Multi-mobile-robot combined body combination device and control method thereof

Abstract

The invention discloses a multi-mobile-robot combined body combination device and a control method thereof, the device comprises a combined body structure, the combined body structure comprises a master mobile robot and at least one slave mobile robot, and the slave mobile robot is a mobile robot comprising at least two wheel sets; the master mobile robot and the slave mobile robot are independent mobile robots; the master mobile robot and the slave mobile robot are each provided with a front navigation sensor and a rear navigation sensor, and the heads and the tails of the master mobile robot and the slave mobile robot are each provided with a head butt joint device and a tail butt joint device. The combined device is navigated through data of a rear navigation sensor of the master mobile robot and a front navigation sensor of the last slave mobile robot, and the master mobile robot calculates the instantaneous rotation center of the current combined device according to navigation information. The method for combining any number of mobile robots with different wheel numbers and layouts into one mobile robot is easy to implement.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a multi-mobile robot assembly device and a control method thereof. Background Art

[0002] Mobile robots are an important part of the automated logistics system and one of the core mobile handling units for the logistics system to achieve automation, intelligence and flexibility. At present, the combination of mobile robots relies on wireless communication. Although the control methods used by different manufacturers are different, they are generally only used for the coordination between two mobile robots, and it is difficult to achieve coordination between more mobile robots. Multiple mobile robots are limited by the delay of wireless communication, and the control accuracy between each collaborative unit is difficult to guarantee. Especially when the mobile robot enters an area with poor communication, the problem of long signal delay time seriously affects the safety of coordination between mobile robots. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-mobile robot assembly device and a control method thereof, in order to address the problem that currently existing traditional mobile robots are generally only used for collaboration between two mobile robots, it is difficult to achieve collaboration between more mobile robots, and it is difficult to ensure the control accuracy and collaboration safety between each collaboration unit. The method of combining any number of mobile robots with different numbers and layouts of wheels into one mobile robot is easy to implement.

[0004] The technical solution of the present invention is as follows:

[0005] A multi-mobile robot combination device comprises a combination structure, wherein the combination structure comprises a master mobile robot and at least one slave mobile robot, wherein the slave mobile robot is a mobile robot including at least two wheel sets; the master mobile robot and the slave mobile robot are both independent mobile robots; the master mobile robot and the slave mobile robot are both equipped with a front navigation sensor and a rear navigation sensor, and the head and tail of the master mobile robot and the slave mobile robot are respectively provided with a head docking device and a tail docking device; the combination device navigates through the rear navigation sensor data of the master mobile robot and the front navigation sensor data of the last slave mobile robot, and the master mobile robot calculates the instantaneous rotation center of the current combination device based on the navigation information.

[0006] Furthermore, the main mobile robot calculates the instantaneous rotation center of the current assembly according to the navigation information, including:

[0007] The front navigation sensor gives the offset angle θf, and the rear navigation sensor gives the offset angle θr. Through the geometric relationship of the combined structure, the distance WheelBase between the front navigation sensor and the rear navigation sensor is obtained, and the instantaneous rotation center (Scx, Scy) of the current combined structure is calculated:

[0008]

[0009] The set speed of the assembly structure is V, the position of the vehicle body reference point in the vehicle body coordinate is (x, y), and the position of any wheel in the vehicle body coordinate is (Wheelx, Wheely);

[0010] Calculate the radius from the current wheel set to the instantaneous rotation center:

[0011]

[0012] The radius from the vehicle reference point to the instantaneous rotation center:

[0013]

[0014] The instantaneous rotation center (7) of the current assembly structure is the speed Vwheel and angle θwheel of the rotation center wheel set:

[0015]

[0016] Furthermore, the tail docking device of the master mobile robot is connected to the head docking device of the adjacent slave mobile robot, and the tail docking device of the slave mobile robot is connected to the head docking device of the adjacent slave mobile robot.

[0017] Furthermore, the head docking device and the tail docking device provide communication connections for the master mobile robot and the slave mobile robot or between the slave mobile robots.

[0018] Furthermore, the control information such as the speed and angle control of each wheel group of the slave mobile robot of the combined structure all comes from the master mobile robot.

[0019] Furthermore, the initialization form structure of the master mobile robot is information of a parameter form structure transmitted from the mobile robot through communication.

