A mobile universal workstation based on composite robot and control method

Abstract

The present application provides a mobile universal workstation and control method based on a composite robot, which are applied to the fields of artificial intelligence and robotics technology. According to the real-time needs of the production line, the robot body autonomously selects and installs appropriate tools, and calls corresponding software programs, thereby realizing the efficient execution of automation tasks in industrial production, significantly improving the flexibility and response speed of production automation, reducing dependence on manual operations, effectively reducing production costs, and improving the accuracy and safety of operations, providing strong technical support for the realization of unmanned or less-manned smart factories.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence and robotics technology, and in particular to a mobile universal workstation based on a composite robot and a control method thereof. Background Art

[0002] With the continuous advancement of science and technology, mobile robots have more and more application scenarios, and have many applications in civil and industrial fields. The requirements for the intelligence level of mobile robots are also increasing.

[0003] In industrial application scenarios, the degree of production automation is becoming increasingly higher, and robots are playing an increasingly larger and more important role.

[0004] However, even in some highly automated production lines or fully automated production scenarios, human involvement is still unavoidable in some cases. For example, handling abnormal situations in a production link in the production line, handling incidental situations in the production scenario, or regular maintenance and repair of the production line all require human involvement.

[0005] Based on this, a new mobile universal workstation based on a composite robot is needed that can independently complete major tasks. Summary of the invention

[0006] In view of this, the embodiments of this specification provide a mobile universal workstation and control method based on a composite robot. Based on the mobile composite robot body, multiple sets of physical tools and carriers are installed to realize manual replacement operations at the production site in the workshop, thereby completely replacing human labor. It is an indispensable component of an unmanned workshop.

[0007] The embodiments of this specification provide the following technical solutions:

[0008] The embodiment of this specification provides a mobile universal workstation based on a composite robot, and the mobile universal workstation based on the composite robot includes: a control system and a robot body;

[0009] The control system is used to receive and analyze the demand instructions of the production line, and schedule the robot body to perform the target task;

[0010] The robot body obtains corresponding operation instructions according to the demand instructions of the production line, and then accesses the tool unit library according to the operation instructions, selects and installs the tools and end grippers required to perform the target tasks, and calls the matching software programs from the operation software library according to the selected tools and end grippers.

[0011] Furthermore, the tool unit library is used to store tool modules and end gripper libraries;

[0012] Integrate the tool unit library on the robot body;

[0013] and / or, centrally stored at pre-set locations in the workshop;

[0014] and / or, installed at the point where the operation is performed.

[0015] Furthermore, when scheduling the robot body to perform a task, the control system obtains demand instructions for production links that require intervention based on analysis results of production rhythm achievement rates or operation hotspot levels in historical data.

[0016] Furthermore, when the control system schedules the robot body to perform tasks, the robot body uses the visual camera it carries to inspect the workshop and production line to obtain abnormal conditions in the production process;

[0017] According to the preset strategy, determine whether the identified abnormal situation requires intervention in the production process;

[0018] If intervention is required, obtain the demand instructions of the production link;

[0019] Otherwise, continue the inspection.

[0020] Furthermore, the mobile universal workstation based on the composite robot includes a plurality of robots;

[0021] When the control system dispatches the robots to perform tasks, the multiple robots participating in the collaborative task receive and analyze the demand instructions of the production line to obtain corresponding operation instructions;

[0022] Establish communication between multiple collaborative robots participating in collaborative tasks and keep data and communication synchronized;

[0023] According to the corresponding operation instructions, multiple robots perform operation tasks simultaneously or in sequence;

[0024] Keep data communication synchronized during mission execution;

[0025] After the collaborative task is completed, multiple robots confirm each other and report the confirmation information to the robot central control system for final confirmation.

