Cooperative control system for multiple industrial robots

Abstract

The invention discloses a cooperative control system for multiple industrial robots, relates to the technical field of cooperative control of the industrial robots, and solves the technical problems that in the prior art, the task execution sequence cannot be planned in the operation process of the industrial robots, and routes cannot be formulated during operation of the multiple industrial robots. Specifically, a task execution planning unit performs task execution planning on the industrial robot, obtains task execution planning analysis coefficients of the industrial robot, and performs to-be-executed task division according to comparison of the execution planning analysis coefficients; after the task execution planning is completed, an execution route making unit carries out execution route making on the operation areas of the multiple industrial robots, and after execution route making is completed, line collaboration is carried out on the multiple industrial robots in the execution process through a line collaboration control unit; and after the line cooperative control is completed, the line obstacle avoidance intelligent control unit performs obstacle avoidance intelligent control on the real-time distribution line of the industrial robot.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative control of industrial robots, and in particular to a collaborative control system of multiple industrial robots. Background Art

[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and relies on its own power and control capabilities to achieve various functions. It can accept instructions and run according to pre-programmed programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology.

[0003] However, in the prior art, it is impossible to plan the order of task execution during the operation of industrial robots, and it is impossible to formulate routes when multiple industrial robots are running. In addition, it is impossible to coordinate routes after route formulation is completed, resulting in reduced operating efficiency of industrial robots.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the above-mentioned problems and to provide a collaborative control system for multiple industrial robots.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A collaborative control system for multiple industrial robots, comprising a collaborative control center, wherein the collaborative control center is communicatively connected to a task execution planning unit, an execution route formulation unit, a route collaborative control unit, and a route obstacle avoidance intelligent control unit;

[0008] The task execution planning unit performs task execution planning for the industrial robot, performs intelligent planning according to the current task carried by the industrial robot, sets the industrial robot to be labeled i, i is a natural number greater than 1, marks the task to be executed of the industrial robot as o, o is a natural number greater than 1, obtains the task execution planning analysis coefficient of the industrial robot, and divides the tasks to be executed according to the comparison of the execution planning analysis coefficient;

[0009] After completing the task execution planning, the execution route formulation unit formulates the execution routes for the operation areas of multiple industrial robots. After completing the execution route formulation, the line coordination control unit performs line coordination during the execution of multiple industrial robots;

[0010] After completing the route collaborative control, the route obstacle avoidance intelligent control unit performs intelligent obstacle avoidance control on the real-time delivery route of the industrial robot.

[0011] As a preferred implementation of the present invention, the operation process of the task execution planning unit is as follows:

[0012] Obtain the cumulative speed of the number of pending tasks corresponding to the same batch of orders in the tasks currently carried by the industrial robot and the maximum peak value of the proportion of task execution cycle time when the pending tasks are not executed at the current moment; obtain the shortening speed of the deviation value between the warning time of the pending tasks and the remaining time of the execution cycle in the tasks currently carried by the industrial robot; obtain the industrial robot task execution planning analysis coefficient through analysis; compare the industrial robot task execution planning analysis coefficient with the execution planning analysis coefficient threshold.

[0013] As a preferred embodiment of the present invention, if the execution planning analysis coefficient of the industrial robot task exceeds the execution planning analysis coefficient threshold, the corresponding task to be executed in the corresponding industrial robot is marked as a priority execution task; if the execution planning analysis coefficient of the industrial robot task does not exceed the execution planning analysis coefficient threshold, the corresponding task to be executed in the corresponding industrial robot is marked as a secondary execution task;

[0014] The priority execution tasks and secondary execution tasks carried by the corresponding industrial robot in real time are sorted in descending order according to the corresponding execution planning analysis coefficients. If the estimated end time of the last task in the priority execution task exceeds the corresponding set execution cycle, it is determined that the current priority execution task needs to be processed collaboratively, and the current priority execution task is sent to the collaborative control center. After receiving it, the collaborative control center will schedule the current priority execution task of the corresponding industrial robot.