[0020] Furthermore, the control form of the master mobile robot is information calculated based on the control, which is transmitted to the controlled form of the slave mobile robot through communication; the slave mobile robot controls the wheel set according to the information in the controlled form.

[0021] The present application also includes a control method for a multi-mobile robot assembly device, including a master mobile robot control method and a slave mobile robot control method, wherein the master mobile robot control method includes:

[0022] After the main mobile robot is powered on, it detects the program connected to the slave vehicle and starts running;

[0023] Initialize the data in the initialization form structure and clear the count of the device variable K of the detection slave vehicle;

[0024] Check whether there is a combined demand message sent from the mobile robot. If not, wait. If yes, proceed to the next step.

[0025] Upon receiving the combined demand message sent by the slave mobile robot, the slave mobile robot replies with the combined demand message;

[0026] Detect whether information of the parameter form structure transmitted from the mobile robot through communication is received, and if received, store the information in the device form information;

[0027] The device variable K is incremented by one to point to the next structure of the initialized form structure;

[0028] After the device combination information transmission verification is completed, jump to detecting whether there is a combination demand message sent by the slave mobile robot, wait for a new slave mobile robot to access and send a combination demand message.

[0029] Furthermore, the slave mobile robot control method includes:

[0030] The program starts running after the mobile robot is powered on;

[0031] Check whether there is a connection on the tail connection device. If there is no connection, go to the next step, otherwise skip the next step;

[0032] If no connection is detected, the state is set to self-control state and the control is performed using the own data;

[0033] Sending a combined demand message to the main mobile robot via communication;

[0034] Check whether the main mobile robot has received the combined demand message. If not, it will wait, otherwise it will proceed to the next step;

[0035] Send the parameter form structure to the main mobile robot via communication;

[0036] Set the state to slave vehicle state, and use the data in the control form sent by the master mobile robot to control its own wheels.

[0037] Furthermore, the main mobile robot calculates the instantaneous rotation center of the current assembly according to the navigation information, including:

[0038] The front navigation sensor gives the offset angle θf, and the rear navigation sensor gives the offset angle θr. Through the geometric relationship of the combined structure, the distance WheelBase between the front navigation sensor and the rear navigation sensor is obtained, and the instantaneous rotation center (Scx, Scy) of the current combined structure is calculated:

[0039]

[0040] The set speed of the assembly structure is V, the position of the vehicle body reference point in the vehicle body coordinate is (x, y), and the position of any wheel in the vehicle body coordinate is (Wheelx, Wheely);

[0041] Calculate the radius from the current wheel set to the instantaneous rotation center:

[0042]

[0043] The radius from the vehicle reference point to the instantaneous rotation center:

[0044]

[0045] The instantaneous rotation center of the current assembly structure is the speed Vwheel and angle θwheel of the rotation center wheel set:

[0046]

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] A multi-mobile robot assembly assembly device and a control method thereof, which is a method for combining mobile robots of the same type with any number of different wheel numbers and layouts into one mobile robot through hard connection, and is easy to implement in engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a connection diagram of the device of this application.

[0050] Figure 2 This is a schematic diagram of the structure of the navigation device of the slave mobile robot of the device of the present application.

[0051] Figure 3 The combined control principle of the control method of this application is shown as follows: Figure 1 .

[0052] Figure 4 The combined control principle of the control method of this application is shown as follows: Figure 2 .

[0053] Figure 5This is a schematic diagram of the interactive information structure of the master mobile robot and the slave mobile robot of this application.

[0054] Figure 6 This is a flowchart of the steps for implementing the master-slave mobile robots of this application.

[0055] Figure 7 This is a working status diagram of an embodiment of the present application.

