Robotic arm collaboration methods in non-real-time systems

Abstract

This invention discloses a robotic arm collaboration method in a non-real-time system, comprising the following steps: S1: Obtain the next instruction; S2: Determine whether the instruction is a robotic arm action instruction; S3: The current robotic arm obtains planning permission; S4: Designate the robotic arm with planning permission as the first target robotic arm; S5: Determine whether the target path of the first target robotic arm overlaps with the target paths of other adjacent robotic arms; S6: Determine whether the second target robotic arm is in an incomplete planning state; S7: Determine whether the target path of the second target robotic arm obstructs the first target robotic arm; S8: Plan the target path and target task of the first target robotic arm; S9: Execute the target path and target task, and return to step S1. This robotic arm collaboration method in a non-real-time system realizes multi-robotic arm collaborative control, improves the operating efficiency of robotic arms, has a high degree of automation, and saves manpower.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm control technology, and particularly relates to a robotic arm collaboration method in a non-real-time system. Background Technology

[0002] For non-real-time operating systems, such as Android, path planning based on real-time position feedback is impossible when handling collaborative control of multiple robotic arms. When a robotic arm queries its position during movement, a considerable amount of time may have passed by the time the system processes the data; this time is unpredictable. By then, the position data may be outdated. Position queries are only valid when the robotic arm has stopped moving. Therefore, current control of robotic arms using non-real-time operating systems typically focuses on a single robotic arm and performs control in stages when the arm stops moving, resulting in low efficiency and high manpower requirements. Summary of the Invention

[0003] To address the shortcomings of the existing technology, this invention aims to provide a robotic arm collaboration method in a non-real-time system. By pre-planning the robotic arm's motion trajectory and combining it with position querying when the robotic arm is stopped, multi-robotic arm collaborative control is achieved, improving the robotic arm's operating efficiency, achieving a high degree of automation, and saving manpower.

[0004] To achieve the above objectives, the present invention provides a robotic arm collaboration method in a non-real-time system, comprising the following steps:

[0005] S1: Get the next instruction;

[0006] S2: Determine whether the instruction is a robotic arm action instruction. If yes, continue to the subsequent steps; otherwise, return to step S1.

[0007] S3: The current robotic arm obtains planning permission, and it is determined whether the current robotic arm has successfully obtained planning permission. If so, continue to the subsequent steps; otherwise, repeat step S3.

[0008] S4: The robotic arm that has obtained the planning authority is designated as the first target robotic arm;

[0009] S5: Determine whether the target path of the first target robotic arm overlaps with the target paths of other adjacent robotic arms; if not, plan the target path and target task of the first target robotic arm, and return to step S1 after executing the target path and target task; if so, take the other robotic arm with the overlapping part as the second target robotic arm, and directly continue to step S6; the target path includes the movement trajectory from the starting position to the target position;

[0010] S6: Determine whether the second target robotic arm is in a state of incomplete planning, and continue with subsequent steps after the second target robotic arm is in a state of releasing the state of incomplete planning.

[0011] S7: Determine whether the target path of the second target robotic arm obstructs the first target robotic arm; if so, perform obstacle avoidance operation on the second target robotic arm and continue to step S8; otherwise, directly continue to step S8.

[0012] S8: Plan the target path and target task of the first target robotic arm;

[0013] S9: After adjusting the moving speed of the first target robotic arm, execute the target path and the target task, and return to step S1.

[0014] In one implementation, the robotic arm collaboration method is applied to several synchronously executing threads.

[0015] In one implementation, when the robotic arm obtains the planning permission, if no other robotic arm has already obtained the planning permission, and the robotic arm is the first to request the planning permission, then the robotic arm obtains the planning permission; otherwise, it cannot obtain the planning permission.

[0016] In one embodiment, the overlapping portion includes the overlap between the movement trajectories of different robotic arms and the safety distance range around the outer perimeter of the movement trajectories.

[0017] As one implementation, step S6 further includes the following steps:

[0018] S61: Determine whether the second target robotic arm is in an incomplete planning state. If so, it indicates that there are other threads, and proceed to step S62; otherwise, proceed directly to step S7.

[0019] S62: Set the first target robotic arm to a planning incomplete state, release the planning permission, and enter a waiting state;

[0020] S63: After the second target robotic arm removes the planning incomplete state in the other thread, it wakes up the first target robotic arm, and the first target robotic arm regains the planning permission.

[0021] As one implementation, step S7 further includes the following steps:

[0022] S71: Determine whether the target path of the second target robotic arm obstructs the first target robotic arm; if yes, proceed to step S72; otherwise, proceed directly to step S8.

