A robot cooperative control method

Abstract

The application discloses a kind of robot collaborative control methods, the method includes: in response to subcar release instruction, control the mother car is released from the first plane to the second plane by the subcar;In response to mother car synchronous roundabout instruction, control the mother car with the subcar is in the same normal line of the first plane;In response to subcar recovery instruction, control the subcar is recovered to the mother car.By using the collaborative control of sub-mother type split robot, by controlling the mother car releases the subcar, the mother car and the subcar are in the same normal line of the first plane when the subcar is working, avoid the problem that the subcar drags the guide wire to cause the guide wire to coil the mother car or wall during working, ensure the normal operation, and automatically recover the subcar by the mother car after the subcar completes work, solve the problem that the subcar release and recovery are difficult, realize the efficient collaborative control of sub-mother type split robot.The application can be widely applied in the field of intelligent robot.

Description

Technical Field

[0001] This application relates to the field of intelligent robots, and in particular to a method for collaborative control of robots. Background Technology

[0002] With the development of intelligent technologies, intelligent robots are widely used in scenarios such as on-site photography, inspection, and patrol, saving significant manpower and resources and avoiding safety hazards associated with human involvement in complex work environments. This provides convenience and enhances safety in production operations. Furthermore, the intelligent robot control center can receive and process sensor data in real time, enabling dynamic data interconnection and collaborative decision-making, thus improving production efficiency. Among these, the mother-daughter split-structure robot, due to its flexible split control system, has greater application advantages in inspection operations in complex scenarios, such as bridge inspection.

[0003] However, current mother-daughter split-structure robots face difficulties in releasing and retrieving the child vehicle when there are large gaps in the scene. At the same time, since the child vehicle and the mother vehicle are connected by a power line, the power line can easily become entangled in the mother vehicle or the wall during the operation of the child vehicle, making the operation difficult. Summary of the Invention

[0004] The purpose of this invention is to at least partially solve one of the technical problems existing in the prior art.

[0005] Therefore, the purpose of this invention is to provide a robot cooperative control method that enables cooperative control of a mother-daughter type split robot.

[0006] This invention proposes a robot cooperative control method applied to a mother-daughter split robot, wherein the mother-daughter split robot includes a daughter vehicle and a mother vehicle, the mother vehicle and the daughter vehicle being connected by a wire, and the method includes:

[0007] In response to a vehicle release command, the mother car is controlled to release the vehicle from the first plane to the second plane;

[0008] In response to the mother car's synchronized detour command, the mother car and the daughter car are controlled to detour synchronously;

[0009] In response to a child vehicle recovery command, the child vehicle is controlled to be recovered onto the mother vehicle.

[0010] In addition, the robot cooperative control method according to the above embodiments of the present invention may also have the following additional technical features:

[0011] Furthermore, in a robot collaborative control method according to an embodiment of the present invention, the mother vehicle includes a tray, a first sensor, a first image transmission system and a first control center, wherein the first sensor and the first image transmission system are disposed on the tray, and the daughter vehicle includes a second sensor and a second control center;

[0012] The step of responding to a child vehicle release command and controlling the mother vehicle to release the child vehicle from the first plane to the second plane includes:

[0013] According to the release command of the subcar, the first control center controls the mother car to move along the first plane to the second plane at a first speed, and the first sensor detects the first distance in real time, which is the distance between the mother car and the second plane;

[0014] Once it is confirmed that the first distance is less than or equal to the first preset value, the first control center controls the mother vehicle to stop moving and generates a first control command.

[0015] According to the first control command, the negative pressure chamber pressure of the subcar is adjusted by the second control center, and the mother car is controlled to move along the first plane to the second plane at a second speed, wherein the second speed is less than the first speed;

[0016] Based on the first distance and the data from the first image transmission system, a second control command is generated through the first control center;

[0017] According to the second control command, the pressure of the negative pressure chamber is detected by the second sensor;

[0018] Once the pressure in the negative pressure chamber is confirmed to be stable near the rated pressure, the release of the sub-cart is completed.

[0019] Furthermore, in one embodiment of the present invention, the step of generating a second control command through the first control center based on the first distance and the data from the first image transmission system includes:

[0020] The first image transmission system determines whether the reference point is located in the center of the screen. The reference point is the intersection of the normal of the third plane and the second plane. The third plane is the plane at which the mother car is located and is perpendicular to the first plane.