[0056] Figure markings: 1-master mobile robot, 2-slave mobile robot, 3-head connecting device, 4-tail connecting device, 5-front navigation sensor, 6-rear navigation sensor, 7-instantaneous rotation center, 10-initialization form structure, 11-parameter form structure, 12-control form, 13-controlled form. DETAILED DESCRIPTION

[0057] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0058] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0059] See also Figure 1-7 , a multi-mobile robot assembly device, such as Figure 1 As shown, it includes a combined structure, which includes a main mobile robot 1 and at least one slave mobile robot 2, the slave mobile robot 2 is a mobile robot including at least two wheel sets; the main mobile robot 1 and the slave mobile robot 2 are both independent mobile robots; Figure 2 As shown, the master mobile robot 1 and the slave mobile robot 2 are both installed with a front navigation sensor 5 and a rear navigation sensor 6, and the head and tail of the master mobile robot 1 and the slave mobile robot 2 are respectively provided with a head docking device 3 and a tail docking device 4; the combined device navigates through the data of the rear navigation sensor 6 of the master mobile robot 1 and the front navigation sensor 5 of the last slave mobile robot 2, and the master mobile robot 1 calculates the instantaneous rotation center 7 of the current combined device based on the navigation information.

[0060] like Figure 3 and Figure 4 As shown, the main mobile robot 1 calculates the instantaneous rotation center 7 of the current assembly according to the navigation information, including:

[0061] The front navigation sensor 5 gives the offset angle θf, and the rear navigation sensor 6 gives the offset angle θr. Through the geometric relationship of the combined structure, the distance WheelBase between the front navigation sensor 5 and the rear navigation sensor 6 is obtained, and the instantaneous rotation center 7 (Scx, Scy) of the current combined structure is calculated:

[0062]

[0063] The set speed of the assembly structure is V, the position of the vehicle body reference point in the vehicle body coordinate is (x, y), and the position of any wheel in the vehicle body coordinate is (Wheelx, Wheely);

[0064] Calculate the radius from the current wheel set to the instantaneous rotation center:

[0065]

[0066] The radius from the vehicle reference point to the instantaneous rotation center:

[0067]

[0068] The instantaneous rotation center 7 of the current assembly structure is the speed Vwheel and angle θwheel of the rotation center wheel set:

[0069]

[0070] The tail docking device 4 of the master mobile robot 1 is connected to the head docking device 3 of the adjacent slave mobile robot 2 , and the tail docking device 4 of the slave mobile robot 2 is connected to the head docking device 3 of the adjacent slave mobile robot 2 .

[0071] The head docking device 3 and the tail docking device 4 provide communication connection for the master mobile robot 1 and the slave mobile robot 2 or between the slave mobile robots 2 .

[0072] The speed and angle control information of each wheel set of the slave mobile robot 2 of the combined structure all comes from the master mobile robot 1.

[0073] like Figure 5 As shown, the initialization form structure 10 of the master mobile robot 1 is the information of the parameter form structure 11 transmitted from the mobile robot 2 through communication.

[0074] The control table 12 of the master mobile robot 1 is information calculated based on the control, and is transmitted to the controlled table 13 of the slave mobile robot 2 through communication; the slave mobile robot 2 controls the wheel set based on the information in the controlled table 13.

[0075] The present application also includes a control method for a multi-mobile robot assembly device, such as Figure 6 As shown, it includes a control method of a master mobile robot 1 and a control method of a slave mobile robot 2, and the control method of the master mobile robot 1 includes:

[0076] S100: After the master mobile robot 1 is powered on, it detects the program connected to the slave vehicle and starts running, and enters step S101.

[0077] S101: Initialize the data in the form structure 10 and clear the count of the device variable K for detecting the slave vehicle.

[0078] S102: Check whether there is a combined demand message sent from the mobile robot 2. If not, wait. If yes, proceed to S103.

[0079] S103: Upon receiving the combined demand message sent from the mobile robot 2, the mobile robot 2 replies with the combined demand message and enters step S104.

[0080] S104: Detect whether the information of the parameter form 11 transmitted from the mobile robot 2 through communication is received. If received, store the information in the initialization form structure 10 and jump to S105.

[0081] S105: The device variable K is incremented by one to point to the next structure of the initialization form structure 10. Jump to S106.

[0082] S106: After the equipment combination information transmission verification is completed, jump to S102 to wait for the new slave mobile robot 2 to access and send a combination request message. The control method of the slave mobile robot 2 includes:

[0083] S200: The program starts running after the mobile robot 2 is powered on and enters step S201.

[0084] S201: Check whether there is a connection on the tail connection device. If there is no connection, go to step S202, otherwise go to step S203.

