Multi-robot control system and method, computer readable storage medium and electronic equipment

Abstract

The invention discloses a multi-robot control system, which comprises a master robot control system and at least one slave robot control system, and each of the master robot control system and the slave robot control system comprises a demonstrator, a multi-robot control module, a communication module, a servo control module and a robot control module; the demonstrator is used for carrying out man-machine interaction, and parameter setting and operation are carried out on the robot through the robot remote teaching device; the multi-robot control module is used for performing forward and inverse solution operation calculation according to the robot feedback information acquired by the robot control module and generating a control instruction for the robot; the communication module comprises a field bus Ethercat, a master station and a slave station and is used for being responsible for real-time field bus management; the servo control module is used for controlling the action of each servo motor based on the position instruction of the robot control module; the robot control module is used for acquiring feedback information of the robot from the servo control module and executing a robot control instruction, and the control instruction comprises a robot position instruction and a system variable instruction; the invention further discloses a multi-robot control method, a computer readable storage medium and electronic equipment. The multi-robot control method does not need an additional upper computer or PLC assistance.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a multi-robot control system, method, computer-readable storage medium and electronic equipment. Background Art

[0002] Traditional manufacturing is facing industrial upgrading and intelligent transformation, and industrial robots are an important part of intelligent transformation. Faced with increasingly complex production processes, a single robot is often unable to meet production requirements. More and more industrial robot application scenarios require dual or multi-robot operators to work together. The current robot control system mainly focuses on single robot control, and has weak multi-robot control and inter-robot coordination capabilities. Generally, the robot control system needs to introduce a host computer or PLC to assist in the coordinated control of robots, which increases the equipment cost and system complexity of multi-robot collaborative use scenarios. For this reason, it is of great significance to develop a robot control system with multi-robot master and slave control capabilities to reduce the control complexity of the multi-robot system. The control system needs to meet the control of a single robot and be able to control multiple robots and handle multiple robots well. The robot control system architecture and communication capabilities are crucial. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a multi-robot control system, method, computer-readable storage medium and electronic device. The present invention does not require the assistance of an additional host computer or PLC.

[0004] To achieve the above object, the technical solution adopted by the present invention is: a multi-robot control system, including a master robot control system and at least one slave robot control system, each of the master robot control system and the slave robot control system includes: a teaching pendant, a multi-robot control module, a communication module, a servo control module and a robot control module; wherein:

[0005] The teaching pendant is used for human-machine interaction, and the robot parameters are set and operated through the robot remote teaching device;

[0006] The multi-robot control module is used to perform forward and inverse operation operations according to the robot feedback information obtained by the robot control module to generate control instructions for the robot;

[0007] Communication modules, including fieldbus Ethercat and EtherNet / IP master and slave, responsible for real-time fieldbus management;

[0008] A servo control module, used for controlling the motion of each servo motor based on the position instruction of the robot control module;

[0009] The robot control module is used to obtain the robot's feedback information from the servo control module and execute the robot's control instructions, which include the robot's position instructions and system variable instructions.

[0010] The present invention also provides a multi-robot control method, which is implemented by using the multi-robot control system as described above, and the control method comprises:

[0011] The teaching pendant of the master robot control system is used as the teaching pendant of the multi-robot control system. The teaching pendant of the slave robot control system does not have control authority, and the master robot control system controls the multi-robots.

[0012] The main robot control system obtains its own system variables, obtains its own system variables from the robot control module of the slave robot control system, sends them to the communication module of the main robot control system through the communication module of the slave robot control system, and receives its own position information and system variables from the main robot control system through the communication module.

[0013] The present invention also provides a computer-readable storage medium, wherein the storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer runs the multi-robot control method as described above.

[0014] The present invention also provides an electronic device, comprising: a processor and a memory;

[0015] The memory stores computer instructions in the computer-readable storage medium as described above, and the processor calls the computer instructions to execute the multi-robot control method.

[0016] The beneficial effects of the present invention are:

[0017] The present invention provides a robot control system that can reduce costs regardless of the number of robots to be controlled. The number of robots depends on the CPU performance of the robot control system hardware carrier, and no additional host computer or PLC assistance is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a system architecture diagram of an embodiment of the present invention;

[0019] Figure 2 This is an architecture diagram of multi-robot collaborative control in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0021] Example

[0022] like Figure 1 As shown, a multi-robot control system includes: a teaching pendant 101, a multi-robot control module 102, a communication module 103, a servo control module 104, and a robot control module 105. The robot system integrates the servo control module to achieve integrated robot drive and control.

[0023] The teaching pendant 101 is used for human-computer interaction. The robot is parameterized and operated through the robot remote teaching device. Specifically, the teaching pendant runs the human-computer interaction interface of the robot, and the operator can perform programming, parameter setting, etc. through the robot teaching pendant.

[0024] The relationship between the modules in the robot control system is as follows Figure 1 The arrow connection line, Figure 1 The main relationships between modules are shown in the figure, and the arrows indicate the main control processes and data transmission directions between robot control systems.