[0021] Once it is confirmed that the first distance is less than or equal to the second preset value and the reference point is located in the center of the screen, the second control command is generated through the first control center.

[0022] Furthermore, in one embodiment of the present invention, the step of generating a second control command through the first control center based on the first distance and the data from the first image transmission system further includes the following steps:

[0023] Once it is confirmed that the reference point is not in the center of the screen, the attitude of the mother vehicle is adjusted through the first control center.

[0024] Furthermore, in one embodiment of the present invention, the step of controlling the mother car and the daughter car to move synchronously in response to the mother car synchronously around the traffic signal includes:

[0025] According to the synchronous detour command of the mother car, the second distance is detected by the first sensor, and the second distance is the distance between the mother car and the daughter car;

[0026] According to the synchronous orbiting command of the mother car, the first rotation speed is obtained, and the first rotation speed includes the rotation speed of the left wheel and the rotation speed of the right wheel of the daughter car;

[0027] Based on the second distance and the first rotational speed, the second rotational speed is calculated by the first control center. The second rotational speed includes the left wheel rotational speed and the right wheel rotational speed required for the mother car and the daughter car to rotate synchronously.

[0028] Based on the second rotational speed, the mother car and the daughter car are controlled to move synchronously.

[0029] Furthermore, in one embodiment of the present invention, the tray is provided with a target point for retrieving the sub-cart, and the sub-cart further includes a second image transmission system;

[0030] The step of responding to a sub-vehicle recovery command and controlling the sub-vehicle to be recovered onto the mother vehicle includes:

[0031] According to the vehicle recovery command, the third distance is detected by the second sensor, and the third distance is the distance between the vehicle and the target point;

[0032] Based on the vehicle recovery command, the second image transmission system determines whether the target point is located in the center of the image.

[0033] Once it is confirmed that the third distance is less than or equal to the third preset value and the target point is located in the center of the screen, a fourth control command is generated through the second control center.

[0034] According to the fourth control command, the second control center controls the sub-vehicle to stop moving, and the first control center controls the mother vehicle to move along the first plane to the second plane at the second speed.

[0035] Based on the data from the first sensor and the first image transmission system, a fifth control command is generated through the first control center.

[0036] According to the fifth control command, the negative pressure chamber pressure of the sub-car is released through the second control center, and the mother car is controlled by the first control center to move at a first speed along the first plane in a direction away from the second plane, thereby completing the recovery of the sub-car.

[0037] Furthermore, in one embodiment of the present invention, the step of generating a fifth control command through the first control center based on the data from the first sensor and the first image transmission system includes:

[0038] The fourth distance is detected by the first sensor; the fourth distance is the distance from the center point of the tray to the center point of the cart.

[0039] The first image transmission system determines whether the center point of the vehicle is located in the center of the image.

[0040] Once it is confirmed that the fourth distance is less than or equal to the fourth preset value, and the center point of the vehicle is located in the center of the screen, the fifth control command is generated through the first control center.

[0041] Furthermore, in one embodiment of the present invention, the step of generating a fifth control command through the first control center based on the data from the first sensor and the first image transmission system further includes the following steps:

[0042] Once it is confirmed that the fourth distance is greater than the fourth preset value, the position of the mother vehicle is adjusted through the first control center;

[0043] If the center point of the sub-vehicle is not in the center of the screen, adjust the attitude of the mother vehicle through the first control center.

[0044] Furthermore, in one embodiment of the present invention, the first image transmission system includes a first camera module and a first image processing module, and the second image transmission system includes a second camera module and a second image processing module.

[0045] Furthermore, in one embodiment of the present invention, the first sensor includes a first lidar, and the second sensor includes a second lidar and a barometric pressure sensor;

[0046] The first and second lidars are used to detect distance, and the air pressure sensor is used to detect the pressure of the negative pressure chamber of the vehicle.

