Four-arm mobile robot, robot system and control method for multiple scenarios

Abstract

The present invention provides a four-arm mobile robot, a robot system and a control method for multiple scenarios. The robot includes a working chassis, a moving mechanism is provided at the bottom of the working chassis, and a fuselage is provided on the top of the working chassis. A vision module is provided on the fuselage to collect visual information of the workbench; the fuselage includes a load-bearing shaft longitudinally installed on the working chassis, an upper robotic arm group and a lower robotic arm group are installed on the load-bearing shaft, and at least one of the upper robotic arm group and the lower robotic arm group can rotate around the load-bearing shaft; the upper robotic arm group includes an upper arm bracket, the lower robotic arm group includes a lower arm bracket, and robotic arms are respectively installed at both ends of the upper arm bracket and the lower arm bracket; the control device is used to identify the operation scenario according to the visual information of the workbench, and control each robotic arm to switch to the corresponding working mode according to the operation scenario, and the working mode includes a single operation mode, a two-by-two cooperative operation mode or a four-arm cooperative operation mode. The four-arm mobile robot of the present invention can adapt to different scenario operations.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular, to a four-arm mobile robot for multi-scenarios, a robot system, and a control method. Background Art

[0002] With the rapid development of robot technology in the field of industrial manufacturing, the market has higher requirements for the processing accuracy and efficiency of industrial robots. The existing single-arm robots have the following problems: 1. When a single-arm robot is working and multiple robotic arms need to cooperate, it requires a large amount of space, and at the same time, the safety distance between multiple robotic arms needs to be considered, which limits the usage scenarios of industrial robots; 2. During the cooperation process of multiple single-arm robots, there are problems of low flexibility and inconsistent working accuracy, making it difficult to achieve efficient cooperation.

[0003] With the continuous development of industrial robot technology, multi-arm robots have become an important means to improve production efficiency and processing accuracy. The application scenarios of multi-arm robots are also becoming more and more extensive, and currently, they are mainly applied in the fields of industry, medicine, agriculture, and aviation. However, there is still a large room for improvement to adapt to the complex and changeable industrial production environment. Nevertheless, the existing multi-arm robots cannot adjust the robotic arm layout according to different task requirements, which limits their application in multi-scenarios. Summary of the Invention

[0004] In view of the above deficiencies of the prior art, the present invention provides a four-arm mobile robot for multi-scenarios, a robot system, and a control method to adapt to multi-scenario operations.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] In the first aspect, the present invention provides a four-arm mobile robot for multi-scenarios, including a working chassis, a moving mechanism is provided at the bottom of the working chassis, a fuselage is provided on the top of the working chassis, and a vision module is provided on the fuselage to collect visual information of the workbench and upload it to the control device;

[0007] The fuselage includes a load-bearing shaft longitudinally installed on the working chassis, an upper robotic arm group and a lower robotic arm group are installed on the load-bearing shaft, and at least one of the upper robotic arm group and the lower robotic arm group can rotate around the load-bearing shaft;

[0008] Wherein, the upper robotic arm group includes an upper arm bracket sleeved on the load-bearing shaft, the lower robotic arm group includes a lower arm bracket sleeved on the load-bearing shaft, and robotic arms are respectively installed at both ends of the upper arm bracket and the lower arm bracket;

[0009] The control device is used to identify the operation scenario according to the visual information of the workbench, and control each robotic arm to switch to the corresponding working mode according to the operation scenario. The working modes include a single-operation mode, a two-by-two collaborative operation mode, or a four-arm collaborative operation mode.

[0010] Further, depth cameras are respectively provided at the ends of the robotic arms to collect depth image data of corresponding target objects on the workbench and upload it to the control device;

[0011] The control device is also used to identify the type of the target object according to the depth image data of the target object, and obtain the distance between the end of the corresponding robotic arm and the target object, and control each robotic arm to perform corresponding operations according to the identified type and the distance.

[0012] Further, a lidar is provided on the working chassis to detect the surrounding environment information during the movement of the working chassis;

[0013] The control device is also used to perform path planning according to the environment information, and control the moving mechanism to move to a predetermined working position of the workbench according to the planned path.