[0015] As a preferred embodiment of the present invention, the operation process of executing the route making unit is as follows:

[0016] The tasks to be executed in each industrial robot are collected and the delivery routes of the industrial robots are constructed according to the completed and sorted tasks to be executed and the positions of the corresponding tasks to be executed. The delivery routes of each industrial robot are analyzed for overlapping sections and an overlapping section threshold is set. If the overlapping routes of the corresponding industrial robot delivery routes exceed the overlapping section threshold, the corresponding industrial robot is executed. If the overlapping routes of the corresponding industrial robot delivery routes do not exceed the overlapping section threshold, the delivery routes of the corresponding industrial robots are set as the executed routes.

[0017] The amount of reduction in the distance of the reciprocating moving sections after the industrial robot fails to execute the corresponding overlapping sections and the proportion of the distance of the overlapping sections that need to be moved again after the industrial robot completes the movement of the corresponding overlapping sections are obtained, and the amount of reduction in the distance of the reciprocating moving sections after the industrial robot fails to execute the corresponding overlapping sections and the proportion of the distance of the overlapping sections that need to be moved again after the industrial robot completes the movement of the corresponding overlapping sections are compared with the section distance reduction threshold and the section distance proportion threshold respectively.

[0018] As a preferred implementation mode of the present invention, if the reduction amount of the reciprocating section distance after the industrial robot fails to execute the corresponding overlapping section exceeds the section distance reduction amount threshold, and the section distance ratio of the overlapping section that the industrial robot needs to move again after completing the movement of the corresponding overlapping section does not exceed the section distance ratio threshold, the corresponding industrial robot is marked as a preset task expenditure device; if the reduction amount of the reciprocating section distance after the industrial robot fails to execute the corresponding overlapping section does not exceed the section distance reduction amount threshold, or the section distance ratio of the overlapping section that the industrial robot needs to move again after completing the movement of the corresponding overlapping section exceeds the section distance ratio threshold, the corresponding industrial robot is marked as a preset task receiving device;

[0019] The preset task expenditure device and the preset task receiving device are matched in real time and the matched delivery route is used as the formulated execution route of the industrial robot. If the match is not successful, a single task or multiple tasks are temporarily scheduled according to the real-time delivery needs of the industrial robot.

[0020] As a preferred embodiment of the present invention, the operation process of the line cooperative control unit is as follows:

[0021] The position of the industrial robot to be executed is marked and set as the position node of the corresponding industrial robot's formulated execution route, and the position nodes of the formulated execution route of the industrial robots running in the current time period are analyzed. If the position nodes of the formulated execution route of the industrial robots running in the current time period have the same position nodes, and the estimated delivery time deviation duration corresponding to the same position node does not exceed the deviation duration threshold, the corresponding industrial robot is marked as a line to be coordinated device; on the contrary, if the position nodes of the formulated execution route of the industrial robots running in the current time period do not have the same position nodes, or the estimated delivery time deviation duration corresponding to the same position node exceeds the deviation duration threshold, the corresponding industrial robot is marked as a line without coordination equipment;

[0022] The interval duration value between the estimated completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated device and the set completion time, as well as the increase in delivery distance for priority execution of adjacent tasks to be executed corresponding to the same position node in the line to be coordinated device, are obtained, and the interval duration value between the estimated completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated device and the set completion time, as well as the increase in delivery distance for priority execution of adjacent tasks to be executed corresponding to the same position node in the line to be coordinated device, are compared with the interval duration value threshold and the delivery distance increase threshold, respectively.

[0023] As a preferred implementation of the present invention, if the interval duration between the estimated completion time and the set completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated device exceeds the interval duration value threshold, and the increase in the delivery distance of the adjacent task to be executed corresponding to the same position node in the line to be coordinated device does not exceed the delivery distance increase threshold, then if the current line to be coordinated device has the current type of device, the corresponding line to be coordinated device will be dispatched for delivery coordination, and the position nodes will be staggered;

[0024] If the interval duration between the estimated completion time and the set completion time of the task to be executed at the same time and the same position node in the line's coordinated equipment does not exceed the interval duration threshold, or the increase in delivery distance of the adjacent task to be executed at the same position node in the line's coordinated equipment exceeds the delivery distance increase threshold, then if the current line's coordinated equipment is all equipment of the current type, the delivery of the corresponding line's coordinated equipment will be delayed, and the industrial robot in the line's coordinated equipment will be delayed according to the remaining duration of the task at the corresponding node with the same position.