[0047] The advantages and beneficial effects of the present invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present application:

[0048] This invention employs a collaborative control system for a mother-daughter split-type robot. By controlling the mother vehicle to release the daughter vehicle, and controlling the mother vehicle and daughter vehicle to move synchronously around while the daughter vehicle is performing its work, the problem of the daughter vehicle dragging the wire and causing the wire to become entangled in the mother vehicle or wall is avoided, ensuring the normal progress of the work. After the daughter vehicle completes its work, the mother vehicle automatically retrieves the daughter vehicle, solving the problem of difficult release and retrieval of the daughter vehicle and realizing efficient collaborative control of the mother-daughter split-type robot. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following description is provided with accompanying drawings of the relevant technical solutions in the embodiments of this application or the prior art. It should be understood that the accompanying drawings described below are only for the purpose of clearly illustrating some embodiments of the technical solutions in this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0050] Figure 1 This is a flowchart illustrating a specific embodiment of a robot cooperative control method according to the present invention;

[0051] Figure 2 This is a schematic diagram of a mother-daughter split robot structure, which is a specific embodiment of a robot cooperative control method of the present invention.

[0052] Reference numerals: 201, first plane; 202, second plane; 203, tray; 204, contact point; 205, first camera module; 206, second camera module; 207, first lidar; 208, second lidar. Detailed Implementation

[0053] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. The step numbers in the following embodiments are set only for ease of explanation, and there is no limitation on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0054] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0055] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0056] With the development of intelligent technologies, intelligent robots are widely used in scenarios such as on-site photography, inspection, and patrol, saving significant manpower and resources and avoiding safety hazards associated with human involvement in complex work environments. This provides convenience and enhances safety in production operations. Furthermore, the intelligent robot control center can receive and process sensor data in real time, enabling dynamic data interconnection and collaborative decision-making, thus improving production efficiency. Among these, the mother-daughter split-structure robot, due to its flexible split control system, has greater application advantages in inspection operations in complex scenarios, such as bridge inspection.

[0057] However, current mother-daughter split-structure robots face difficulties in releasing and retrieving the child vehicle when there are large gaps in the scene. At the same time, since the child vehicle and the mother vehicle are connected by a power line, the power line can easily become entangled in the mother vehicle or the wall during the operation of the child vehicle, making the operation difficult.

[0058] To address this issue, this invention proposes a collaborative control method for robots. Unlike traditional mother-daughter split-structure robots where power cables easily become tangled around the mother vehicle or walls, this invention employs collaborative control of mother-daughter split-structure robots. By controlling the mother vehicle to release the child vehicle, and controlling the mother vehicle and child vehicle to move synchronously around each other while the child vehicle is performing its work, this avoids the problem of the child vehicle dragging the power cable and causing it to become tangled around the mother vehicle or walls during operation, ensuring the normal progress of the operation. After the child vehicle completes its work, the mother vehicle automatically retrieves the child vehicle, solving the problem of difficult release and retrieval of the child vehicle and achieving efficient collaborative control of mother-daughter split-structure robots.

[0059] The following describes in detail, with reference to the accompanying drawings, a robot cooperative control method according to an embodiment of the present invention.

[0060] Reference Figure 1 and Figure 2 This invention discloses a robot cooperative control method applied to a mother-daughter split robot, which includes a daughter vehicle and a mother vehicle, the mother vehicle and the daughter vehicle being connected by a wire. The method includes:

[0061] S101. In response to the vehicle release command, control the mother car to release the vehicle from the first plane 201 to the second plane 202;

[0062] The mother vehicle includes a tray 203, a first sensor, a first image transmission system, and a first control center. The first sensor and the first image transmission system are mounted on the tray 203. The daughter vehicle includes a second sensor and a second control center. In an embodiment of the present invention, a robot collaborative control method can be implemented when there is a gap between the first plane 201 and the second plane 202.

[0063] In an embodiment of the present invention, the first image transmission system includes a first camera module 205 and a first image processing module, the first sensor includes a first lidar 207, and the second sensor includes a second lidar 208 and a barometric pressure sensor.

[0064] The first camera module 205 is used to acquire images, the first image processing module is used to process the images and feed them back to the first control center, the first lidar 207 and the second lidar 208 are used to detect distance, and the air pressure sensor is used to detect the pressure of the negative pressure chamber of the vehicle.

[0065] S101 can be further divided into the following steps S1011-S1016:

[0066] Step S1011: According to the release command of the sub-vehicle, the first control center controls the mother vehicle to move along the first plane 201 to the second plane 202 at a first speed, and the first distance is detected in real time by the first sensor.

[0067] Wherein, the first distance is the distance between the mother car and the second plane.