[0026] The embodiment of this specification also provides a control method of a mobile universal workstation based on a composite robot. The mobile universal workstation based on a composite robot includes: a control system and a robot body. The control method of the mobile universal workstation based on a composite robot includes:

[0027] Configure the control system to:

[0028] Receive and analyze the demand instructions of the production line, determine the target task type and the corresponding production line operation point;

[0029] Generate corresponding operation instructions according to the target task type and the corresponding production line operation point;

[0030] Sending the operation instruction to the robot body to schedule the robot body to perform the target task;

[0031] Configure the robot body to do the following:

[0032] Receive the operation instruction, access the tool unit library according to the operation instruction, select and install the tool and end gripper required for performing the target task, and call the matching software program from the operation software library according to the selected tool and end gripper;

[0033] After the target task is completed, the state information is synchronized with the control system and the system returns to the standby state.

[0034] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0035] According to the real-time needs of the production line, the robot body autonomously selects and installs appropriate tools and calls the corresponding software programs, thereby realizing the efficient execution of automation tasks in industrial production, significantly improving the flexibility and response speed of production automation, reducing dependence on manual operations, and effectively reducing production costs. At the same time, it improves the accuracy and safety of operations, providing strong technical support for the realization of unmanned or less-manned smart factories. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a schematic diagram of the composition structure of the mobile universal workstation based on the composite robot in this application;

[0038] Figure 2 It is a functional module diagram of a mobile universal workstation based on a composite robot in this application;

[0039] Figure 3 It is the overall process framework diagram of the mobile universal workstation based on the composite robot in this application;

[0040] Figure 4This is an internal control logic implementation diagram of a mobile universal workstation in an embodiment of the present application;

[0041] Figure 5 It is a flow chart of autonomous judgment and autonomous operation of a mobile universal workstation based on a composite robot in an embodiment of the present application;

[0042] Figure 6 It is a logic control diagram of the internal control logic layer of a mobile universal workstation in an embodiment of the present application;

[0043] Figure 7 This is a flowchart of a mobile universal workstation in an embodiment of the present application working in collaboration with other robots or other workstations. DETAILED DESCRIPTION

[0044] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0045] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0046] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0047] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0048] As the degree of automation in industrial production increases, the market demand for robots that can perform diverse tasks in automated production lines is growing.

[0049] However, existing automated production lines often find it difficult to cope with changing demands and emergencies in the production process and still require manual intervention, such as handling abnormal situations, regular maintenance or equipment failures, which not only affects the continuity of production but also reduces overall efficiency.

[0050] In view of this, the inventors discovered through research and improvement exploration that the existing unmanned production lines are not always unmanned. For example, when a fault occurs in a certain link in the production line and needs to be eliminated, human participation is required; human participation is required for regular maintenance of the production line; when a certain equipment on the production line (such as mobile material transport or loading and unloading robots) cannot keep up with the production rhythm for some reason, human participation is required; and so on; the emergence of these situations directly affects the normal production and continuity of the production line.

[0051] Based on this, the embodiment of this specification proposes a mobile universal workstation based on a composite robot. The overall idea is: the design of the mobile universal workstation is divided into two levels, physical and software. At the physical level, the robot body is installed with the tool modules and replaceable end gripper library required in the corresponding production line; at the software level, there are operation process software packages and job software packages required for production line operations; when a certain link of the production line requires the participation of the mobile universal workstation, the mobile universal workstation immediately moves to the position of that link, autonomously selects and installs the appropriate end gripper and the appropriate tool from the tool unit library, and calls the operation process software package. At the same time, according to the current production line workbench information obtained by the visual sensor, it autonomously participates in the operations required by the production line in that link to ensure the continuity of production, replace manual labor, and realize unmanned production.

[0052] The technical solutions provided by various embodiments of the present application are described below in conjunction with the accompanying drawings.

[0053] like Figure 1 and 2 As shown, the embodiment of this specification provides a mobile universal workstation based on a composite robot, and the mobile universal workstation based on the composite robot includes: a control system and a robot body;

[0054] The control system is used to receive and analyze the demand instructions of the production line, and schedule the robot body to perform the target task;

[0055] The robot body obtains corresponding operation instructions according to the demand instructions of the production line, and then accesses the tool unit library according to the operation instructions, selects and installs the tools and end grippers required to perform the target tasks, and calls the matching software programs from the operation software library according to the selected tools and end grippers.