[0014] Further, the moving mechanism is a walking wheel, and the walking wheel includes an omnidirectional wheel or a differential wheel; and / or

[0015] The end effector installed on the robotic arm includes an electric gripper.

[0016] Further, the lower robotic arm group includes a first rotating mechanism, and the first rotating mechanism includes:

[0017] A first upper bearing provided at the top of the lower arm bracket, the inner ring of the first upper bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the lower arm bracket;

[0018] A first lower bearing provided at the bottom of the lower arm bracket, the inner ring of the first lower bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the lower arm bracket; and

[0019] A first motor fixedly installed inside the lower arm bracket for driving the lower arm bracket to rotate around the load-bearing shaft;

[0020] Wherein, the lower arm bracket includes a lower arm mounting frame and a first rotating body base fixed to the bottom of the lower arm mounting frame.

[0021] Further, the upper robotic arm group includes a second rotating mechanism, and the second rotating mechanism includes:

[0022] A second upper bearing disposed at the top of the upper arm bracket, an inner ring of the second upper bearing is fixedly sleeved on the load-bearing shaft, and an outer ring is fixedly connected to the upper arm bracket;

[0023] A second lower bearing disposed at the bottom of the upper arm bracket, an inner ring of the second lower bearing is fixedly sleeved on the load-bearing shaft, and an outer ring is fixedly connected to the upper arm bracket; and

[0024] A second motor fixedly installed inside the upper arm bracket for driving the upper arm bracket to rotate around the load-bearing shaft;

[0025] Wherein, the upper arm bracket includes an upper arm mounting frame and a second rotating body base fixed to the bottom of the upper arm mounting frame.

[0026] In a second aspect, the present invention provides a control method for a four-arm mobile robot as described above, including:

[0027] Identifying an operation scenario according to the visual information of the workbench collected by the visual module;

[0028] Controlling each of the robotic arms to switch to a corresponding working mode according to the operation scenario, the working mode including a single operation mode, a two-by-two collaborative operation mode, or a four-arm collaborative operation mode.

[0029] Further, the method further includes:

[0030] Obtaining depth image data of a corresponding target object on the workbench;

[0031] Identifying the type of the target object according to the depth image data of the target object, and obtaining the distance between the end of the corresponding robotic arm and the target object, and controlling each of the robotic arms to perform corresponding operations according to the identified type and the distance.

[0032] In a third aspect, the present invention provides a robot system, which includes a workbench and a four-arm mobile robot as described above.

[0033] Further, the workbench has a workbench surface located around the mobile robot, and part of the workbench surface is a movable plate, which can be passed through by the mobile robot when the movable plate is moved away;

[0034] The workbench is also provided with a proximity sensing module and a in-place detection module. When the proximity sensing module senses the approach of the mobile robot, it triggers the movable plate to move away; when the in-place detection module detects that the mobile robot moves to a predetermined working position of the workbench, it triggers the movable plate to reset.

[0035] By adopting the above technical solutions, the present invention has the following beneficial effects:

[0036] By rotating the upper robotic arm group and / or the lower robotic arm group, the present invention can adjust the fuselage layout, making the structure of the mobile robot more flexible. At the same time, the present invention can also combine visual recognition to perform scene judgment, and control each robotic arm group to rotate to the corresponding angle according to the judged operation scene, so that each robotic arm switches to the corresponding single operation mode, two-by-two collaborative operation mode or four-arm collaborative operation mode. That is, the mobile robot can adapt to multi-scene operations by changing the fuselage layout, complete different operation tasks, and thus can be widely applied in more complex industrial production scenarios, especially some scenarios that require precise sorting, assembly and operation, which can greatly reduce labor costs and improve production efficiency. Brief Description of the Drawings

[0037] Figure 1A It is a schematic diagram of the whole machine of the four-arm mobile robot for multi-scenes in the present invention;

[0038] Figure 1B It is a schematic diagram of the positional relationship between the four-arm mobile robot and the workbench in the present invention;

[0039] Figure 2A It is an initial state diagram of the fuselage where the upper robotic arm group cannot rotate and the lower robotic arm group can rotate;

[0040] Figure 2B It is a rotation state diagram of the fuselage where the upper robotic arm group cannot rotate and the lower robotic arm group can rotate;