[0068] Specifically, in one embodiment of the present invention, the moving speed of the mother car is controlled by a first control center controlling the drive motor, wherein the first speed is 95% of the maximum speed of the mother car.

[0069] Step S1012: Confirm that the first distance is less than or equal to the first preset value, and control the mother car to stop moving and generate a first control command through the first control center;

[0070] Specifically, when the first distance is less than or equal to the first preset value, the first control center blocks the operation command of the drive motor, thereby controlling the mother car to stop moving.

[0071] Step S1013: According to the first control command, adjust the negative pressure chamber pressure of the subcar through the second control center, and control the mother car to move along the first plane 201 to the second plane 202 at a second speed;

[0072] The second speed is less than the first speed.

[0073] Specifically, in one embodiment of the invention, the second speed is 60% of the maximum speed of the mother car.

[0074] Step S1014: Based on the first distance and the data from the first image transmission system, generate a second control command through the first control center;

[0075] Specifically, the mother vehicle continues to move at the second speed, acquires the first distance and data from the first image transmission system in real time, and performs the following operations:

[0076] (1) The reference point is determined by the first image transmission system to determine whether the reference point is located in the center of the screen. The reference point is the intersection of the normal of the third plane and the second plane 202. The third plane is the plane at which the mother car is located and the height is perpendicular to the first plane 201.

[0077] (2) Confirm that the first distance is less than or equal to the second preset value and that the reference point is located in the center of the screen, and generate the second control command through the first control center;

[0078] (3) Confirm that the reference point is not in the center of the screen, adjust the attitude of the mother car through the first control center, and return to step (1).

[0079] Step S1015: According to the second control command, the pressure of the negative pressure chamber is detected by the second sensor;

[0080] Step S1016: Confirm that the pressure in the negative pressure chamber is stable near the rated pressure, and complete the release of the sub-cart.

[0081] Specifically, in one embodiment of the present invention, the mother car moves a fixed distance along the first plane 201 away from the second plane 202, so that the daughter car separates from the tray 203, thereby completing the release of the daughter car.

[0082] Through steps S1011-S1016, the sub-vehicle is released in complex scenarios (including situations where the gap between the first plane 201 and the second plane 202 is large), enabling the second control center to control the movement of the sub-vehicle to collect corresponding information according to the collection requirements.

[0083] S102. In response to the synchronous detour command of the mother car, control the mother car and the daughter car to detour synchronously;

[0084] Specifically, when the mother car and the daughter car are on the same normal line of the first plane 201, the problem of the daughter car dragging the wire and causing the wire to coil around the mother car or the wall during operation can be avoided, ensuring the normal progress of the operation.

[0085] S102 can be further divided into the following steps S1021-S1024:

[0086] Step S1021: According to the synchronous detour command of the mother car, the second distance is detected by the first sensor;

[0087] Wherein, the second distance D1 is the distance between the mother car and the daughter car.

[0088] Specifically, the distance between the mother vehicle and the daughter vehicle is detected in real time by the first lidar 207.

[0089] Step S1022: Obtain the first rotational speed according to the synchronous circling command of the mother car;

[0090] Wherein, the first rotational speed includes the rotational speed V of the left wheel of the vehicle. La and the right wheel speed V Ra .

[0091] Step S1023: Calculate the second rotational speed through the first control center based on the second distance and the first rotational speed;

[0092] The second rotational speed includes the left wheel rotational speed V required for the mother car and the daughter car to rotate synchronously. Lb and the right wheel speed V Rb .

[0093] Step S1024: Control the mother car and the daughter car to circle synchronously according to the second rotation speed.

[0094] S103. In response to the subcar recovery command, control the subcar to be recovered onto the mother car.

[0095] The tray 203 is provided with a target point 204 for retrieving the sub-cart. The sub-cart also includes a second image transmission system, which includes a second camera module 206 and a second image processing module. The second camera module 206 is used to acquire images, and the second image processing module is used to process the images and feed them back to the second control center.

[0096] Specifically, according to the vehicle retrieval command, the vehicle is retrieved to the target point 204 on the tray.

[0097] S103 can be further divided into the following steps S1031-S1036:

[0098] Step S1031: According to the vehicle recovery command, the third distance is detected by the second sensor;

[0099] The third distance is the distance between the vehicle and the target point 204.