[0056] Specifically, Figure 3 As shown in the figure, the control system is responsible for receiving demand instructions from the production line, which may come from MES (Manufacturing Execution System) or other production management software. The control system parses these instructions, determines the type and priority of tasks to be performed, and then generates specific operation instructions.

[0057] According to the instructions provided by the control system, the robot body accesses the tool unit library, selects and installs the required tools and end grippers, and calls the matching software program from the operating software library according to the selected tools and end grippers.

[0058] After the tools and software programs are ready, the robot body moves to the designated production link to perform the task.

[0059] Figure 3 "Production line control system / MES" and "production equipment" are the trigger sources for the mobile universal workstation. That is, the production line control system, the workshop MES system or a certain production equipment can directly trigger the mobile universal workstation to start working.

[0060] The connection with the mobile universal workstation is through wireless communication.

[0061] "Arriving at the point and obtaining the current workspace information" means using the visual sensor carried by the workstation to obtain the current workspace information, and also includes directly communicating with the equipment at the current point to obtain information in order to determine the current status of the equipment.

[0062] "Change the end...synchronize...information" means that after obtaining the currently required operation type, the workstation autonomously changes the required tools and calls the corresponding job package program; in addition, when the operation needs to be performed, it is necessary to communicate with the equipment, or obtain the equipment's beat information and operate according to the beat requirements; or obtain the equipment's status and inform the equipment of the current execution information, etc., to ensure safety and feasibility of the operation.

[0063] The mobile universal workstation in this application is aimed at automated production lines to achieve unmanned production, unmanned maintenance, and unmanned operation.

[0064] In some embodiments, the tool unit library is used to store tool modules and end gripper libraries;

[0065] Integrate the tool unit library on the robot body;

[0066] and / or, centrally stored at pre-set locations in the workshop;

[0067] and / or, installed at the point where the operation is performed.

[0068] Specifically, the tool unit library stores and manages various tool modules and end grippers to meet the diverse operational requirements of the production line. Depending on the actual application scenario, they are integrated or stored in different ways:

[0069] It can be integrated on the robot body. When a specific task needs to be performed, the robot body can directly select and install the corresponding tools from the integrated tool unit library, so as to quickly respond to task requirements and improve operational efficiency.

[0070] They can be placed in preset locations in the workshop and can be updated and supplemented at any time as needed without changing the workstation itself. When the robot body receives the task instruction, it will first move to the location where the tool units are centrally stored, take the required tool units and install them by itself, and then go to the production line location where operation is required to perform the task.

[0071] It can also be installed at a predefined operation point that can be executed. When the point needs to be operated by the mobile universal workstation, the mobile universal workstation will reach the point and then take the corresponding tool, so that the tool can be obtained directly at the operation point, reducing the time to move to the tool storage point and improving the efficiency of task execution.

[0072] In some embodiments, the tool unit library presets a variety of tool units according to different operation tasks, wherein each of the tool units includes one or more tools and / or end clamps.

[0073] Specifically, the tool unit library is a collection of multiple independent tool units, each of which may include one or more tool modules and / or end grippers, and these tool units are designed to be quickly installed on the robot body according to task requirements.

[0074] In some embodiments, the tool unit library directly includes tool modules and / or end grippers.

[0075] Specifically, the tool unit library directly includes various tool modules and end grippers, and the robot body can directly select and install the required tool modules and / or end grippers from the tool unit library according to task requirements.

[0076] In some embodiments, before setting up the tool unit library, the production process or operation points that require the robot body to perform operations are pre-planned or defined.

[0077] Specifically, the links in a production line that can be operated by a mobile universal workstation (i.e., a mobile universal workstation) are evaluated and defined in advance, and the required tool units and corresponding operation software libraries are designed; for example, when a production line is defined to have 5 operation links that can be executed by a mobile universal workstation, 5 tool units are designed (each unit may have several tools inside), and the 5 tool units are installed on the robot body as a tool unit library; at the same time, corresponding control software is designed for the operation processes required at the 5 operation links as a job package module library, and the software library is installed in the body controller of the mobile universal workstation so that it can be called and operated when needed.