[0023] S72: Insert an obstacle avoidance movement command into the second target robotic arm, set the first target robotic arm to an incomplete planning state, and release the planning permission; the robotic arm action command includes the obstacle avoidance movement command;

[0024] S73: The first target robotic arm enters a waiting state;

[0025] S74: When the second target robotic arm starts executing the obstacle avoidance movement command, it wakes up the first target robotic arm, and the first target robotic arm regains the planning authority and continues to step S8.

[0026] In one implementation, it is determined whether the target path of the second target robot arm obstructs the first target robot arm based on the moving directions of the first target robot arm and the second target robot arm, the starting position of the target path, and the target position.

[0027] In one implementation, when the first target robotic arm and the second target robotic arm move in the same direction, and when the starting position of the second target robotic arm is located on the target path of the first target robotic arm, and the target position of the second target robotic arm is located on the target path of the first target robotic arm, it is determined that the target path of the second target robotic arm obstructs the first target robotic arm.

[0028] In one implementation, when the first target robotic arm and the second target robotic arm move toward each other, and when the target position of the second target robotic arm is located at or passes through the target path of the first target robotic arm, it is determined that the target path of the second target robotic arm obstructs the first target robotic arm.

[0029] In one implementation, when the first target robotic arm moves toward or in the same direction as the second target robotic arm, and the starting position of the first target robotic arm is located on the target path of the second target robotic arm, an anomaly is reported.

[0030] Because the present invention adopts the above technical solution, it has the following beneficial effects:

[0031] This invention uses preset rules to plan and adjust the movement and task execution sequence of each robotic arm, making the control of multiple robotic arms more flexible, effectively improving the efficiency of task execution, and enhancing operational safety and stability. By determining whether the target path of the current target robotic arm overlaps with the target paths of other robotic arms besides the previous target robotic arm, and by implementing subsequent transfer permissions and obstacle avoidance steps, collisions between robotic arms can be effectively prevented, ensuring the effective operation of each robotic arm. The overlapping portion includes the overlap between the movement trajectories of different robotic arms and the safe distance range around the outer perimeter of the movement trajectories, effectively ensuring that collisions do not occur between robotic arms. The robotic arm collaboration method of this invention can be applied to several synchronously executing threads, enabling one or more threads to execute the robotic arm collaboration method simultaneously. When the target path of the second target robotic arm obstructs the first target robotic arm, an obstacle avoidance movement command is inserted into the second target robotic arm. This allows the second target robotic arm to perform the steps of this method and conduct obstacle avoidance operations in a new thread. In the presence of multiple robotic arms, this allows for diffuse obstacle detection and avoidance operations on adjacent robotic arms, while reducing the program complexity of a single thread and improving the overall system efficiency. An error reporting mechanism is included in this invention to promptly report planning errors, ensuring the safety and effectiveness of path planning. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a general flowchart of the robotic arm collaboration method in a non-real-time system according to an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of the non-overlapping target path of the robotic arm in an embodiment of this application;

[0035] Figures 3-4 This is a schematic diagram of the overlapping and unidirectional movement of the target paths of the robotic arm in an embodiment of this application.

[0036] Figures 5-6 This is a schematic diagram of the overlapping and oppositely moving target paths of the robotic arms in an embodiment of this application.

[0037] Figure 7 This is a schematic diagram illustrating the error state of overlapping and opposing movement of the robotic arm's target path in an embodiment of this application. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "center," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "linking," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] Example 1

[0042] Please see Figures 1 to 7 The present invention provides a robotic arm collaboration method in a non-real-time system, applicable to robotic arms deployed along a straight track. The robotic arm must obtain planning permission before performing the target path planning. The method includes the following steps:

[0043] S1: Get the next instruction;

[0044] S2: Determine whether the instruction is a robotic arm action instruction. If yes, continue to the subsequent steps; otherwise, return to step S1.

[0045] S3: The current robotic arm obtains planning permission, and it is determined whether the current robotic arm has successfully obtained planning permission. If so, continue to the subsequent steps; otherwise, repeat step S3.

[0046] S4: The robotic arm that has obtained the planning authority is designated as the first target robotic arm;

[0047] S5: Determine whether the target path of the first target robotic arm overlaps with the target paths of other adjacent robotic arms; if not, plan the target path and target task of the first target robotic arm, and return to step S1 after executing the target path and target task; if so, take the other robotic arm with the overlapping part as the second target robotic arm, and directly continue to step S6; the target path includes the movement trajectory from the starting position to the target position;

[0048] S6: Determine whether the second target robotic arm is in a state of incomplete planning, and continue with subsequent steps after the second target robotic arm is in a state of releasing the state of incomplete planning.