[0100] Specifically, the distance between the vehicle and the target point 204 is detected in real time by the second lidar 208.

[0101] Step S1032: According to the vehicle recovery command, determine whether the target point 204 is located in the center of the screen through the second image transmission system;

[0102] Specifically, the second camera module 206 acquires the image, and the second image processing module processes the image to determine whether the target point 204 is located in the center of the image.

[0103] Step S1033: Confirm that the third distance is less than or equal to the third preset value and that the target point 204 is located in the center of the screen, and generate a fourth control command through the second control center;

[0104] In one embodiment of the present invention, when the third distance is greater than a third preset value, the position of the sub-vehicle is adjusted by the second control center; when the target point 204 is in the center of the screen, the attitude of the sub-vehicle is adjusted by the second control center.

[0105] Step S1034: According to the fourth control command, the second control center controls the sub-vehicle to stop moving, and the first control center controls the mother vehicle to move along the first plane 201 to the second plane 202 at the second speed;

[0106] Specifically, according to the fourth control command generated in step S1033, the second control center controls the subcar to stop moving, confirms that the subcar is in the position to be recovered, and the first control center controls the mother car to move along the first plane 201 to the second plane 202 at the second speed, so that the mother car gets closer to the subcar.

[0107] Step S1035: Generate a fifth control command through the first control center based on the data from the first sensor and the first image transmission system;

[0108] Specifically, based on the data from the first sensor and the first image transmission system, controlling the mother vehicle to move towards and align with the daughter vehicle for retrieval includes the following steps:

[0109] (1) The fourth distance is detected by the first sensor, wherein the fourth distance is the distance from the center point of the pallet 203 to the center point of the trolley;

[0110] (2) Determine whether the center point of the vehicle is located in the center of the screen through the first image transmission system;

[0111] (3) Confirm that the fourth distance is less than or equal to the fourth preset value, and that the center point of the sub-cart is located in the center of the screen, and generate the fifth control command through the first control center. At this time, the sub-cart has been returned to the tray 203.

[0112] In one embodiment of the present invention, if it is confirmed that the fourth distance is greater than the fourth preset value, the position of the mother car is adjusted through the first control center; if it is confirmed that the center point of the daughter car is not in the center of the screen, the posture of the mother car is adjusted through the first control center.

[0113] Step S1036: According to the fifth control command, release the negative pressure chamber pressure of the sub-cart through the second control center, and control the mother car to move at a first speed along the first plane 201 in a direction away from the second plane 202 through the first control center, thereby completing the recovery of the sub-cart.

[0114] Specifically, after the sub-cart is retrieved onto the tray 203, the negative pressure chamber pressure of the sub-cart is released by the second control center, the rear camera of the mother car is turned on, and the mother car is controlled by the first control center to move at a first speed along the first plane 201 in a direction away from the second plane 202, thereby completing the retrieval of the sub-cart.

[0115] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0116] Furthermore, although this application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding this application. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional technology for an engineer. Therefore, those skilled in the art can implement the application set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of this application, which is determined by the full scope of the appended claims and their equivalents.

[0117] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable program execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0118] In the foregoing description of this specification, the references to terms such as "one embodiment," "another embodiment," or "some embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0119] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

[0120] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A robot cooperative control method, characterized in that, The method is applied to a mother-daughter split-type robot, which includes a daughter vehicle and a mother vehicle, the mother vehicle and the daughter vehicle being connected by a wire. The method includes: In response to a vehicle release command, the mother car is controlled to release the vehicle from the first plane to the second plane; In response to the mother car's synchronized detour command, the mother car and the daughter car are controlled to detour synchronously; In response to a sub-vehicle recovery command, control the sub-vehicle to be recovered onto the mother vehicle; The mother vehicle includes a tray, a first sensor, a first image transmission system, and a first control center. The first sensor and the first image transmission system are mounted on the tray. The daughter vehicle includes a second sensor and a second control center. The step of responding to a child vehicle release command and controlling the mother vehicle to release the child vehicle from the first plane to the second plane includes: According to the release command of the subcar, the first control center controls the mother car to move along the first plane to the second plane at a first speed, and the first sensor detects the first distance in real time, which is the distance between the mother car and the second plane; Once it is confirmed that the first distance is less than or equal to the first preset value, the first control center controls the mother vehicle to stop moving and generates a first control command. According to the first control command, the negative pressure chamber pressure of the subcar is adjusted by the second control center, and the mother car is controlled to move along the first plane to the second plane at a second speed, wherein the second speed is less than the first speed; Based on the first distance and the data from the first image transmission system, a second control command is generated through the first control center; According to the second control command, the pressure of the negative pressure chamber is detected by the second sensor; Once the pressure in the negative pressure chamber is confirmed to be stable near the rated pressure, the release of the sub-cart is completed.