[0041] Figure 2C It is a rotation state diagram of the fuselage where the upper robotic arm group can rotate and the lower robotic arm group cannot rotate;

[0042] Figure 2D It is a rotation state diagram of the fuselage where the upper robotic arm group can rotate and the lower robotic arm group can rotate;

[0043] Figure 3A It is a schematic diagram of the four-arm mobile robot in the present invention performing four-arm collaborative operation;

[0044] Figure 3B It is a schematic diagram of the four-arm mobile robot in the present invention performing individual operation of each arm;

[0045] Figure 3C It is a schematic diagram of the four-arm mobile robot in the present invention performing two-arm collaborative operation on the same side;

[0046] Figure 3D It is a schematic diagram of the four-arm mobile robot in the present invention performing two-arm collaborative operation in the same group;

[0047] Figure 4This is a partial sectional view of the four-arm mobile robot in the present invention;

[0048] Figure 5 This is a schematic diagram of the first rotating mechanism for driving the lower robotic arm group to rotate in the present invention;

[0049] Figure 6 This is a schematic diagram of the docking process between the four-arm mobile robot and the workbench in the present invention;

[0050] Figure 7 This is the workflow diagram of the robot system in the present invention. Detailed implementation manners

[0051] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0052] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the" and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0053] As described above, existing multi-arm robots cannot adjust the robotic arm layout according to different task requirements, which limits their application in multiple scenarios. Therefore, the present invention urgently provides a four-arm mobile robot, a robot system and a control method for multiple scenarios, which mainly adapt to the operation requirements of multiple scenarios through visual recognition and flexible adjustment of the robotic arms.

[0054] Embodiment 1

[0055] The present invention provides a four-arm mobile robot for multiple scenarios. As Figure 1A - Figure 5 shown, the robot includes a work chassis 101. A moving mechanism 102 is provided at the bottom of the work chassis 101 to drive the whole robot to move; a fuselage is provided on the top of the work chassis 101, and a vision module 103 (preferably a binocular vision depth camera) is provided on the fuselage to collect visual information of the workbench and upload it to a control device (not shown); the hardware circuit of the robot is integrated inside the work chassis 101.

[0056] In this embodiment, the fuselage of the mobile robot includes a load-bearing shaft 104 longitudinally installed on the working chassis 101. The load-bearing shaft 104 is a fixed part and serves as the main force-bearing structure of the fuselage. An upper robotic arm group and a lower robotic arm group are installed on this shaft, and at least one of the upper robotic arm group and the lower robotic arm group can rotate around the load-bearing shaft 104 (refer to Figure 2A - Figure 2D as shown), so as to be able to adjust the fuselage layout and make the structure of the mobile robot more flexible.

[0057] Specifically, the upper robotic arm group in this embodiment includes an upper arm bracket 105 sleeved on the load-bearing shaft 104, and the lower robotic arm group includes a lower arm bracket 106 sleeved on the load-bearing shaft 104. Robotic arms 107 are respectively installed at both ends of the upper arm bracket 105 and the lower arm bracket 106. Preferably, each robotic arm 107 is a multi-axis robotic arm, including but not limited to 3-axis, 6-axis and other robotic arms. According to the application operation type, various corresponding end effectors 108 can be installed at the end of each robotic arm 107.

[0058] When the robot in this embodiment is working, the above control device is used to perform AI recognition according to the visual information of the workbench to identify the operation scenario where the robot is currently located (such as industrial sorting, medical drug fetching, experimental teaching, etc.), and control each robotic arm 107 to switch to the corresponding working mode according to the identified operation scenario (the working modes corresponding to each operation scenario will be set in advance), so as to improve the cooperation efficiency.

[0059] Among them, each robotic arm 107 can work in a single operation mode, a pairwise cooperative operation mode (any two robotic arms 107 can cooperate) or a four-arm cooperative operation mode.

[0060] For example, as Figure 3A shown, each robotic arm 107 can work in a four-arm cooperative operation mode. In this mode, the upper robotic arm group and the lower robotic arm group rotate to be parallel and in the same direction (that is, facing the tabletop on one side of the workbench, and the tabletop on the other side is the spare tabletop), and the four robotic arms 107 enter the four-arm cooperation state, with higher precision, and can complete a single complex operation task with higher precision requirements through four-arm cooperation.