[0049] In this embodiment, step S6 further includes the following steps:

[0050] S61: Determine whether the second target robotic arm is in an incomplete planning state. If so, it indicates that there are other threads, and proceed to step S62; otherwise, proceed directly to step S7.

[0051] S62: Set the first target robotic arm to a planning incomplete state, release the planning permission, and enter a waiting state;

[0052] S63: After the second target robotic arm removes the planning incomplete state in the other thread, it wakes up the first target robotic arm, and the first target robotic arm regains the planning permission.

[0053] By determining whether the second target robotic arm is in an incomplete planning state and waiting for the second target robotic arm to clear the incomplete planning state, conflicts between the first target robotic arm and the second target robotic arm, which has other threads, can be prevented, thus ensuring the effectiveness of the target path planning.

[0054] S7: Determine whether the target path of the second target robotic arm obstructs the first target robotic arm; if so, perform obstacle avoidance operation on the second target robotic arm and continue to step S8; otherwise, directly continue to step S8.

[0055] In this embodiment, step S7 further includes the following steps:

[0056] S71: Determine whether the target path of the second target robotic arm obstructs the first target robotic arm; if yes, proceed to step S72; otherwise, proceed directly to step S8.

[0057] S72: Insert an obstacle avoidance movement command into the second target robotic arm, set the first target robotic arm to an incomplete planning state, and release the planning permission; the robotic arm action command includes the obstacle avoidance movement command;

[0058] S73: The first target robotic arm enters a waiting state;

[0059] S74: When the second target robotic arm starts executing the obstacle avoidance movement command, it wakes up the first target robotic arm, and the first target robotic arm regains the planning authority and continues to step S8.

[0060] S8: Plan the target path and target task of the first target robotic arm;

[0061] S9: After adjusting the moving speed of the first target robotic arm, execute the target path and the target task, and return to step S1.

[0062] In this embodiment, the robotic arm collaboration method is applied to several synchronously executed threads, which can enable one or more threads to execute the robotic arm collaboration method simultaneously.

[0063] When the robotic arm obtains the planning permission, if no other robotic arm has already obtained the planning permission, and the robotic arm is the first to request the planning permission, then the robotic arm obtains the planning permission; otherwise, it cannot obtain the planning permission.

[0064] The overlapping portion includes the overlapping portion of the movement trajectories of different robotic arms plus the safe distance range around the outer perimeter of the movement trajectories, which can effectively ensure that there will be no collision between robotic arms.

[0065] In this embodiment, the preset speeds of the robotic arms are the same. Based on the moving directions of the first target robotic arm and the second target robotic arm, the starting position of the target path, and the target position, it is determined whether the target path of the second target robotic arm obstructs the first target robotic arm.

[0066] When the first target robotic arm and the second target robotic arm move in the same direction, and when the starting position of the second target robotic arm is located on the target path of the first target robotic arm, and the target position of the second target robotic arm is located on the target path of the first target robotic arm; it is determined that the target path of the second target robotic arm obstructs the first target robotic arm, such as... Figure 4 As shown.

[0067] When the first target robotic arm and the second target robotic arm move towards each other, and when the target position of the second target robotic arm is located at or passes through the target path of the first target robotic arm; it is determined that the target path of the second target robotic arm obstructs the first target robotic arm, such as... Figure 5 and Figure 6 As shown.

[0068] For example, the robotic arm collaboration method in a non-real-time system according to Embodiment 1 of the present invention, when applied to a system having a first robotic arm and a second robotic arm, may specifically include the following steps:

[0069] S1: Get the next instruction;

[0070] S2: Determine whether the instruction is a robotic arm action instruction. If yes, continue to the subsequent steps; otherwise, return to step S1.

[0071] S3: The current robotic arm obtains planning permission, and it is determined whether the current robotic arm has successfully obtained planning permission. If so, continue to the subsequent steps; otherwise, repeat step S3.

[0072] S4: The robotic arm that has obtained the planning authority is taken as the first target robotic arm. In this embodiment, the first target robotic arm is the first robotic arm.

[0073] S5: Determine whether the target path of the first robotic arm overlaps with the target path of the adjacent second robotic arm; in this embodiment, the target path of the second robotic arm overlaps with the target path of the first robotic arm; the second robotic arm is designated as the second target robotic arm;

[0074] S6: Determine whether the second robotic arm is in a state of incomplete planning, and continue with subsequent steps after the second robotic arm is in a state of releasing the state of incomplete planning.