[0025] As a preferred embodiment of the present invention, the operation process of the route obstacle avoidance intelligent control unit is as follows:

[0026] Obtain the buffer analysis duration of obstacles detected and avoided during the delivery process of a single industrial robot, as well as the constant frequency of the shortest safe distance between the industrial robot and obstacles when a single industrial robot avoids obstacles; obtain the reserved safe distance between the offset area of ​​the active obstacle-avoiding industrial robot and the passage area of ​​the active non-obstacle-avoiding industrial robot during the delivery process of multiple industrial robots; obtain the intelligent control coefficient of obstacle avoidance of the industrial robot route through analysis;

[0027] The obstacle avoidance intelligent control coefficient of the industrial robot route is compared with the obstacle avoidance intelligent control coefficient threshold range.

[0028] As a preferred embodiment of the present invention, if the obstacle avoidance intelligent control coefficient of the industrial robot route exceeds the maximum value of the obstacle avoidance intelligent control coefficient threshold range, an obstacle avoidance intelligent adjustment signal is generated and sent to the collaborative control center. After the collaborative control center receives the obstacle avoidance intelligent adjustment signal, the buffer analysis duration of the industrial robot obstacle avoidance is controlled and the actual obstacle avoidance safety distance is slowly reduced under the premise of safe delivery.

[0029] If the obstacle avoidance intelligent control coefficient of the industrial robot route is within the obstacle avoidance intelligent control coefficient threshold range, an obstacle avoidance control qualified signal is generated and the obstacle avoidance control qualified signal is sent to the collaborative control center; if the obstacle avoidance intelligent control coefficient of the industrial robot route does not exceed the minimum value of the obstacle avoidance intelligent control coefficient threshold range, an obstacle avoidance control abnormal signal is generated and the obstacle avoidance control abnormal signal is sent to the collaborative control center.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. In the present invention, task execution planning is performed for industrial robots, intelligent planning is performed according to the tasks currently carried by the industrial robots, the task execution sequence is reasonably planned, the operating efficiency of the industrial robots is improved, and the efficiency of completing industrial production tasks by the industrial robots is enhanced; execution routes are formulated for multiple industrial robot operating areas, the operating efficiency of the industrial robots in the industrial production areas is improved, the distribution efficiency of multiple industrial robots during operation is ensured, and the transportation cost of the industrial robots is reduced.

[0032] 2. In the present invention, route coordination is performed during the execution of multiple industrial robots. Route execution coordination is performed according to the formulated execution routes of each industrial robot to avoid congestion in the delivery of industrial robots, increase the obstacle avoidance strength of the robots, actively perform route coordination planning, effectively improve the delivery efficiency of industrial robots and reduce the risk of collision in the delivery of industrial robots.

[0033] 3. In the present invention, after receiving the route obstacle avoidance intelligent control signal, the route obstacle avoidance intelligent control unit performs obstacle avoidance intelligent control on the real-time delivery route of the industrial robot, and performs obstacle avoidance intelligent analysis during real-time operation to determine whether the obstacle avoidance performance of the current industrial robot meets the demand, thereby ensuring that the obstacle avoidance performance of the industrial robot meets the demand and improving the delivery efficiency of the industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0035] Figure 1 It is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] See also Figure 1 As shown, a collaborative control system of multiple industrial robots includes a collaborative control center, wherein the collaborative control center is communicatively connected to a task execution planning unit, an execution route formulation unit, a route collaborative control unit, and a route obstacle avoidance intelligent control unit;

[0039] The collaborative control center generates a task execution planning signal and sends the task execution planning signal to the task execution planning unit. After receiving the task execution planning signal, the task execution planning unit performs task execution planning for the industrial robot, performs intelligent planning based on the current tasks carried by the industrial robot, reasonably plans the task execution sequence, improves the operating efficiency of the industrial robot, and enhances the completion efficiency of the industrial robot's industrial production task execution;