[0061] Another example, as Figure 3B shown, each robotic arm 107 can work in a single operation mode. In this mode, the upper robotic arm group and the lower robotic arm group rotate to be perpendicular to each other, and the four robotic arms 107 enter the single operation mode, and 4 different operation tasks can be carried out simultaneously, with higher efficiency and space utilization rate, and some robotic arms 107 are also allowed to be idle.

[0062] Another example, as Figure 3C and 3DAs shown, each robotic arm 107 can operate in a pairwise collaborative operation mode. In this mode, the upper robotic arm group and the lower robotic arm group are parallel to each other, and they can perform collaborative operations of two arms on the same side or two arms within the same group. For example, Figure 3C For the collaborative operation of two arms on the same side, the four-arm mobile robot operates in the middle of two production lines. The two arms on the left and right sides perform collaborative tasks. The two sides can perform the same task or different tasks, with higher operation flexibility. For example, Figure 3D For the collaborative operation of two arms within the same group, the four-arm mobile robot operates in the middle of two production lines. The two arms of the upper robotic arm group and the lower robotic arm group perform collaborative tasks. The two sides can perform the same task or different tasks, with higher operation flexibility.

[0063] According to the production line process or with the flow of workpieces on the production line, the mobile robot can move along with the production line transmission. If it is a single production line, the robot can achieve simultaneous operation based on four arms and can adjust its moving performance according to the fluidity of the production line to adapt to the production line. The robot can interact with the production line management platform for data or receive instructions from the production line management platform in real time.

[0064] It can be seen that in this embodiment, by rotating the upper robotic arm group and / or the lower robotic arm group, the fuselage layout can be adjusted, making the structure of the mobile robot more flexible. At the same time, the present invention can also combine visual recognition to perform scene judgment and control each robotic arm group to rotate to the corresponding angle according to the judged operation scene, so that each robotic arm 107 switches to the corresponding individual operation mode, pairwise collaborative operation mode or four-arm collaborative operation mode. That is, the mobile robot can adapt to multi-scene operations by changing the fuselage layout, complete different operation tasks, and thus can be widely applied in more complex industrial production scenarios, especially some scenarios that require precise sorting, assembly and operation, which can greatly reduce labor costs and improve production efficiency.

[0065] Refer to again Figure 1A As shown, depth cameras 109 (preferably binocular vision depth cameras) are respectively provided at the ends of each robotic arm 107 to collect depth image data of the corresponding target object on the workbench and upload it to the control device. On this basis, the control device is also used to identify the type of the target object according to the depth image data of the target object, and obtain the distance between the end of the corresponding robotic arm 107 and the target object, and control each robotic arm 107 to perform corresponding specific operations according to the identified type and distance, such as picking up, moving, assembling the target object, etc., so as to ensure operation accuracy.

[0066] In this embodiment, a lidar 110 is further provided on the working chassis 101 to detect the surrounding environmental information during the movement of the working chassis 101. The control device is further configured to perform path planning based on the environmental information and control the moving mechanism 102 to move to a predetermined working position of the workbench according to the planned path, so as to provide autonomous path finding and navigation and achieve autonomous obstacle avoidance.

[0067] In this embodiment, the moving mechanism 102 is a walking wheel, and the walking wheel is preferably a Mecanum wheel, which can move forward and backward, left and right, move in place or rotate, facilitating the robotic arm 107 to adjust the angular position. According to the scene requirements, other types of walking wheels can also be used, not limited to Mecanum wheels, for example, differential wheels can be used.

[0068] In this embodiment, the end effector 108 mounted on the robotic arm 107 includes, but is not limited to, an electric gripper, and electric grippers of different specifications can meet the requirements of different tasks. The end effector 108 can be modularly replaced through the robotic hand quick-change platform 301. The electric gripper can directly reach the designated position for replacement by rotating the robotic arm 107, or by rotating the robotic arm group, or by directly adjusting the position of the whole machine in place.