[0025] The servo control module 104 is externally connected to the servo motor of the robot. The servo motor includes an encoder. The servo control module communicates with the motor encoder of the robot to obtain the position information of the motors of each axis of the robot as feedback information of the robot.

[0026] The robot control module 105 obtains the feedback information of the robot from the servo control module 104.

[0027] The multi-robot control module 102 obtains the feedback information of the robot from the robot control module 105, performs forward and inverse operation operations, and generates robot control instructions.

[0028] The robot control module 105 executes the robot control instructions, which include robot position instructions and system variable instructions.

[0029] The servo control module 104 controls the motion of each servo motor based on the position command from the robot control module.

[0030] The communication module 103 is responsible for real-time fieldbus management. The communication module 103 includes fieldbus Eterhcat and EtherNet / IP master and slave. The Eterhcat and EtherNet / IP master are implemented in an open source manner. The communication module 103 slave uses HMS's Anybus fieldbus extension. The module has a universal hardware interface and supports EtherCAT, EtherNet / IP, ProfiNet, and CC-Link IE protocols. Different bus slaves can be supported by using different protocol modules.

[0031] The communication module 103 is also used for sensor and PLC communication.

[0032] Teach pendant 101, the robot teach pendant to the multi-robot control module includes a safety signal interface, which mainly includes emergency stop, enable switch, mode switch. After the control module receives the safety signal, it will correspondingly switch to the corresponding safety and logic processing program; the teach pendant 101 sends various parameters, programs, key operations and other information in the robot remote teach pendant to the robot system through network communication, and at the same time feeds back various operating states of the robot to the robot remote teach pendant, and modifies the robot system parameters and teach pendant program programming through buttons and screens.

[0033] like Figure 2 As shown, this embodiment also provides a multi-robot control method, including:

[0034] In case of multi-robot control, the master robot control system acts as the master control system, the slave robot control system acts as the slave control system, and other robot control systems can be added as slave control systems.

[0035] When controlling a multi-robot system, the teach pendant 101 of the master control system serves as the multi-robot system teach pendant, and the teach pendant of the slave control system does not have control authority. The teach pendant of the slave robot control system is invalid and can only be used as a display without control capability.

[0036] When multiple robots are controlled collaboratively, the main control system obtains feedback information from the control system of its own robot and the control system of the slave robots to control the multiple robots.

[0037] During multi-robot collaborative control, the master control system obtains the robot system variables of the local robot control system and the slave robot control system.

[0038] During multi-robot control, the slave robot control module 105 sends the robot feedback and system variable information to the master control system bus communication module 103 through the bus communication module.

[0039] When multiple robots are controlled, the slave receives the position information and system variables of the master control system from the bus communication module 103 .

[0040] During multi-robot control, the slave control system 200 maps system variables to the master robot control system 100, and the master robot control system manages the local system variables and the slave system variables.

[0041] When the bus communication module is used for multi-robot control, the communication module of the main control system acts as the communication master station, and the communication module of the slave control system acts as the communication slave station. The main control system sends control instructions to the slave control system, which include robot position instructions and system variable instructions, and receives robot feedback and system variable information from the slave control system, so as to achieve the purpose of the main control system controlling two robots and multiple robots.

[0042] This embodiment also provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer runs the multi-robot control method as described above.

[0043] This embodiment also provides an electronic device, including: a processor and a memory;

[0044] The memory stores computer instructions in the computer-readable storage medium as described above, and the processor calls the computer instructions to execute the multi-robot control method.

[0045] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A multi-robot control system, characterized in that: It includes a master robot control system and at least one slave robot control system, each of which includes: a teaching pendant, a multi-robot control module, a communication module, a servo control module and a robot control module; wherein: The teaching pendant is used for human-machine interaction, and the robot parameters are set and operated through the robot remote teaching device; The multi-robot control module is used to perform forward and inverse operation operations according to the robot feedback information obtained by the robot control module to generate control instructions for the robot; Communication modules, including fieldbus Eterhcat and EtherNet / IP master and EtherNet / IP slave, responsible for real-time fieldbus management; A servo control module, used for controlling the motion of each servo motor based on the position instruction of the robot control module; The robot control module is used to obtain the robot's feedback information from the servo control module and execute the robot's control instructions, which include the robot's position instructions and system variable instructions.

2. A multi-robot control method, characterized in that: The multi-robot control system according to claim 1 is used to implement the control method, wherein the control method comprises: The teaching pendant of the master robot control system is used as the teaching pendant of the multi-robot control system. The teaching pendant of the slave robot control system does not have control authority, and the master robot control system controls the multi-robots. The main robot control system obtains its own system variables, obtains its own system variables from the robot control module of the slave robot control system, sends them to the communication module of the main robot control system through the communication module of the slave robot control system, and receives its own position information and system variables from the main robot control system through the communication module.

3. A computer-readable storage medium, characterized in that: The storage medium stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer runs the multi-robot control method as claimed in claim 2.

4. An electronic device, characterized in that: include: Processor and memory; The memory stores computer instructions in the computer-readable storage medium according to claim 3, and the processor calls the computer instructions to execute the multi-robot control method.

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