Multi-robot centralized control method and centralized control cradle

Abstract

The application discloses a kind of multi-robot servo centralized control method and centralized control bracket, it is related to multi-robot centralized control technical field, including the following steps: the position information of robot is collected, simultaneously obtains operation distribution map, and the operation duration of each operation point is labeled;Initial operation path analysis model is constructed, for comprehensive analysis the initial operation path of each robot;Best operation path analysis model is constructed, for analyzing initial operation path, change part of initial operation path to obtain best operation path;Robot is controlled to operate each operation point with best operation path;The present application aims at solving the problem of not flexible control of existing multi-robot centralized control technology, and the problem of decline in production efficiency caused by the collaborative control of multiple robots through single moving track and fixed operation content.

Description

Technical Field

[0001] This invention relates to the field of centralized control technology for multiple robots, specifically to a servo centralized control method and centralized control bracket for multiple robots. Background Technology

[0002] Multi-robot centralized control technology refers to a system architecture that uses a unified main controller to coordinate the motion planning, motion synchronization, and task allocation of multiple industrial robots, such as robotic arms and mobile platforms, in real time to achieve high-precision collaborative operation.

[0003] Existing multi-robot centralized control technologies typically employ preset movement trajectories and fixed operation points to centrally control multiple robots. The purpose of this control is solely to prevent collisions during collaborative operation. However, the execution time at different operation points varies, resulting in some robots remaining in a standby state after completing their tasks, while others still have multiple operation points to complete. This reduces production efficiency. For example, patent application CN111805524A discloses a "multi-mobile robotic arm collaborative working system and collaborative working method." Although this solution uses decision commands to control the robotic arm's work content, it does not provide the specific basis for distributing these decisions. It is unclear whether the decisions will improve production efficiency or are merely intended to prevent collisions during robotic arm movement. Existing multi-robot centralized control technologies also suffer from insufficient flexibility in controlling multiple robots, often relying on a single movement trajectory and fixed operation content for collaborative control, leading to decreased production efficiency. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in the prior art. By collecting robot position information and obtaining an operation distribution map, marking the operation time of each operation point, and then constructing an initial operation path analysis model, the initial operation set of the robot is analyzed by analyzing the position information of the operation points and the robot. Then, the shortest path within the initial operation set is analyzed to obtain the robot's initial operation path. The estimated operation time required for the initial operation path is calculated. Based on the estimated operation time, the initial operation path that needs to be modified is determined, and then the initial operation path is modified. The estimated operation time is used to verify whether the initial operation path is the optimal operation path. Finally, the robot is controlled to operate on each operation point with the optimal operation path. This solves the problem that existing multi-robot centralized control technology is not flexible enough in controlling multiple robots. It often relies on a single movement trajectory and fixed operation content to coordinate the control of multiple robots, resulting in a decrease in production efficiency.

[0005] To achieve the above objectives, in a first aspect, this application provides a servo centralized control method for multiple robots, comprising the following steps:

[0006] Collect the robot's location information and obtain an operation distribution map, marking the operation time of each operation point;

[0007] Construct an initial operation path analysis model to comprehensively analyze the initial operation path of each robot;

[0008] Construct an optimal operation path analysis model to analyze the initial operation path and modify some of the initial operation paths to obtain the optimal operation path.

[0009] Control the robot to operate at each operation point in the optimal operation path.

[0010] Furthermore, the robot's location information is collected, and an operation distribution map is obtained. The operation time for each operation point is marked, including the following sub-steps:

[0011] Collect the robot's location information and obtain an operation distribution map;

[0012] The operation points in the operation distribution diagram are numbered and labeled with the symbol OP. n This indicates that n is a non-zero natural number and n is the index of OP;

[0013] The robot's position information is mapped onto the operation distribution map, and the robot is numbered using the symbol R. m This indicates that m is a non-zero natural number and m is the index of R;

[0014] Get OP n Operation time.

