents the i axis component of the control linear velocity of the y axis component of the control linear velocity of the r xi , r yi represents the coordinates of the point A i in the load coordinate system B - xy , wherein, i is a positive integer; wherein the coordinate system A i - x i1 y i1 represents the initial coordinate system of the i robot; the coordinate system A i - x i1 y i1 each axis of the coordinate system B - xy is parallel to each axis of the coordinate system A i - x i1 y i1 is obtained by translating the coordinate system B - xy by r xi , r yi , the point A i represents the connection point of the i robot and the bearing plate, x i the axis represents the direction of the vehicle head of the mobile robot; when the mobile robot is a nonholonomic mobile robot, the control velocity of the mobile robot is v i , w i , v i a linear velocity of a heading direction of the mobile robot, w i a control angular velocity of the mobile robot, the control linear velocity of the mobile robot being generated by the control velocity of the payload through a velocity mapping function, the control linear velocity of the mobile robot and the target orientation angle being as follows: The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises:

7. The system of claim 6, wherein, xy xy 8. The system of claim 7, wherein, xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises:

9. A multi-machine cooperative transportation control device under limited information, characterized by, xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: The robot controller maps the control speed to a robot reference speed, wherein the robot reference speed includes the target orientation angle and the control linear velocity; when the mobile robot is an omnidirectional mobile robot, the control speed of the omnidirectional mobile robot is [ v ix , v iy , w i ], v bx express x Axis control linear velocity, v by express y Axis control linear velocity, w b This represents the control angular velocity, whose control linear velocity is directly generated from the load's control velocity through a velocity mapping function, as follows: wherein, v ix represents the axis component of the control linear velocity of the i th mobile robot, x v iy represents the axis component of the control linear velocity of the i th mobile robot, y r xi , r yi represents the coordinates of the point A i in the load coordinate system B - xy , wherein, i is a positive integer; wherein the coordinate system A i - x i1 y i1 represents the initial coordinate system of the i th robot; the coordinate system A i - x i1 y i1 each axis of the coordinate system B - xy is parallel to each axis of the coordinate system A i - x i1 y i1 is obtained by translating the coordinate system B - xy by r xi , r yi , the point A i represents the connection point of the i th robot and the bearing plate, x i the axis represents the direction of the vehicle head of the mobile robot;​​ when the mobile robot is a nonholonomic mobile robot, the control velocity of the mobile robot is v i , w i , v i a linear velocity of a heading direction of the mobile robot, w i a control angular velocity of the mobile robot, the control linear velocity of the mobile robot being generated by the control velocity of the load through a velocity mapping function, the control linear velocity of the mobile robot and the target orientation angle being as follows: The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises: xy xy xy The robot controller is arranged in the mobile robot and corresponds to the mobile robot one-to-one, and the robot controller is used to receive the control speed input by the central controller and control the at least one mobile robot to carry the load according to the control speed; The control of the at least one mobile robot to carry the load according to the control speed comprises:

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