[0078] Let's take a simple example to illustrate: for example, in order to deal with an abnormal situation in a certain production link where the robot's loading and unloading operations are not timely or the rhythm cannot keep up, a mobile universal workstation is used to perform short-term loading and unloading operations.

[0079] In fact, in intelligent production lines, the loading and unloading operations of the production lines are mostly completed by mobile robots; moreover, the loading and unloading operations generally require a certain rhythm to meet the continuity of the production line. However, as an intelligent device, mobile robots may also have abnormalities. It is very likely that they will not be able to keep up with the loading and unloading operation rhythm required by the production line in a certain period of time, which will either cause the production line to idle or stop running due to insufficient loading, or cause congestion at the unloading location. This situation brings great risks to the normal operation of the production line. In order to avoid such situations, it is necessary to urgently call the mobile universal workstation after the mobile robot cannot keep up with the rhythm of the production line. The mobile universal workstation moves to a point where loading and unloading operations need to be supplemented, performs loading (unloading) operations, fills in the gaps caused by the loss of step in the rhythm of the original loading (unloading) robot, and maintains the normal operation of the production line.

[0080] Specifically, when the production line control system summons the mobile universal workstation, the mobile universal workstation moves to the required production line point. At the same time, according to the task type and the point operation type, the mobile universal workstation automatically installs the tools required at that location (from the tool unit library carried by the main body), and the control program calls the task software program required for the operation at that location; when the robot arrives at that location, it immediately carries out the corresponding operation based on the production line information obtained by the visual sensor it carries; in some scenarios, it can also communicate and interact directly with a certain device on the production line to successfully complete the operation. For example, in a CNC machine tool production line, the mobile universal workstation can communicate directly with the machine tool equipment to complete loading and unloading operations.

[0081] In some embodiments, before setting the tool unit library, the work task type and operation type of the robot body are preset.

[0082] Specifically, the work task type and operation type of the mobile universal workstation are specified. When the production line encounters an operation task that matches the operation type of the mobile universal workstation, the mobile universal workstation is summoned to a certain point to perform the corresponding operation.

[0083] The benefits are: according to the performance level that the mobile universal workstation can achieve and the complexity of the types of operations that can be performed, the work content of the workstation is determined. In combination with the needs of the production process, the work type range and operation scope of the mobile universal workstation can be expanded as much as possible. While increasing flexibility, the operating time of the workstation is increased, rather than just using the workstation as a temporary "firefighting" equipment. Higher requirements are placed on the technical performance and control performance of the workstation.

[0084] In some embodiments, when scheduling the robot body to perform a task, the control system obtains demand instructions for production links that require intervention based on analysis results of production cycle achievement rates or operational hotspot levels in historical data.

[0085] Specifically, Figure 4 As shown, the control system inside the workstation analyzes and makes decisions based on the received instructions, combined with the production rhythm achievement rate and operation hotspot level in the historical data, through the internal control logic implementation diagram of the operation mechanism, and after obtaining the demand instructions for the production link that needs to be intervened, it guides the robot body to move to the designated operation point.

[0086] In this application, "beat achievement rate" means that during the operation of the production line, the production line digital management system or the workshop management system will give the beat satisfaction rate of which production link of the production line every certain period of time. The lowest beat rate means that there is always a certain dissatisfaction rate in the beat of this link, which means that the production equipment in this link (such as a robot) has delays, is too busy, or even abnormal conditions or has too many failures. In this case, a mobile universal workstation will be deployed to supplement the operation to correct the situation where the beat achievement rate of this production link or unit is too low.

[0087] "Operational hotspot level" refers to the digital management system or other digital systems of the workshop. After a certain period of time, the digital management system of the workshop or other digital systems will calculate the busyness of each link of production or each production unit based on each device, or based on a certain production process or a certain process link. The busiest operation is marked as the highest hotspot level, similar to a heat map, and the busiest areas, equipment, and process links are shown in red. If the hotspot level is too high somewhere, it means that the equipment or link there is overloaded or too busy, which in some cases causes excessive production risks. In this case, the management system deploys mobile universal workstations to participate in execution and operation to alleviate the potential overload of related operating equipment and reduce possible operational risks in the production link.