[0075] In this embodiment, step S6 further includes the following steps:

[0076] S61: Determine whether the second robotic arm is in a state of incomplete planning. In this embodiment, the determination is yes, indicating that there are other threads, and proceed to step S62.

[0077] S62: Set the first robotic arm to a planning incomplete state, release the planning permission, and enter a waiting state;

[0078] S63: After the second robotic arm removes the planning incomplete state in the other thread, it wakes up the first robotic arm, and the first robotic arm regains the planning permission.

[0079] S7: Determine whether the target path of the second robotic arm obstructs the first robotic arm; in this embodiment, the first and second robotic arms move in the same direction and the target position of the second robotic arm is located behind the forward direction of the target position of the first robotic arm, such as... Figure 3 As shown, by determining that the target path of the second robotic arm does not obstruct the first robotic arm, step S8 is directly continued;

[0080] S8: Plan the target path and target task of the first robotic arm;

[0081] S9: After adjusting the moving speed of the first robotic arm, execute the target path and the target task, and return to step S1.

[0082] Example 2

[0083] Please see Figure 7 The second embodiment of the present invention provides a robotic arm collaboration method in a non-real-time system. The steps are basically the same as those in the first embodiment, except that the method further includes the step of: when the first target robotic arm and the second target robotic arm move toward or in the same direction, and the starting position of the first target robotic arm is located on the target path of the second target robotic arm; report an anomaly.

[0084] This invention incorporates an error reporting mechanism that promptly reports errors upon discovery, ensuring the safety and effectiveness of path planning.

[0085] Example 3

[0086] The robotic arm collaboration method in a non-real-time system according to Embodiment 3 of the present invention has basically the same steps as that in Embodiment 2. The difference is that, when applied to a system having a first robotic arm, a second robotic arm, and a third robotic arm, the robotic arm collaboration method in a non-real-time system according to Embodiment 3 of the present invention may specifically include the following steps:

[0087] S1: Get the next instruction;

[0088] S2: Determine whether the instruction is a robotic arm action instruction. If yes, continue to the subsequent steps; otherwise, return to step S1.

[0089] S3: The current robotic arm obtains planning permission, and it is determined whether the current robotic arm has successfully obtained planning permission. If so, continue to the subsequent steps; otherwise, repeat step S3.

[0090] S4: The robotic arm that has obtained the planning authority is designated as the first target robotic arm. In this embodiment, the first target robotic arm is the first robotic arm.

[0091] S5: Determine whether the target path of the first robotic arm overlaps with the target paths of other adjacent robotic arms; In this embodiment, by determining that the target path of the second robotic arm overlaps with the target path of the first robotic arm, the second robotic arm with the overlapping part is taken as the second target robotic arm.

[0092] S6: Determine whether the second robotic arm is in a state of incomplete planning, and continue with subsequent steps after the second robotic arm is in a state of releasing the state of incomplete planning.

[0093] In this embodiment, step S6 further includes the following steps:

[0094] S61: Determine whether the second robotic arm is in a state of incomplete planning. In this embodiment, the second robotic arm is in a state of incomplete planning, so proceed directly to step S7.

[0095] S7: Determine whether the target path of the second robotic arm obstructs the first robotic arm; In this embodiment, the target path of the second robotic arm obstructs the target path of the first robotic arm, and after the second robotic arm performs obstacle avoidance operation, continue to step S8;

[0096] In this embodiment, step S7 further includes the following steps:

[0097] S71: Determine whether the target path of the second robotic arm obstructs the first robotic arm; if yes, proceed to step S72.

[0098] S72: Insert obstacle avoidance movement command into the second robotic arm, set the first robotic arm to an incomplete planning state, and release the planning permission;

[0099] S73: The first robotic arm enters the waiting state;

[0100] S74: The second robotic arm begins running the steps of this method from step S1 in other threads; when it reaches step S5, it is determined that the target path of the third robotic arm overlaps with the target path of the second robotic arm. Then, by determining that the third robotic arm is in a state of unfinished planning, it is directly determined whether the target path of the third robotic arm obstructs the target path of the second robotic arm. In this embodiment, the third robotic arm does not obstruct the target path of the second robotic arm, so an obstacle avoidance path is planned for the second robotic arm. After adjusting the movement speed of the second robotic arm, the obstacle avoidance operation is started, the first robotic arm is awakened, the first robotic arm regains the planning permission, and the process continues to step S8.

[0101] S8: Plan the target path and target task of the first robotic arm;

[0102] S9: After adjusting the moving speed of the first robotic arm, execute the target path and the target task, and return to step S1.