[0015] Furthermore, an initial operation path analysis model is constructed to comprehensively analyze the initial operation path of each robot, including the following sub-steps:

[0016] Construct an initial operation path analysis model and analyze the robot's initial operation set by analyzing the operation points and the robot's position information;

[0017] The robot's initial operation path is obtained by analyzing the shortest path within the initial operation set.

[0018] Furthermore, an initial operation path analysis model is constructed. Analyzing the robot's initial operation set using the operation points and the robot's position information includes the following sub-steps:

[0019] Build an initial operation path analysis model and obtain OP. n With each R m The distance is denoted as L(n,m);

[0020] For each value of n, obtain the R corresponding to the minimum value in L(n,m). mName it the most recent machine, and assign it to the OP. n Include in the initial operation set of the most recent machine;

[0021] Each R m There exists an initial set of operations for all OPs. n After analysis, the initial operation set was divided.

[0022] Furthermore, by analyzing the shortest path within the initial operation set, the robot's initial operation path is obtained, which includes the following sub-steps:

[0023] Each initial operation set is analyzed independently, with two coordinate sets: a start set and a stop set. Both the start set and the stop set contain the operations (OPs) from the initial operation set. n OP in the starting group n Marked as SO i This will terminate the OP in the group. n Marked as EO j , where i and j are both non-zero natural numbers and i is the index of SO, and j is the index of EO;

[0024] Get SO i With EO j The distance is denoted as H(i,j). When i is fixed, H(i,j) is sorted and numbered in ascending order, denoted by G(i,f), where f is a non-negative integer and (i,f) is the index of G, where G(i,0) is the distance between SO and SO. i and EO j The same OP n Since the distance to itself is fixed at 0, G(i,0) is removed, the range of values ​​for f is corrected to non-zero natural numbers, and the EO corresponding to G(i,f) is set to 0. j Labeled as E(i,f);

[0025] Set the path set, assuming it's SO k The analysis begins with the SO k SO for i=k i , will SO k Corresponding EO j To add a path to the path set, start with f=1. Check if E(k,f) already exists in the path set. If yes, increment f and check again. If no, add E(k,f) to the path set and use E(k,f) as the SO. k And analyze again until all EOs are identified. j Until all paths have been included in the path set, E(k,f) is the E(i,f) for i=k;

[0026] EOs are processed according to the order of their input paths.j Sort and number them, and label them as EW t Where t is a non-zero natural number and t is the index of EW, obtain the R to which this initial operation set belongs. m The distance from EW1 is denoted as LM;

[0027] Starting at t=1, obtain EW t With EW t+1 The distance, denoted as LW t ,calculate The calculation result is named the estimated path distance, where max(t) is the maximum value of t. Each SO is calculated... i As SO k The estimated path distance is calculated, and the minimum estimated path distance is obtained and named as the minimum estimated path distance. The EW corresponding to the minimum estimated path distance is then obtained. t The initial operation path is formed by following the order of t from smallest to largest.

[0028] Furthermore, an optimal operation path analysis model is constructed to analyze the initial operation path and modify some parts of the initial operation path to obtain the optimal operation path, including the following sub-steps:

[0029] Calculate the estimated operation time required for the initial operation path, and determine the initial operation path that needs to be modified based on the estimated operation time;

[0030] The initial operation path is modified, and the estimated operation time is used to verify whether the initial operation path is the optimal operation path.

[0031] Furthermore, the estimated operation time required for the initial operation path is calculated, and the initial operation path that needs to be modified based on the estimated operation time includes the following sub-steps:

[0032] Obtain the robot's moving speed, labeled V, and label the estimated minimum path distance as MinD. Then, label the EW... t Operation time, marked as ED t ,calculate Name the calculation results "Operation Estimation Duration" and calculate each R. m The estimated duration of operations for the initial set of operations;

[0033] The estimated operation times are sorted and numbered in descending order, using the symbol T. r Let T be a non-zero natural number, where r is the index of T. r The corresponding R m Marked as Rt r ;

[0034] Starting with r=1, set Rt rThe operation points in the initial operation set are named as the points to be assigned. The operation point closest to the point to be assigned is found and named as the target point. At the same time, the point to be assigned closest to the target point is named as the dispatch point. The initial operation set to which the target point belongs is named as the target set.