[0085] S202: When no connection is detected, the state is set to the self-control state, and the self-data is used for control.

[0086] S203: Send the combined demand message to the main mobile robot 1 through communication.

[0087] S204: Check whether the main mobile robot 1 has received the combined demand message. If not, wait; otherwise, proceed to step S205.

[0088] S205: Send the own parameter form structure 11 to the main mobile robot 1 through communication, and enter step S206.

[0089] S206: Set the state to the slave vehicle state, and use the numbers in the control table 12 sent by the master mobile robot 1 to control its own wheel set.

[0090] The main mobile robot 1 calculates the instantaneous rotation center 7 of the current assembly according to the navigation information, including:

[0091] The front navigation sensor 5 gives the offset angle θf, and the rear navigation sensor 6 gives the offset angle θr. Through the geometric relationship of the combined structure, the distance WheelBase between the front navigation sensor 5 and the rear navigation sensor 6 is obtained, and the instantaneous rotation center 7 (Scx, Scy) of the current combined structure is calculated:

[0092]

[0093] The set speed of the assembly structure is V, the position of the vehicle body reference point in the vehicle body coordinate is (x, y), and the position of any wheel in the vehicle body coordinate is (Wheelx, Wheely);

[0094] Calculate the radius from the current wheel set to the instantaneous rotation center:

[0095]

[0096] The radius from the vehicle reference point to the instantaneous rotation center:

[0097]

[0098] The instantaneous rotation center 7 of the current assembly structure is the speed Vwheel and angle θwheel of the rotation center wheel set:

[0099]

[0100] In another specific embodiment, Figure 7 The figure shows an equipment production line. This product requires the components produced by production lines one to three to be assembled in sequence, and then assembled on production line four into a complete product application scenario.

[0101] During the production phase, the master mobile robot 1 is located on production line 1, and mobile robots 2 of the same type but with different numbers of wheels are located on production lines 2 and 3. At the start of production, production lines 1 to 3 each start production of their respective components. When production lines 1 and 2 are finished, the master mobile robot 1 moves from production line 1 to production line 2 and combines with the slave mobile robot 2 on production line 2 to form a combined unit. Navigation is performed using the data from the rear navigation sensor 6 of the master mobile robot 1 and the front navigation sensor 5 of the slave mobile robot 2 on production line 2.

[0102] When production line 3 is finished, the combined mobile robot on production line 2 moves to production line 3 and combines with the slave mobile robot 2 on production line 3 to form a combined unit. Navigation is performed using the rear navigation sensor (6) of the master mobile robot 1 and the front navigation sensor 5 data of the slave mobile robot 2 on production line 3. At this time, each component is located on the combined mobile robot. The combined mobile robot moves to production line 4 for assembly and offline.

[0103] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A multi-mobile robot assembly device, characterized in that: The invention comprises a combined structure, wherein the combined structure comprises a main mobile robot (1) and at least one slave mobile robot (2), wherein the slave mobile robot (2) is a mobile robot having at least two wheel sets; the main mobile robot (1) and the slave mobile robot (2) are both independent mobile robots; the main mobile robot (1) and the slave mobile robot (2) are both equipped with a front navigation sensor (5) and a rear navigation sensor (6), and the head and tail of the main mobile robot (1) and the slave mobile robot (2) are respectively provided with a head docking device (3) and a tail docking device (4); the combined device navigates through the data of the rear navigation sensor (6) of the main mobile robot (1) and the front navigation sensor (5) of the last slave mobile robot (2), and the main mobile robot (1) calculates the instantaneous rotation center (7) of the current combined device based on the navigation information.

2. A multi-mobile robot assembly device according to claim 1, characterized in that: The main mobile robot (1) calculates the instantaneous rotation center (7) of the current combined device according to the navigation information, including: The front navigation sensor (5) gives the offset angle θf, and the rear navigation sensor (6) gives the offset angle θr. Through the geometric relationship of the combined structure, the distance WheelBase between the front navigation sensor (5) and the rear navigation sensor (6) is obtained, and the instantaneous rotation center (7) (Scx, Scy) of the current combined structure is calculated: The set speed of the assembly structure is V, the position of the vehicle body reference point in the vehicle body coordinate is (x, y), and the position of any wheel in the vehicle body coordinate is (Wheelx, Wheely); Calculate the radius from the current wheel set to the instantaneous rotation center: The radius from the vehicle reference point to the instantaneous rotation center: The instantaneous rotation center (7) of the current assembly structure is the speed Vwheel and angle θwheel of the rotation center wheel set:

3. A multi-mobile robot assembly device according to claim 1, characterized in that: The tail docking device (4) of the master mobile robot (1) is connected to the head docking device (3) of the adjacent slave mobile robot (2), and the tail docking device (4) of the slave mobile robot (2) is connected to the head docking device (3) of the adjacent slave mobile robot (2).