[0088] This application is to coordinate the operation of the mobile universal workstation based on the needs of the production line or preventive needs, such as the beat achievement rate and the level of operational hotspots.

[0089] In some embodiments, when the control system schedules the robot body to perform a task, the robot body uses the visual camera it carries to inspect the workshop and production line to obtain abnormal conditions in the production process;

[0090] According to the preset strategy, determine whether the identified abnormal situation requires intervention in the production process;

[0091] If intervention is required, obtain the demand instructions of the production link;

[0092] Otherwise, continue the inspection.

[0093] Specifically, the mobile universal workstation participates in the corresponding links and performs the corresponding operations based on its own judgment and autonomous operation, as follows:

[0094] Using the visual camera carried by the workstation itself, inspect the workshop and production line, identify abnormal situations and independently determine the required operations. If the status alarm light of a certain device is flashing, immediately go there and further identify it accurately, and compare it with the type of status alarm light corresponding to the device built in its own software library, identify the corresponding alarm type and specific meaning, send it through the robot central control system, receive operation instructions, and perform corresponding operation actions. For example, if during the inspection process, if the alarm light of a machine tool equipment is on, immediately go to the vicinity of the machine tool and confirm the type of alarm light again through the visual camera, and match and confirm it with the alarm light database of the machine tool equipment stored in the mobile universal workstation, and perform the corresponding operation. For example, if the red flashing indicates that refilling is required, but the feeding robot is absent during this time period, the mobile universal workstation will report to the robot central control system, and will perform the task of material collection-transportation-feeding operation in the material collection warehouse, and wait for confirmation from the central control system. If the system confirmation instruction is received, the series of operation tasks will be carried out immediately.

[0095] like Figure 5 As shown, in the robot central control system, the estimated time for the next loading is determined according to the current state and task status of the robot originally assigned to perform the loading operation on the machine tool; and the possible time for the mobile universal workstation to fetch materials from the material warehouse and then return to the location of the machine tool is determined. According to the strategy of using whoever is faster, the request of the mobile universal workstation may be agreed or rejected.

[0096] Because in the production line or smart workshop, the task assignment or status of the mobile universal workstation will be summarized in the robot central control system. Moreover, the status and task types of all robots involved in the production line are collected and issued by the robot central control system.

[0097] In the above situation, even if a certain device is not controlled by the robot central control system, such as the machine tool equipment with the alarm light on in the example, although it is not controlled by the robot central control system, the working information of the device is interacted by the robot central control system and the digital platform of the workshop such as MES. Therefore, if the loading of the device is performed by a robot, the decision is made by the robot central control system; if it is other situations, such as manual loading, the robot central control system will report the request information of the mobile universal workstation to the workshop management system, and the management system will make corresponding judgments and decisions, and then transmit it to the robot central control system, and then reach the mobile universal workstation.

[0098] In some embodiments, the control system includes: a trigger logic module, a task analysis module, a task decomposition module, a task execution module and a task confirmation module;

[0099] The trigger logic module identifies the source of the production line demand instruction according to the received production line demand instruction;

[0100] The task parsing module parses the demand instruction of the identified source to obtain the task type of the demand instruction, wherein the task type includes: assigned task and inspection task;

[0101] The task decomposition module decomposes the parsed task type into two parts: movement and operation;

[0102] The moving part includes: autonomously planning a route according to the target point; the operating part includes: executing a corresponding vision-based operating action planning for the target point;

[0103] The task execution module schedules the robot body to execute the corresponding task according to the results of the analysis and decomposition;

[0104] The task confirmation module is used to confirm with the interactive device and provide feedback after the task execution module completes the task execution.

[0105] Specifically, Figure 6 As shown, the trigger logic layer identifies the trigger source that triggers the mobile universal workstation to start running, such as MES, production line equipment, robot central control system, etc.