2. The robot cooperative control method according to claim 1, characterized in that, The step of generating a second control command through the first control center based on the first distance and the data from the first image transmission system includes: The first image transmission system determines whether the reference point is located in the center of the screen. The reference point is the intersection of the normal of the third plane and the second plane. The third plane is the plane at which the mother car is located and is perpendicular to the first plane. Once it is confirmed that the first distance is less than or equal to the second preset value and the reference point is located in the center of the screen, the second control command is generated through the first control center.

3. The robot cooperative control method according to claim 2, characterized in that, It also includes the following steps: Once it is confirmed that the reference point is not in the center of the screen, the attitude of the mother vehicle is adjusted through the first control center.

4. The robot cooperative control method according to claim 1, characterized in that, The step of responding to the synchronous rerouting command of the mother car and controlling the daughter car to rerout synchronously includes: According to the synchronous detour command of the mother car, the second distance is detected by the first sensor, and the second distance is the distance between the mother car and the daughter car; According to the synchronous orbiting command of the mother car, the first rotation speed is obtained, and the first rotation speed includes the rotation speed of the left wheel and the rotation speed of the right wheel of the daughter car; Based on the second distance and the first rotational speed, the second rotational speed is calculated by the first control center. The second rotational speed includes the left wheel rotational speed and the right wheel rotational speed required for the mother car and the daughter car to rotate synchronously. Based on the second rotational speed, the mother car and the daughter car are controlled to move synchronously.

5. The robot cooperative control method according to claim 1, characterized in that, The tray is provided with a target point, which is used to retrieve the sub-cart. The sub-cart also includes a second image transmission system. The step of responding to a sub-vehicle recovery command and controlling the sub-vehicle to be recovered onto the mother vehicle includes: According to the vehicle recovery command, the third distance is detected by the second sensor, and the third distance is the distance between the vehicle and the target point; Based on the vehicle recovery command, the second image transmission system determines whether the target point is located in the center of the image. Once it is confirmed that the third distance is less than or equal to the third preset value and the target point is located in the center of the screen, a fourth control command is generated through the second control center. According to the fourth control command, the second control center controls the sub-vehicle to stop moving, and the first control center controls the mother vehicle to move along the first plane to the second plane at the second speed. Based on the data from the first sensor and the first image transmission system, a fifth control command is generated through the first control center. According to the fifth control command, the negative pressure chamber pressure of the sub-car is released through the second control center, and the mother car is controlled by the first control center to move at a first speed along the first plane in a direction away from the second plane, thereby completing the recovery of the sub-car.

6. The robot cooperative control method according to claim 5, characterized in that, The step of generating a fifth control command through the first control center based on data from the first sensor and the first image transmission system includes: The fourth distance is detected by the first sensor; the fourth distance is the distance from the center point of the tray to the center point of the cart. The first image transmission system determines whether the center point of the vehicle is located in the center of the image. Once it is confirmed that the fourth distance is less than or equal to the fourth preset value, and the center point of the vehicle is located in the center of the screen, the fifth control command is generated through the first control center.

7. A robot cooperative control method according to claim 6, characterized in that, It also includes the following steps: Once it is confirmed that the fourth distance is greater than the fourth preset value, the position of the mother car is adjusted through the first control center; If the center point of the sub-vehicle is not in the center of the screen, adjust the attitude of the mother vehicle through the first control center.

8. A robot cooperative control method according to claim 5, characterized in that, The first image transmission system includes a first camera module and a first image processing module, and the second image transmission system includes a second camera module and a second image processing module.

9. A robot cooperative control method according to claim 5, characterized in that, The first sensor includes a first lidar, and the second sensor includes a second lidar and a barometric pressure sensor; The first and second lidars are used to detect distance, and the air pressure sensor is used to detect the pressure of the negative pressure chamber of the vehicle.

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