[0069] In the example as Figure 4 and Figure 5 shown, the upper robotic arm group cannot rotate, and the lower robotic arm group can rotate. Specifically, the lower robotic arm group (lower arm bracket 106) is driven to rotate by a first rotating mechanism, which includes: a first upper bearing 111 disposed at the top of the lower arm bracket 106, the inner ring of the first upper bearing 111 is fixedly sleeved on the load-bearing shaft 104, and the outer ring is fixedly connected to the lower arm bracket 106; a first lower bearing 112 disposed at the bottom of the lower arm bracket 106, the inner ring of the first lower bearing 112 is fixedly sleeved on the load-bearing shaft 104, and the outer ring is fixedly connected to the lower arm bracket 106; and a first motor 113 (preferably a hollow-shaft motor, installed through the first motor 113 bracket) fixedly installed inside the lower arm bracket 106 for providing power to drive the lower arm bracket 106 to rotate around the load-bearing shaft 104. In this example, the upper arm bracket 105 only includes an upper arm mounting frame; while the lower arm bracket 106 needs to rotate, so the lower arm bracket 106 includes a lower arm mounting frame 1061 and a first rotating body base 1062 fixed to the bottom of the lower arm mounting frame, and the first lower bearing 112 is disposed at the bottom of the first rotating body base 1062. When the first motor 113 rotates, the outer rings of the first upper bearing 111 and the first lower bearing 112, the first motor 113, the first motor bracket 1131, and the lower arm bracket 106 will rotate together.

[0070] Correspondingly, when the upper robotic arm group is rotatable, the upper robotic arm group includes a second rotating mechanism (not shown), and the second rotating mechanism includes: a second upper bearing disposed at the top of the upper arm bracket 105, the inner ring of the second upper bearing is fixedly sleeved on the load-bearing shaft 104, and the outer ring is fixedly connected to the upper arm bracket 105; a second lower bearing disposed at the bottom of the upper arm bracket 105, the inner ring of the second lower bearing is fixedly sleeved on the load-bearing shaft 104, and the outer ring is fixedly connected to the upper arm bracket 105; and a second motor fixedly installed inside the upper arm bracket 105 (preferably a hollow shaft motor, installed through the second motor bracket), for driving the upper arm bracket 105 to rotate around the load-bearing shaft 104; wherein, the upper arm bracket 105 includes an upper arm mounting frame and a second rotating body base fixed to the bottom of the upper arm mounting frame, and the first upper bearing 111 is disposed at the bottom of the second rotating body base. When the second motor rotates, the outer rings of the second upper bearing and the second lower bearing, the second motor, the second motor bracket, and the upper robotic arm bracket will rotate together.

[0071] In an implementable manner, robotic arm mounting seats 114 are respectively provided at both ends of the aforementioned upper arm mounting frame and the lower arm mounting frame, for pivotally mounting the corresponding robotic arms 107.

[0072] In an implementable manner, support columns 115 are respectively fixedly sleeved on the load-bearing shaft 104 between the upper robotic arm bracket and the lower robotic arm bracket, and between the lower robotic arm bracket and the working chassis 101, to serve as the load-bearing brackets of the robot.

[0073] In an implementable manner, the maximum rotation angle of the upper arm bracket and the lower arm bracket is 180 degrees. When reset is required, it is reset according to the original angle.

[0074] The four-arm mobile robot of this embodiment has higher precision and efficiency, can make the operations between the respective robotic arms 107 more stable and flexible, and can achieve more complex operation tasks or simultaneously achieve 4 different tasks. In addition, the rotatable fuselage structure enables the four-arm mobile robot to have a wider range of application scenarios, such as: industrial sorting, school teaching, hospital pharmacy pickup, agricultural picking, textile industry, etc.

[0075] Embodiment 2

[0076] This embodiment provides a control method for the four-arm mobile robot of Embodiment 1, specifically including the following steps: identifying the operation scenario according to the visual information of the workbench collected by the vision module 103; controlling each robotic arm 107 to switch to the corresponding working mode according to the identified operation scenario, wherein the working mode includes a single operation mode, a two-by-two collaborative operation mode, or a four-arm collaborative operation mode. Thus, the robot can flexibly adapt to the multi-scenario operation requirements, significantly improve the industrial production efficiency, and reduce the labor cost.