[0106] The task analysis layer analyzes the tasks from the trigger source to determine whether they are tasks from autonomous inspections or tasks triggered by external trigger sources.

[0107] Task decomposition layer, which means that the workstation officially starts the task mode; the specific task is decomposed into two parts: movement and operation; movement is to autonomously plan the route according to the target point, there can be multiple target points, and the route is planned; operation is to plan the corresponding visual operation actions at the target point, including the autonomous replacement of the end gripper (end effector) of the robot arm, the planning of taking the corresponding tools, etc. At the same time, communication is established with related equipment for data synchronization.

[0108] At the task execution layer, the mobile universal workstation starts to execute tasks, including picking up and installing tools. After arriving at the operation point, it uses visual guidance to perform operations. After the operation is in progress or completed, the operation information is confirmed.

[0109] Task confirmation refers to confirming with the equipment after the task is completed and reporting to the robot central control system.

[0110] In some embodiments, the mobile universal workstation based on the composite robot includes a plurality of robots;

[0111] When the control system dispatches the robots to perform tasks, the multiple robots participating in the collaborative task receive and analyze the demand instructions of the production line to obtain corresponding operation instructions;

[0112] Establish communication between multiple collaborative robots participating in collaborative tasks and keep data and communication synchronized;

[0113] According to the corresponding operation instructions, multiple robots perform operation tasks simultaneously or in sequence;

[0114] Keep data communication synchronized during mission execution;

[0115] After the collaborative task is completed, multiple robots confirm each other and report the confirmation information to the robot central control system for final confirmation.

[0116] Specifically, Figure 7 As shown, a mobile universal workstation needs to collaborate with another mobile robot or another mobile universal workstation to perform tasks together.

[0117] For example: the robot central control system sends task instructions to the two robots (mobile universal workstation 1 and mobile robot A or mobile universal workstation 2) participating in the collaborative task. After receiving the instructions, the two robots establish communication and synchronize data and communication. According to the task instructions, they may perform their respective operation tasks simultaneously or sequentially. During the collaborative operation, the two robots maintain data communication synchronization to ensure the coordination and consistency of the tasks. After the task is completed, the two robots confirm each other and report the confirmation information of the completion of the collaborative action to the robot central control system to end the collaborative operation.

[0118] The collaborative operation mode in this embodiment improves operation efficiency and automation level, allowing multiple robots to jointly complete complex production tasks.

[0119] This application does not limit the mechanical structure of the robot body. For example, the mobile robot mobile universal workstation of this application may be in the form of a mobile universal workstation integrated with a single robotic arm or integrated with dual-arm collaboration; the robot body may accommodate multiple sets of tool units and their corresponding devices; the robot body may be equipped with multiple sets of robotic arm end effectors. Whichever body form is used depends on the application requirements.

[0120] Based on the same inventive concept, the present application also provides a control method for a mobile universal workstation based on a composite robot, the mobile universal workstation based on a composite robot comprising: a control system and a robot body, the control method for the mobile universal workstation based on a composite robot comprising:

[0121] Configure the control system to:

[0122] Receive and analyze the demand instructions of the production line, determine the target task type and the corresponding production line operation point;

[0123] Generate corresponding operation instructions according to the target task type and the corresponding production line operation point;

[0124] Sending the operation instruction to the robot body to schedule the robot body to perform the target task;

[0125] Configure the robot body to do the following:

[0126] Receive the operation instruction, access the tool unit library according to the operation instruction, select and install the tool and end gripper required for performing the target task, and call the matching software program from the operation software library according to the selected tool and end gripper;

[0127] After the target task is completed, the state information is synchronized with the control system and the system returns to the standby state.

[0128] In this specification, the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple, and the relevant parts can be referred to the partial description of the previous embodiments.