[0035] Furthermore, modifying the initial operation path and verifying whether the initial operation path is the optimal operation path by estimating the operation time includes the following sub-steps:

[0036] Add the outposts to the target set and update each R m The initial set of operations;

[0037] Based on the updated initial operation set, the initial operation path and the estimated operation duration are re-analyzed and named as update operation path and operation update duration, respectively.

[0038] Get the maximum value in the operation update duration and name it the maximum update duration. Determine if the maximum update duration is less than T1. If it is, output a valid update signal; otherwise, output an invalid update signal.

[0039] If a valid update signal is output, the update operation path obtained in this analysis will be used as the initial operation path, and the operation update duration will be used as the operation estimate duration. The next update operation path and operation update duration will then be re-analyzed.

[0040] If an invalid update signal is output, the target set is marked as the optimal set. The operation points in the optimal set do not participate in the subsequent analysis. The update operation path and operation update duration are re-analyzed. When all initial operation sets except the initial operation set to which the point to be divided belongs are optimal sets, the analysis of update operation path and operation update duration is stopped. At the same time, the initial operation set to which the point to be divided belongs is also summarized as the optimal set.

[0041] The initial operation path of the optimal set is the optimal operation path.

[0042] Furthermore, controlling the robot to operate at each operation point along the optimal operation path includes the following sub-steps:

[0043] Control the robot to operate at each operation point according to the corresponding optimal operation path;

[0044] The robot is equipped with an operating head changing device, which is used to change the operating head according to the type of operating point.

[0045] Secondly, this application provides a servo centralized control bracket for multiple robots, which integrates a servo centralized control system. The servo centralized control system includes an operation data acquisition module, an operation path analysis module, an optimal path analysis module, and a robot servo control module. The operation data acquisition module, the operation path analysis module, and the robot servo control module are respectively connected to the optimal path analysis module.

[0046] The operation data acquisition module is used to collect the robot's position information, and at the same time, acquire the operation distribution map and mark the operation time of each operation point;

[0047] The operation path analysis module is used to construct an initial operation path analysis model, which is used to comprehensively analyze the initial operation path of each robot.

[0048] The optimal path analysis module is used to construct an optimal operation path analysis model, which is used to analyze the initial operation path and modify some of the initial operation paths to obtain the optimal operation path.

[0049] The robot servo control module is used to control the robot to operate at each operation point in the optimal operation path.

[0050] The beneficial effects of this invention are as follows: This invention collects the robot's position information, obtains an operation distribution map, marks the operation time of each operation point, and then constructs an initial operation path analysis model. By analyzing the robot's initial operation set through the operation points and the robot's position information, and then analyzing the shortest path within the initial operation set, the robot's initial operation path is obtained. The advantage is that it automatically assigns appropriate operation points to the robot based on the robot's current position and automatically plans the initial operation path without using a preset path and operation set, thus improving the rationality and effectiveness of centralized control of multiple robot servos.

[0051] This invention calculates the estimated operation time required for the initial operation path, determines the initial operation path that needs modification based on the estimated operation time, then modifies the initial operation path, and verifies whether the initial operation path is the optimal operation path by verifying the estimated operation time. Finally, it controls the robot to operate on each operation point using the optimal operation path. The advantage is that by analyzing the estimated operation time, it assesses whether the initial operation path can be optimized. After optimization, the optimal operation path is obtained. When the robot moves and performs operations using the optimal operation path, the time for each robot to complete the operation is similar, thus shortening the total operation time to the minimum, improving product output and the effectiveness of centralized control of multiple robot servos. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the system of the present invention;

[0053] Figure 2 This is a schematic diagram showing the positional relationship between the robot and the operating point according to the present invention;

[0054] Figure 3 This is a schematic diagram of the initial operation set of the present invention;

[0055] Figure 4 This is a schematic diagram of the operation points in the initial operation set of the present invention;