[0040] Set the industrial robot to have a label i, where i is a natural number greater than 1, mark the pending tasks of the industrial robot as o, where o is a natural number greater than 1, obtain the cumulative speed of the pending tasks corresponding to the pending tasks of the same batch of orders in the current tasks carried by the industrial robot and the maximum peak value of the task execution cycle time ratio when the pending tasks are not executed at the current moment, and mark the cumulative speed of the pending tasks corresponding to the pending tasks of the same batch of orders in the current tasks carried by the industrial robot and the maximum peak value of the task execution cycle time ratio when the pending tasks are not executed at the current moment as LJVio and FZVio respectively; obtain the deviation value shortening speed of the warning time of the pending tasks in the current tasks carried by the industrial robot and the remaining execution cycle duration, and mark the deviation value shortening speed of the warning time of the pending tasks in the current tasks carried by the industrial robot and the remaining execution cycle duration as SDVio;

[0041] By formula The industrial robot task execution planning analysis coefficient Gio is obtained, where f1, f2 and f3 are all preset proportional coefficients, and f1>f2>f3>1, e is a natural constant, and α is an error correction factor, which is 1.64;

[0042] Compare the industrial robot task execution planning analysis coefficient Gio with the execution planning analysis coefficient threshold:

[0043] If the industrial robot task execution planning analysis coefficient Gio exceeds the execution planning analysis coefficient threshold, the corresponding task to be executed in the corresponding industrial robot is marked as a priority execution task; if the industrial robot task execution planning analysis coefficient Gio does not exceed the execution planning analysis coefficient threshold, the corresponding task to be executed in the corresponding industrial robot is marked as a secondary execution task;

[0044] The priority execution tasks and the secondary execution tasks carried by the corresponding industrial robot in real time are sorted in descending order according to the corresponding execution planning analysis coefficients. If the estimated end time of the last task in the priority execution tasks exceeds the corresponding set execution cycle, it is determined that the current priority execution task needs to be processed collaboratively, and the current priority execution task is sent to the collaborative control center. After receiving it, the collaborative control center will schedule the current priority execution task of the corresponding industrial robot, that is, arrange it to be executed by other industrial robots;

[0045] After completing the task execution planning, an execution route making signal is generated and sent to the execution route making unit. After receiving the execution route making signal, the execution route making unit makes execution routes for multiple industrial robot operation areas, thereby improving the operation efficiency of industrial robots in the industrial production area, ensuring the distribution efficiency of multiple industrial robots during operation, and reducing the transportation cost of industrial robots.

[0046] The tasks to be executed in each industrial robot are collected and the delivery routes of the industrial robots are constructed according to the completed and sorted tasks to be executed and the positions of the corresponding tasks to be executed. The delivery routes of each industrial robot are analyzed for overlapping sections and an overlapping section threshold is set. If the overlapping routes of the corresponding industrial robot delivery routes exceed the overlapping section threshold, the corresponding industrial robot is executed. If the overlapping routes of the corresponding industrial robot delivery routes do not exceed the overlapping section threshold, the delivery routes of the corresponding industrial robots are set as the executed routes.

[0047] The reduction amount of the reciprocating section distance after the industrial robot fails to execute the corresponding overlapping section and the section distance ratio of the overlapping section that needs to be moved again after the industrial robot completes the movement of the corresponding overlapping section are obtained, and the reduction amount of the reciprocating section distance after the industrial robot fails to execute the corresponding overlapping section and the section distance ratio of the overlapping section that needs to be moved again after the industrial robot completes the movement of the corresponding overlapping section are compared with the section distance reduction threshold and the section distance ratio threshold respectively:

[0048] If the reduction in the distance of the reciprocating moving section after the corresponding overlapping section of the industrial robot is not executed exceeds the threshold of the section distance reduction, and the proportion of the distance of the overlapping section that the industrial robot needs to move again after completing the movement of the corresponding overlapping section does not exceed the threshold of the distance proportion, the corresponding industrial robot will be marked as a preset task expenditure device; if the reduction in the distance of the reciprocating moving section after the corresponding overlapping section of the industrial robot is not executed does not exceed the threshold of the section distance reduction, or the proportion of the distance of the overlapping section that the industrial robot needs to move again after completing the movement of the corresponding overlapping section exceeds the threshold of the distance proportion, the corresponding industrial robot will be marked as a preset task receiving device;