[0077] In addition, the method of this embodiment further includes: obtaining depth image data of the target object on the workbench; identifying the type of the target object according to the depth image data of the target object, and obtaining the distance between the end of the corresponding robotic arm 107 and the target object, and controlling each robotic arm 107 to perform corresponding operations according to the identified type and distance, so as to ensure the operation accuracy.

[0078] Embodiment 3

[0079] This embodiment provides a robot system, which includes a workbench and a four-arm mobile robot as provided in Embodiment 1.

[0080] In Figure 1B In the illustrated example, the workbench has a workbench surface 201 located around the mobile robot, and a part of the workbench surface 201 is a movable plate 202. When the movable plate 202 is moved away, the mobile robot can pass through (the movable door acts as a door). In addition, a proximity sensing module and a position detection module are also provided on the workbench. When the proximity sensing module senses the approach of the mobile robot, it triggers the movable plate 202 to move away (equivalent to opening the door); when the position detection module detects that the mobile robot moves to the predetermined working position of the workbench, it triggers the movable plate 202 to reset (equivalent to closing the door). Preferably, the movable plate 202 is moved through an electric control slide rail structure 203.

[0081] As Figure 6 shown, the mobile robot docks with the workbench through the following steps:

[0082] Autonomous navigation: Search for the workbench surface 201, determine the positional relationship between the four-arm mobile robot and the workbench, and autonomously navigate to the workbench position through the lidar 110 sensor.

[0083] Position determination: The positional relationship between the four-arm mobile robot and the workbench can be determined through the binocular vision depth camera 109 on the fuselage.

[0084] Enter the workbench: When it is confirmed that the movable plate 202 is moved away, the four-arm mobile robot starts to enter the workbench to the predetermined working position.

[0085] Complete docking: After it is determined that the four-arm mobile robot enters the predetermined working position, the movable plate 202 resets to restore the table surface. When the four-arm mobile robot needs to leave after completing the task, the movable plate 202 is moved away again.

[0086] It should be understood that the workbench of this example is not limited to Figure 1B the workbench shown, and can be designed in any other suitable form according to actual needs, such as Figure 3C and 3D shows an assembly line workbench located on both sides of the robot.

[0087] Figure 7 The working process of the robot system in this embodiment is shown as follows:

[0088] Material transportation: The corresponding materials are transported to the workbench surface 201 in an automated manner.

[0089] AI scene judgment: The four-arm mobile robot performs visual recognition on the materials on the table through the vision module 103, and then the control device completes simple scene recognition. According to different scenes (such as industrial sorting, medical drug taking, experimental teaching), corresponding manipulator working modes can be given, thereby improving the cooperation efficiency.

[0090] Body change: According to the working mode, control the four manipulators 107 to complete the change of the four-arm structure by rotating.

[0091] Manipulator work: Control the manipulator to act according to the working mode, providing a four-arm collaborative operation mode, a two-by-two collaborative operation mode, and a four-arm independent operation mode. Among them:

[0092] Four-arm collaborative operation mode: It has higher precision, can enable 4 manipulators 107 to cooperate to complete the operation task, the operation is more stable, and complex operation tasks can be realized.

[0093] Two-by-two collaborative operation mode: The upper and lower arms or the left and right arms on the body can perform two-arm collaborative tasks. The two groups can perform the same task or different tasks, and have higher operation flexibility. In this mode, the mobile robot can move along with the production line transmission according to the production line process.

[0094] Four-arm independent operation mode: It has higher efficiency, a rotatable structure, and can realize 4 identical or different operation tasks to be executed simultaneously.

[0095] Task completion: When the four-arm mobile robot completes the operation task, it is judged to be completed through the vision module 103, and it moves to the next task location.