[0056] Figure 5 SO of the present invention i and EO j A schematic diagram;

[0057] Figure 6 This is a schematic diagram of the initial operation path of R3 in this invention;

[0058] Figure 7 This is a schematic diagram illustrating the dispatch points, target points, and target sets of the present invention;

[0059] Figure 8 This is a schematic diagram of the updated initial operation set of the present invention;

[0060] Figure 9 This is a flowchart of the steps of the method of the present invention. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Example 1, please refer to Figure 1 As shown, this application provides a servo centralized control bracket for multiple robots. The servo centralized control bracket integrates a servo centralized control system, which includes an operation data acquisition module, an operation path analysis module, an optimal path analysis module, and a robot servo control module. The operation data acquisition module, the operation path analysis module, and the robot servo control module are respectively connected to the optimal path analysis module.

[0063] The operation data acquisition module is used to collect the robot's position information, and at the same time, obtain the operation distribution map and mark the operation time of each operation point;

[0064] The operation data acquisition module is configured with operation data acquisition strategies, which include:

[0065] Collect the robot's location information and obtain an operation distribution map;

[0066] The operation points in the operation distribution diagram are numbered and labeled with the symbol OP. n This indicates that n is a non-zero natural number and n is the index of OP;

[0067] Please see Figure 2 As shown, the robot's position information is mapped onto the operation distribution map, and the robot is numbered using the symbol R. m This indicates that m is a non-zero natural number and m is the index of R;

[0068] Get OP n Operation time;

[0069] In practical applications, after mapping the robot's position information onto the operation distribution map, the positional relationship between the robot and the operation points is obtained, as follows: Figure 2 As shown; in practical applications, this embodiment is typically used in manufacturing to complete tasks such as welding and screwing on products. Existing technologies usually assign fixed operation points to each robot and control the robot to operate on the operation points sequentially according to a preset path. This will result in some robots being idle after completing their work, while others still need to complete operations on multiple operation points. This method will increase the operation time of a single product and further reduce product output. This embodiment can automatically assign suitable operation points to the robot based on its current position and automatically plan its movement trajectory. At the same time, it can ensure that the time for each robot to complete its operation is similar, thereby shortening the total operation time to the minimum and increasing product output. Furthermore, since the operation points of the products are distributed in the same way, the robot's movement path is known in advance, and the position of the robot when the next product arrives can be predicted in advance. This allows for the analysis of the optimal operation path of the robot when the next product arrives, without the robot having to return to its original position.

[0070] The operation path analysis module is used to construct the initial operation path analysis model, which is used to comprehensively analyze the initial operation path of each robot; the operation path analysis module includes an initial operation set analysis unit and an initial operation path analysis unit;

[0071] The initial operation set analysis unit is used to construct the initial operation path analysis model and analyze the robot's initial operation set by analyzing the operation points and the robot's position information.

[0072] The initial operation set analysis unit is configured with an initial operation set analysis strategy, which includes:

[0073] Build an initial operation path analysis model and obtain OP. n With each R mThe distance is denoted as L(n,m);

[0074] For each value of n, obtain the R corresponding to the minimum value in L(n,m). m Name it the most recent machine, and assign it to the OP. n Include in the initial operation set of the most recent machine;

[0075] Please see Figure 3 As shown, each R m There exists an initial set of operations for all OPs. n After analysis, the initial operation set was divided.

[0076] In practical applications, dividing the initial operation set essentially means including the operation points within the robot's operational range that is closest to the operation point. This embodiment will not provide a detailed explanation. The initial operation set is divided as follows: Figure 3 As shown, Figure 3 The robots in the diagram are R1, R2, and R3 from left to right. In actual use, if any operation point needs to reach a specified position synchronously, these operation points are not included in the initial operation set but are executed independently. In fact, the initial operation path is calculated separately for operation points that do not need to reach the specified position synchronously and operation points that do need to reach the specified position synchronously. That is, completely independent analysis is performed. The robot can perform the operation on the operation points that do not need to reach the specified position synchronously after completing the operation on the operation points that do need to reach the specified position synchronously. During the operation, each robot is analyzed independently because it is assigned its own control system. Even if synchronous command is considered, synchronous arrival can be completed. If the optimal operation path cannot ensure synchronous arrival, a corresponding delay time is added to ensure that the specified operation point can be reached synchronously.