[0049] Match the preset task expenditure device with the preset task receiving device in real time and use the matched delivery route as the formulated execution route of the industrial robot. If the match is not successful, perform a single task temporary scheduling or multiple tasks temporary scheduling according to the real-time delivery needs of the industrial robot;

[0050] After the execution route is formulated, a route coordination control signal is generated and sent to the route coordination control unit. After receiving the route coordination control signal, the route coordination control unit performs route coordination during the execution of multiple industrial robots. Route execution coordination is performed according to the formulated execution routes of each industrial robot to avoid congestion in the delivery of industrial robots, increase the obstacle avoidance strength of the robots, and actively perform route coordination planning, which effectively improves the delivery efficiency of industrial robots and reduces the risk of collisions in the delivery of industrial robots.

[0051] The position of the industrial robot to be executed is marked and set as the position node of the corresponding industrial robot's formulated execution route, and the position nodes of the formulated execution route of the industrial robots running in the current time period are analyzed. If the position nodes of the formulated execution route of the industrial robots running in the current time period have the same position nodes, and the estimated delivery time deviation duration corresponding to the same position node does not exceed the deviation duration threshold, the corresponding industrial robot is marked as a line to be coordinated device; on the contrary, if the position nodes of the formulated execution route of the industrial robots running in the current time period do not have the same position nodes, or the estimated delivery time deviation duration corresponding to the same position node exceeds the deviation duration threshold, the corresponding industrial robot is marked as a line without coordination equipment;

[0052] Obtain the interval time value between the estimated completion time and the set completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated equipment, and the increase in the delivery distance for priority execution of the adjacent tasks corresponding to the same position node in the line to be coordinated equipment, and compare the interval time value between the estimated completion time and the set completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated equipment, and the increase in the delivery distance for priority execution of the adjacent tasks corresponding to the same position node in the line to be coordinated equipment with the interval time value threshold and the delivery distance increase threshold respectively;

[0053] If the interval between the estimated completion time and the set completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated equipment exceeds the interval time value threshold, and the increase in the delivery distance of the adjacent task to be executed corresponding to the same position node in the line to be coordinated equipment does not exceed the delivery distance increase threshold, then if there is a device of the current type in the current line to be coordinated equipment, the corresponding line to be coordinated equipment will be dispatched for delivery coordination and the position nodes will be staggered;

[0054] If the interval time between the estimated completion time and the set completion time of the task to be executed at the same time and the same position node in the line to be coordinated equipment does not exceed the interval time value threshold, or the increase in delivery distance of the adjacent task to be executed at the same position node in the line to be coordinated equipment exceeds the delivery distance increase threshold, then the current line to be coordinated equipment is the current type of equipment, and the delivery of the corresponding line to be coordinated equipment is delayed, and the industrial robot in the line to be coordinated equipment is set to delay the passage of the corresponding node with the same position according to the remaining time of the task, specifically, the delayed passage is set for the task with a longer remaining time, and the delay time is set according to the passage speed and passage time of the corresponding priority industrial robot;

[0055] After completing the route collaborative control, a route collaborative control completion signal is generated and sent to the collaborative control center; the collaborative control center generates a route obstacle avoidance intelligent control signal and sends the route obstacle avoidance intelligent control signal to the route obstacle avoidance intelligent control unit. After receiving the route obstacle avoidance intelligent control signal, the route obstacle avoidance intelligent control unit performs intelligent obstacle avoidance control on the real-time delivery route of the industrial robot, and performs intelligent obstacle avoidance analysis during real-time operation to determine whether the obstacle avoidance performance of the current industrial robot meets the requirements, thereby ensuring that the obstacle avoidance performance of the industrial robot meets the requirements and improving the delivery efficiency of the industrial robot;