[0096] Although the specific implementation manners of the present invention have been described above, those skilled in the art should understand that this is only an example. The protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these implementation manners, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A robot system, characterized in that, The system includes a workbench and a four-arm mobile robot. The four-arm mobile robot includes a work chassis. A moving mechanism is provided at the bottom of the work chassis, and a fuselage is provided at the top of the work chassis. A vision module is provided on the fuselage to collect visual information of the workbench and upload it to the control device; The fuselage includes a load-bearing shaft longitudinally installed on the work chassis. An upper robotic arm group and a lower robotic arm group are installed on the load-bearing shaft, and at least one of the upper robotic arm group and the lower robotic arm group can rotate around the load-bearing shaft; Among them, the upper robotic arm group includes an upper arm bracket sleeved on the load-bearing shaft, and the lower robotic arm group includes a lower arm bracket sleeved on the load-bearing shaft. Robotic arms are respectively installed at both ends of the upper arm bracket and the lower arm bracket; The control device is used to identify the operation scenario according to the visual information of the workbench, and control each robotic arm to switch to the corresponding working mode according to the operation scenario. The working modes include a single operation mode, a two-by-two collaborative operation mode or a four-arm collaborative operation mode; The workbench has a workbench surface surrounding the four-arm mobile robot, and part of the workbench surface is a movable plate. When the movable plate is moved away, the four-arm mobile robot can pass through; A proximity sensing module and an in-place detection module are also provided on the workbench. When the proximity sensing module senses the approach of the four-arm mobile robot, it triggers the movable plate to move away; when the in-place detection module detects that the four-arm mobile robot moves to a predetermined working position on the workbench, it triggers the movable plate to reset.

2. The robot system according to claim 1, wherein Depth cameras are respectively provided at the ends of each robotic arm to collect depth image data of the corresponding target object on the workbench and upload it to the control device; The control device is also used to identify the type of the target object according to the depth image data of the target object, and obtain the distance between the end of the corresponding robotic arm and the target object, and control each robotic arm to perform corresponding operations according to the identified type and the distance.

3. The robot system according to claim 1, wherein A lidar is provided on the work chassis to detect the surrounding environment information during the movement of the work chassis; The control device is also used to perform path planning according to the environment information, and control the moving mechanism to move to a predetermined working position on the workbench according to the planned path.

4. The robot system according to claim 1, characterized in that, The moving mechanism is a walking wheel, and the walking wheel includes an omnidirectional wheel or a differential wheel; and / or The end effector installed on the robotic arm includes an electric gripper.

5. The robot system according to claim 1, characterized in that, The lower robotic arm group includes a first rotating mechanism, and the first rotating mechanism includes: A first upper bearing provided at the top of the lower arm bracket. The inner ring of the first upper bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the lower arm bracket; A first lower bearing provided at the bottom of the lower arm bracket. The inner ring of the first lower bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the lower arm bracket; and A first motor fixedly installed inside the lower arm bracket for driving the lower arm bracket to rotate around the load-bearing shaft; Wherein, the lower arm bracket includes a lower arm mounting frame and a first rotating body base fixed to the bottom of the lower arm mounting frame.

6. The robot system according to claim 1, wherein The upper robotic arm group includes a second rotating mechanism, and the second rotating mechanism includes: A second upper bearing disposed at the top of the upper arm bracket, an inner ring of the second upper bearing is fixedly sleeved on the load-bearing shaft, and an outer ring is fixedly connected to the upper arm bracket; A second lower bearing disposed at the bottom of the upper arm bracket, an inner ring of the second lower bearing is fixedly sleeved on the load-bearing shaft, and an outer ring is fixedly connected to the upper arm bracket; and A second motor fixedly installed in the upper arm bracket for driving the upper arm bracket to rotate around the load-bearing shaft; Wherein, the upper arm bracket includes an upper arm mounting frame and a second rotating body base fixed to the bottom of the upper arm mounting frame.

7. A control method for a robot system as described in any one of the preceding claims 1-6, characterized in that, Including: Identifying an operation scenario according to the visual information of the workbench collected by the visual module; Controlling each of the robotic arms to switch to a corresponding working mode according to the operation scenario, and the working mode includes a single operation mode, a two-by-two collaborative operation mode or a four-arm collaborative operation mode.

8. The control method according to claim 7, wherein, The method further includes: Obtaining depth image data of a target object on the workbench; Identifying the type of the target object according to the depth image data of the target object, obtaining the distance between the end of the corresponding robotic arm and the target object, and controlling each of the robotic arms to perform corresponding operations according to the identified type and the distance.

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