[0077] The initial operation path analysis unit is used to analyze the shortest path within the initial operation set to obtain the robot's initial operation path;

[0078] The initial operation path analysis unit is configured with an initial operation path analysis strategy, which includes:

[0079] Please see Figures 4 to 5 As shown, each initial operation set is analyzed independently, with two coordinate sets: a start set and a stop set. Both the start set and the stop set contain the operations (OPs) from the initial operation set. n OP in the starting group n Marked as SO i This will terminate the OP in the group. n Marked as EO j , where i and j are both non-zero natural numbers and i is the index of SO, and j is the index of EO;

[0080] In practical applications, taking the initial operation set of R3 as an example, the analysis process of the initial operation path is illustrated. The initial operation set of R3 includes OP2, OP3, OP4, OP5, OP8, OP9, and OP... 12 OP 14 OP 15 OP 16 and OP 17 A total of 11 operation points have been completed. Figure 4 Chinese annotation, Figure 4 The number following the operation point represents the index n of the OP. Numbering is done in ascending order of n to obtain the SO. i and EO j , 1≤i≤11, 1≤j≤11, when i=j, SO i and EO j In fact, it refers to the same operation point. Figure 5 The numbers following the operation point represent the subscript i of SO and the subscript j of EO;

[0081] Get SO i With EO j The distance is denoted as H(i,j). When i is fixed, H(i,j) is sorted and numbered in ascending order, denoted by G(i,f), where f is a non-negative integer and (i,f) is the index of G, where G(i,0) is the distance between SO and SO. i and EO j The same OP n Since the distance to itself is fixed at 0, G(i,0) is removed, the range of values ​​for f is corrected to non-zero natural numbers, and the EO corresponding to G(i,f) is set to 0. j Labeled as E(i,f);

[0082] In practical applications, taking i=1 as an example, we obtain H(1,1) to H(1,11), a total of 11 H(1,j). By sorting and numbering them, we obtain G(1,0) to G(1,10). Among them, G(1,0) is actually SO when i=j. i and EO j The distance, that is, the distance between an operation point and itself, must be 0. Therefore, the case of f=0 is eliminated, and the value of f as a positive integer is retained, finally obtaining G(1,1) to G(1,10), where 1≤f≤10;

[0083] Set the path set, assuming it's SO k Let's begin the analysis, SO k SO for i=k i , will SO k Corresponding EO jTo add a path to the path set, start with f=1. Check if E(k,f) already exists in the path set. If yes, increment f and check again. If no, add E(k,f) to the path set and use E(k,f) as the SO. k And analyze again until all EOs are identified. j Once all paths have been included in the path set, E(k,f) is the same as E(i,f) for i=k;

[0084] In practical applications, assuming the analysis starts with i=1, and k=1, EO1 is included in the path set, and the EO corresponding to G(1,1) is determined. j E(1,1) is obtained as EO2. At this point, EO2 is not in the path set, meaning E(1,1) is not in the path set. Therefore, E(1,1) is added to the path set, which means adding EO2 to the path set. Then, EO2 is used as the SO. k Analyzing the data, k=2, we determine whether E(2,1) is within the path set. E(2,1) is found to be EO3, which is not within the path set. Therefore, EO3 is added to the path set, and EO3 is used as the SO again. k Analysis reveals that E(3,1) is EO2, meaning E(3,1) already exists in the path set. We increment f by 1 and re-evaluate, now checking E(3,2). E(3,2) is found to be EO4, which is not in the path set. We then add it to the path set and use EO4 as the SO. k Perform the analysis, and so on, until all EOs are identified. j All have been included in the path set;

[0085] EOs are processed according to the order of their input paths. j Sort and number them, and label them as EW t Where t is a non-zero natural number and t is the index of EW, obtain the R to which this initial operation set belongs. m The distance from EW1 is denoted as LM;