[0129] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A mobile universal workstation based on a composite robot, characterized in that: The mobile universal workstation based on the composite robot comprises: a control system and a robot body; The control system is used to receive and analyze the demand instructions of the production line, and schedule the robot body to perform the target task; The robot body obtains corresponding operation instructions according to the demand instructions of the production line, and then accesses the tool unit library according to the operation instructions, selects and installs the tools and end grippers required to perform the target tasks, and calls the matching software programs from the operation software library according to the selected tools and end grippers; The control system is also configured as: When scheduling the robot to perform the target task, based on the analysis results of the production cycle achievement rate and operation hotspot level in the historical data, the demand instructions for the production links that need to be intervened are obtained; The production beat achievement rate is used to deploy mobile universal workstations to supplement operations to alleviate the situation where the beat achievement rate of the production link or unit is too low; The operation hotspot level is used to deploy mobile universal workstations to participate in execution and operation, so as to alleviate the potential overload of operating equipment and reduce the operation risk of production links; In collaborative tasks, a communication synchronization mechanism is established with multiple robots to achieve multi-robot collaborative operation and data synchronization.

2. The mobile universal workstation based on a composite robot according to claim 1, characterized in that: The tool unit library is used to store tool modules and end gripper libraries; Integrate the tool unit library on the robot body; and / or, centrally stored at pre-set locations in the workshop; and / or, installed at the point where the operation is performed.

3. The mobile universal workstation based on a composite robot according to claim 2, characterized in that: The tool unit library presets a variety of tool units according to different operation tasks, wherein each of the tool units includes one or more tools and / or end clamps.

4. The mobile universal workstation based on a composite robot according to claim 2, characterized in that: Before setting up the tool unit library, the production process or operation points that require the robot body to perform operations are pre-planned or defined.

5. The mobile universal workstation based on a composite robot according to claim 2, characterized in that: Before setting the tool unit library, the work task type and operation type of the robot body are preset.

6. The mobile universal workstation based on a composite robot according to claim 1, characterized in that: When the control system schedules the robot body to perform tasks, the robot body uses the visual camera it carries to inspect the workshop and production line to obtain abnormal conditions in the production process; According to the preset strategy, determine whether the identified abnormal situation requires intervention in the production process; If intervention is required, obtain the demand instructions of the production link; Otherwise, continue the inspection.

7. The mobile universal workstation based on a composite robot according to claim 6, characterized in that: The control system includes: a trigger logic module, a task analysis module, a task decomposition module, a task execution module and a task confirmation module; The trigger logic module identifies the source of the production line demand instruction according to the received production line demand instruction; The task parsing module parses the demand instruction of the identified source to obtain the task type of the demand instruction, wherein the task type includes: assigned task and inspection task; The task decomposition module decomposes the parsed task type into two parts: movement and operation; The moving part includes: autonomously planning a route according to the target point; the operating part includes: executing a corresponding vision-based operating action planning for the target point; The task execution module schedules the robot body to execute the corresponding task according to the results of the analysis and decomposition; The task confirmation module is used to confirm with the interactive device and provide feedback after the task execution module completes the task execution.

8. The mobile universal workstation based on a composite robot according to claim 1, characterized in that: The mobile universal workstation based on the composite robot includes a plurality of robots; When the control system dispatches the robots to perform tasks, the multiple robots participating in the collaborative task receive and analyze the demand instructions of the production line to obtain corresponding operation instructions; Establish communication between multiple collaborative robots participating in collaborative tasks and keep data and communication synchronized; According to the corresponding operation instructions, multiple robots perform operation tasks simultaneously or in sequence; Keep data communication synchronized during mission execution; After the collaborative task is completed, multiple robots confirm each other and report the confirmation information to the robot central control system for final confirmation.

9. A control method for a mobile universal workstation based on a composite robot, characterized in that: The control method of the mobile universal workstation based on the composite robot is applied to the mobile universal workstation based on the composite robot as described in any one of claims 1 to 8, comprising: Receive and analyze the demand instructions of the production line and obtain the corresponding operation instructions; According to the operation instructions, access the tool unit library, select and install the tools and end grippers required to perform the target task; Depending on the selected tool and end gripper, the matching software program is called from the operating software library.

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