[0103] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A method for collaborative robotic arm operation in a non-real-time system, comprising the following steps: S1: Get the next instruction; S2: Determine whether the instruction is a robotic arm action instruction. If yes, continue to the subsequent steps; otherwise, return to step S1. S3: The current robotic arm obtains planning permission, and it is determined whether the current robotic arm has successfully obtained planning permission. If so, continue to the subsequent steps; otherwise, repeat step S3. S4: The robotic arm that has obtained the planning authority is designated as the first target robotic arm; S5: Determine whether the target path of the first target robotic arm overlaps with the target paths of other adjacent robotic arms; if not, plan the target path and target task of the first target robotic arm, and return to step S1 after executing the target path and target task; if so, take the other robotic arm with the overlapping part as the second target robotic arm, and directly continue to step S6; the target path includes the movement trajectory from the starting position to the target position; S6: Determine whether the second target robotic arm is in a state of incomplete planning, and continue with subsequent steps after the second target robotic arm is in a state of releasing the state of incomplete planning. S7: Determine whether the target path of the second target robotic arm obstructs the first target robotic arm; if so, perform obstacle avoidance operation on the second target robotic arm and continue to step S8; otherwise, directly continue to step S8. S8: Plan the target path and target task of the first target robotic arm; S9: After adjusting the moving speed of the first target robotic arm, execute the target path and the target task, and return to step S1.

2. The robotic arm collaboration method in a non-real-time system according to claim 1, characterized in that, The robotic arm collaboration method is applied to several synchronously executing threads.

3. The robotic arm collaboration method in a non-real-time system according to claim 1, characterized in that, When the robotic arm obtains the planning permission, if no other robotic arm has already obtained the planning permission, and the robotic arm is the first to request the planning permission, then the robotic arm obtains the planning permission; otherwise, it cannot obtain the planning permission.

4. The robotic arm collaboration method in a non-real-time system according to claim 1, characterized in that, The overlapping portion includes the overlap between the movement trajectories of the different robotic arms and the safety distance range around the outer perimeter of the movement trajectories.

5. The robotic arm collaboration method in a non-real-time system according to any one of claims 1 to 4, characterized in that, Step S6 further includes the following steps: S61: Determine whether the second target robotic arm is in an incomplete planning state. If so, it indicates that there are other threads. Proceed to step S62. Otherwise, proceed directly to step S7; S62: Set the first target robotic arm to a planning incomplete state, release the planning permission, and enter a waiting state; S63: After the second target robotic arm removes the planning incomplete state in the other thread, it wakes up the first target robotic arm, and the first target robotic arm regains the planning permission.

6. The robotic arm collaboration method in a non-real-time system according to any one of claims 1 to 4, characterized in that, Step S7 further includes the following steps: S71: Determine whether the target path of the second target robotic arm obstructs the first target robotic arm; if so, proceed to step S72. Otherwise, proceed directly to step S8; S72: Insert an obstacle avoidance movement command into the second target robotic arm, set the first target robotic arm to an incomplete planning state, and release the planning permission; the robotic arm action command includes the obstacle avoidance movement command. S73: The first target robotic arm enters a waiting state; S74: When the second target robotic arm starts executing the obstacle avoidance movement command, it wakes up the first target robotic arm, and the first target robotic arm regains the planning authority and continues to step S8.

7. The robotic arm collaboration method in a non-real-time system according to any one of claims 1 to 4, characterized in that, Based on the moving directions of the first target robotic arm and the second target robotic arm, the starting position of the target path, and the target position, it is determined whether the target path of the second target robotic arm obstructs the first target robotic arm.

8. The robotic arm collaboration method in a non-real-time system according to any one of claims 1 to 4, characterized in that, When the first target robotic arm and the second target robotic arm move in the same direction, and when the starting position of the second target robotic arm is located on the target path of the first target robotic arm, and the target position of the second target robotic arm is located on the target path of the first target robotic arm; it is determined that the target path of the second target robotic arm obstructs the first target robotic arm.

9. The robotic arm collaboration method in a non-real-time system according to any one of claims 1 to 4, characterized in that, When the first target robotic arm and the second target robotic arm move toward each other, and when the target position of the second target robotic arm is located at or passes through the target path of the first target robotic arm, it is determined that the target path of the second target robotic arm obstructs the first target robotic arm.

10. The robotic arm collaboration method in a non-real-time system according to any one of claims 1 to 4, characterized in that, When the first target robotic arm moves toward or in the same direction as the second target robotic arm, and the starting position of the first target robotic arm is located on the target path of the second target robotic arm; report an anomaly.

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