[0056] Obtain the buffer analysis time for detecting obstacles and avoiding obstacles during the delivery process of a single industrial robot, as well as the constant frequency of the shortest safe distance between the industrial robot and obstacles when the single industrial robot performs obstacle avoidance, and mark the buffer analysis time for detecting obstacles and avoiding obstacles during the delivery process of a single industrial robot, as well as the constant frequency of the shortest safe distance between the industrial robot and obstacles when the single industrial robot performs obstacle avoidance as HSi and HPi respectively; obtain the reserved safety distance between the offset area of ​​the active obstacle avoiding industrial robot and the passage area of ​​the active non-obstacle avoiding industrial robot during the delivery process of multiple industrial robots, and mark the reserved safety distance between the offset area of ​​the active obstacle avoiding industrial robot and the passage area of ​​the active non-obstacle avoiding industrial robot during the delivery process of multiple industrial robots as QJi;

[0057] By formula Obtain the intelligent control coefficient Ci of the industrial robot route obstacle avoidance, where a1, a2 and a3 are all preset proportional coefficients, and a1>a2>a3>1;

[0058] Compare the industrial robot route obstacle avoidance intelligent control coefficient Ci with the obstacle avoidance intelligent control coefficient threshold range:

[0059] If the obstacle avoidance intelligent control coefficient Ci of the industrial robot route exceeds the maximum value of the obstacle avoidance intelligent control coefficient threshold range, the industrial robot obstacle avoidance control is determined to be qualified, but the real-time obstacle avoidance performance exceeds the actual demand, and an obstacle avoidance intelligent adjustment signal is generated and sent to the collaborative control center. After receiving the obstacle avoidance intelligent adjustment signal, the collaborative control center controls the buffer analysis time of the industrial robot obstacle avoidance and slowly reduces the actual obstacle avoidance safety distance under the premise of safe delivery;

[0060] If the obstacle avoidance intelligent control coefficient Ci of the industrial robot route is within the obstacle avoidance intelligent control coefficient threshold range, the obstacle avoidance control of the industrial robot is determined to be qualified, and an obstacle avoidance control qualified signal is generated and sent to the collaborative control center;

[0061] If the obstacle avoidance intelligent control coefficient Ci of the industrial robot route does not exceed the minimum value of the obstacle avoidance intelligent control coefficient threshold range, the obstacle avoidance control of the industrial robot is judged to be unqualified, and an obstacle avoidance control abnormality signal is generated and sent to the collaborative control center. After receiving the obstacle avoidance control abnormality signal, the collaborative control center will detect the environmental monitoring performance of the corresponding industrial robot and perform obstacle analysis and adjustment;

[0062] The above formulas are obtained by collecting a large amount of data and performing software simulation, and a formula close to the actual value is selected. The coefficients in the formula are set by technicians in this field according to actual conditions;

[0063] When the present invention is in use, the task execution planning unit performs task execution planning for the industrial robot, performs intelligent planning according to the task currently carried by the industrial robot, sets the industrial robot to be labeled i, i is a natural number greater than 1, marks the task to be executed of the industrial robot as o, o is a natural number greater than 1, obtains the task execution planning analysis coefficient of the industrial robot, and divides the tasks to be executed according to the comparison of the execution planning analysis coefficient; after completing the task execution planning, the execution route formulation unit formulates execution routes for multiple industrial robot operating areas, and after completing the execution route formulation, the line coordination control unit performs line coordination during the execution of multiple industrial robots; after completing the line coordination control, the route obstacle avoidance intelligent control unit performs obstacle avoidance intelligent control on the real-time delivery route of the industrial robot.

[0064] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A collaborative control system for multiple industrial robots, characterized in that: It includes a collaborative control center, wherein the collaborative control center is communicatively connected with a task execution planning unit, an execution route making unit, a route collaborative control unit, and a route obstacle avoidance intelligent control unit; The task execution planning unit performs task execution planning for the industrial robot, performs intelligent planning according to the current task carried by the industrial robot, sets the industrial robot to be labeled i, i is a natural number greater than 1, marks the task to be executed of the industrial robot as o, o is a natural number greater than 1, obtains the task execution planning analysis coefficient of the industrial robot, and divides the tasks to be executed according to the comparison of the execution planning analysis coefficient; After completing the task execution planning, the execution route formulation unit formulates the execution routes for the operation areas of multiple industrial robots. After completing the execution route formulation, the line coordination control unit performs line coordination during the execution of multiple industrial robots; After completing the route collaborative control, the route obstacle avoidance intelligent control unit performs intelligent obstacle avoidance control on the real-time delivery route of the industrial robot.