4. A multi-mobile robot assembly device according to claim 3, characterized in that: The head docking device (3) and the tail docking device (4) provide a communication connection between the master mobile robot (1) and the slave mobile robot (2) or between the slave mobile robots (2).

5. The multi-mobile robot assembly device according to claim 1, characterized in that: The speed and angle control information of each wheel set of the slave mobile robot (2) of the combined structure all comes from the master mobile robot (1).

6. A multi-mobile robot assembly device according to claim 1, characterized in that: The initialization form structure (10) of the master mobile robot (1) is information of the parameter form structure (11) transmitted from the mobile robot (2) through communication.

7. A multi-mobile robot assembly device according to claim 6, characterized in that: The control table (12) of the master mobile robot (1) is information calculated based on control, and is transmitted to the controlled table (13) of the slave mobile robot (2) through communication; the slave mobile robot (2) controls the wheel set based on the information in the controlled table (13).

8. A control method for a multi-mobile robot assembly device, characterized in that: The invention comprises a control method of a master mobile robot (1) and a control method of a slave mobile robot (2), wherein the control method of the master mobile robot (1) comprises: After the main mobile robot (1) is powered on, it detects the program connected to the slave vehicle and starts running; Initialize the data in the initialization form structure (10) and clear the device variable K count of the slave vehicle detection; Detect whether there is a combined demand message sent from the mobile robot (2), if not, wait, if yes, proceed to the next step; Upon receiving the combined demand message sent by the slave mobile robot (2), the slave mobile robot (2) replies with the combined demand message; Detecting whether information of a parameter form structure (11) transmitted from a mobile robot (2) through communication is received, and if received, storing the information in an initialization form structure (10); The device variable K is incremented by one to point to the next structure of the initialization form structure (10); After the equipment combination information transmission verification is completed, the process jumps to detecting whether a combination demand message is sent from the mobile robot (2), and waits for a new mobile robot (2) to access and send a combination demand message.

9. The control method of a multi-mobile robot assembly device according to claim 8, characterized in that: The control method of the slave mobile robot (2) comprises: The program starts running after the mobile robot (2) is powered on; Check whether there is a connection on the tail connection device. If there is no connection, go to the next step, otherwise skip the next step; If no connection is detected, the state is set to self-control state and the control is performed using the own data; Sending a combined demand message to the main mobile robot (1) via communication; Detect whether the main mobile robot (1) receives the combined demand message, if not, wait, otherwise proceed to the next step; Sending the parameter form structure (11) to the main mobile robot (1) via communication; Set the state to slave vehicle state, and use the data in the control form (12) sent by the master mobile robot (1) to control its own wheel set.

10. The control method of a multi-mobile robot assembly device according to claim 8, characterized in that: The main mobile robot (1) calculates the instantaneous rotation center (7) of the current combined device according to the navigation information, including: The front navigation sensor (5) gives the offset angle θf, and the rear navigation sensor (6) gives the offset angle θr. Through the geometric relationship of the combined structure, the distance WheelBase between the front navigation sensor (5) and the rear navigation sensor (6) is obtained, and the instantaneous rotation center (7) (Scx, Scy) of the current combined structure is calculated: The set speed of the assembly structure is V, the position of the vehicle body reference point in the vehicle body coordinate is (x, y), and the position of any wheel in the vehicle body coordinate is (Wheelx, Wheely); Calculate the radius from the current wheel set to the instantaneous rotation center: The radius from the vehicle reference point to the instantaneous rotation center: The instantaneous rotation center (7) of the current assembly structure is the speed Vwheel and angle θwheel of the rotation center wheel set:

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