2. A collaborative control system for multiple industrial robots according to claim 1, characterized in that: The operation process of the task execution planning unit is as follows: Obtain the cumulative speed of the number of pending tasks corresponding to the same batch of orders in the tasks currently carried by the industrial robot and the maximum peak value of the proportion of task execution cycle time when the pending tasks are not executed at the current moment; obtain the shortening speed of the deviation value between the warning time of the pending tasks and the remaining time of the execution cycle in the tasks currently carried by the industrial robot; obtain the industrial robot task execution planning analysis coefficient through analysis; compare the industrial robot task execution planning analysis coefficient with the execution planning analysis coefficient threshold.

3. A collaborative control system for multiple industrial robots according to claim 2, characterized in that: If the execution planning analysis coefficient of the industrial robot task exceeds the execution planning analysis coefficient threshold, the corresponding task to be executed in the corresponding industrial robot is marked as a priority execution task; if the execution planning analysis coefficient of the industrial robot task does not exceed the execution planning analysis coefficient threshold, the corresponding task to be executed in the corresponding industrial robot is marked as a secondary execution task; The priority execution tasks and secondary execution tasks carried by the corresponding industrial robot in real time are sorted in descending order according to the corresponding execution planning analysis coefficients. If the estimated end time of the last task in the priority execution task exceeds the corresponding set execution cycle, it is determined that the current priority execution task needs to be processed collaboratively, and the current priority execution task is sent to the collaborative control center. After receiving it, the collaborative control center will schedule the current priority execution task of the corresponding industrial robot.

4. The collaborative control system of multiple industrial robots according to claim 1, characterized in that: The operation process of executing the route making unit is as follows: The tasks to be executed in each industrial robot are collected and the delivery routes of the industrial robots are constructed according to the completed and sorted tasks to be executed and the positions of the corresponding tasks to be executed. The delivery routes of each industrial robot are analyzed for overlapping sections and an overlapping section threshold is set. If the overlapping routes of the corresponding industrial robot delivery routes exceed the overlapping section threshold, the corresponding industrial robot is executed. If the overlapping routes of the corresponding industrial robot delivery routes do not exceed the overlapping section threshold, the delivery routes of the corresponding industrial robots are set as the executed routes. The amount of reduction in the distance of the reciprocating moving sections after the industrial robot fails to execute the corresponding overlapping sections and the proportion of the distance of the overlapping sections that need to be moved again after the industrial robot completes the movement of the corresponding overlapping sections are obtained, and the amount of reduction in the distance of the reciprocating moving sections after the industrial robot fails to execute the corresponding overlapping sections and the proportion of the distance of the overlapping sections that need to be moved again after the industrial robot completes the movement of the corresponding overlapping sections are compared with the section distance reduction threshold and the section distance proportion threshold respectively.

5. A collaborative control system for multiple industrial robots according to claim 4, characterized in that: If the reduction in the distance of the reciprocating moving section after the corresponding overlapping section of the industrial robot is not executed exceeds the threshold of the section distance reduction, and the proportion of the distance of the overlapping section that the industrial robot needs to move again after completing the movement of the corresponding overlapping section does not exceed the threshold of the distance proportion, the corresponding industrial robot will be marked as a preset task expenditure device; if the reduction in the distance of the reciprocating moving section after the corresponding overlapping section of the industrial robot is not executed does not exceed the threshold of the section distance reduction, or the proportion of the distance of the overlapping section that the industrial robot needs to move again after completing the movement of the corresponding overlapping section exceeds the threshold of the distance proportion, the corresponding industrial robot will be marked as a preset task receiving device; The preset task expenditure device and the preset task receiving device are matched in real time and the matched delivery route is used as the formulated execution route of the industrial robot. If the match is not successful, a single task or multiple tasks are temporarily scheduled according to the real-time delivery needs of the industrial robot.

6. The collaborative control system of multiple industrial robots according to claim 1, characterized in that: The operation process of the line cooperative control unit is as follows: The position of the industrial robot to be executed is marked and set as the position node of the corresponding industrial robot's formulated execution route, and the position nodes of the formulated execution route of the industrial robots running in the current time period are analyzed. If the position nodes of the formulated execution route of the industrial robots running in the current time period have the same position nodes, and the estimated delivery time deviation duration corresponding to the same position node does not exceed the deviation duration threshold, the corresponding industrial robot is marked as a line to be coordinated device; on the contrary, if the position nodes of the formulated execution route of the industrial robots running in the current time period do not have the same position nodes, or the estimated delivery time deviation duration corresponding to the same position node exceeds the deviation duration threshold, the corresponding industrial robot is marked as a line without coordination equipment; The interval duration value between the estimated completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated device and the set completion time, as well as the increase in delivery distance for priority execution of adjacent tasks to be executed corresponding to the same position node in the line to be coordinated device, are obtained, and the interval duration value between the estimated completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated device and the set completion time, as well as the increase in delivery distance for priority execution of adjacent tasks to be executed corresponding to the same position node in the line to be coordinated device, are compared with the interval duration value threshold and the delivery distance increase threshold, respectively.

7. A collaborative control system for multiple industrial robots according to claim 6, characterized in that: If the interval between the estimated completion time and the set completion time of the task to be executed corresponding to the same position node at the same time in the line to be coordinated equipment exceeds the interval time value threshold, and the increase in the delivery distance of the adjacent task to be executed corresponding to the same position node in the line to be coordinated equipment does not exceed the delivery distance increase threshold, then if there is a device of the current type in the current line to be coordinated equipment, the corresponding line to be coordinated equipment will be dispatched for delivery coordination and the position nodes will be staggered; If the interval duration between the estimated completion time and the set completion time of the task to be executed at the same time and the same position node in the line's coordinated equipment does not exceed the interval duration threshold, or the increase in delivery distance of the adjacent task to be executed at the same position node in the line's coordinated equipment exceeds the delivery distance increase threshold, then if the current line's coordinated equipment is all equipment of the current type, the delivery of the corresponding line's coordinated equipment will be delayed, and the industrial robot in the line's coordinated equipment will be delayed according to the remaining duration of the task at the corresponding node with the same position.

8. The collaborative control system of multiple industrial robots according to claim 1, characterized in that: The operation process of the route obstacle avoidance intelligent control unit is as follows: Obtain the buffer analysis duration of obstacles detected and avoided during the delivery process of a single industrial robot, as well as the constant frequency of the shortest safe distance between the industrial robot and obstacles when a single industrial robot avoids obstacles; obtain the reserved safe distance between the offset area of ​​the active obstacle-avoiding industrial robot and the passage area of ​​the active non-obstacle-avoiding industrial robot during the delivery process of multiple industrial robots; obtain the intelligent control coefficient of obstacle avoidance of the industrial robot route through analysis; The obstacle avoidance intelligent control coefficient of the industrial robot route is compared with the obstacle avoidance intelligent control coefficient threshold range.

9. A collaborative control system for multiple industrial robots according to claim 8, characterized in that: If the obstacle avoidance intelligent control coefficient of the industrial robot route exceeds the maximum value of the obstacle avoidance intelligent control coefficient threshold range, an obstacle avoidance intelligent adjustment signal is generated and sent to the collaborative control center. After receiving the obstacle avoidance intelligent adjustment signal, the collaborative control center controls the buffer analysis time of the industrial robot's obstacle avoidance and slowly reduces the actual obstacle avoidance safety distance under the premise of safe delivery. If the obstacle avoidance intelligent control coefficient of the industrial robot route is within the obstacle avoidance intelligent control coefficient threshold range, an obstacle avoidance control qualified signal is generated and the obstacle avoidance control qualified signal is sent to the collaborative control center; if the obstacle avoidance intelligent control coefficient of the industrial robot route does not exceed the minimum value of the obstacle avoidance intelligent control coefficient threshold range, an obstacle avoidance control abnormal signal is generated and the obstacle avoidance control abnormal signal is sent to the collaborative control center.

Images