[0086] Please see Figure 6 As shown, starting at t=1, EW is obtained. t With EW t+1 The distance, denoted as LW t ,calculate The calculation result is named the estimated path distance, where max(t) is the maximum value of t. Each SO is calculated... i As SO k The estimated path distance is calculated, and the minimum estimated path distance is obtained and named as the minimum estimated path distance. The EW corresponding to the minimum estimated path distance is then obtained. t The initial operation path is formed in ascending order of t;

[0087] In practical applications, the final analysis yields EW t , 1≤t≤11, where EW1 to EW 11 In order: EO1, EO2, EO3, EO4, EO7, EO6, EO8, EO9, EO 10 EO 11 And EO5, EW1 is EO1, obtain the distance between robot R3 and EO1, and get LM as 44.76cm. Finally, calculate SO1 as SO k The initial estimated path distance was 566.02 cm, meaning that when SO1 was EW1, the estimated path distance was 566.02 cm. The calculation results were rounded to two decimal places. The calculations were performed for each SO1. i The estimated path distance for EW1 was found to be a minimum of 471.03 cm. At this point, EW1 is SO3, meaning SO3 is the value of EW1. t The resulting sequence ultimately yields the initial operation path of R3 as follows: Figure 6 As shown.

[0088] The optimal path analysis module is used to construct an optimal operation path analysis model, which is used to analyze the initial operation path and modify some of the initial operation paths to obtain the optimal operation path; the optimal path analysis module includes a path modification judgment unit and an optimal path analysis unit.

[0089] The path modification judgment unit is used to calculate the estimated operation time required for the initial operation path, and to determine the initial operation path that needs to be modified based on the estimated operation time.

[0090] The path modification judgment unit is configured with a path modification judgment strategy, which includes:

[0091] Obtain the robot's moving speed, labeled V, and label the estimated minimum path distance as MinD. Then, label the EW... t Operation time, marked as ED t ,calculate Name the calculation results "Operation Estimation Duration" and calculate each R. m The estimated duration of operations for the initial set of operations;

[0092] The estimated operation times are sorted and numbered in descending order, using the symbol T. r Let T be a non-zero natural number, where r is the index of T. r The corresponding R m Marked as Rt r ;

[0093] Please see Figure 7 As shown, starting with r=1, Rtr The operation points in the initial operation set are named as the points to be assigned. The operation point closest to the point to be assigned is found and named as the target point. At the same time, the point to be assigned closest to the target point is named as the dispatch point. The initial operation set to which the target point belongs is named as the target set.

[0094] In practical applications, robot movement takes time, and performing operations at each operation point also takes time. The required operation time varies between different operation points, therefore, the total time for movement and operation needs to be evaluated to reduce the operation time for individual products. The moving speed V is obtained as 1000 mm / s, which is converted to 100 cm / s. The estimated minimum path distance MinD is 471.03 cm, where ED1 to ED... 11 The estimated operation times are 3s, 5s, 3s, 3s, 6s, 4s, 8s, 3s, 9s, 6s, and 6s, respectively. The final estimated operation time is 60.7103s. Similarly, the estimated operation times for R1 and R2 are 74.8246s and 53.4963s, respectively. Sorting these values, T1 to T3 represent the estimated operation times for R1, R3, and R2, respectively. Since 1 ≤ r ≤ 3, Rt1 is R1, Rt2 is R3, and Rt3 is R2. The operation points in Rt1 are named as assignment points. The dispatch points, target points, and target sets are then identified. Figure 7 As shown, this is because the dispatch point is the point closest to the initial operation set of other robots, making it the most suitable point to dispatch it to other robots;

[0095] The optimal path analysis unit is used to modify the initial operation path and verify whether the initial operation path is the optimal operation path by measuring the operation prediction time.

[0096] The optimal path analysis unit is configured with an optimal path analysis strategy, which includes:

[0097] Please see Figure 8 As shown, the dispatch points are included in the target set, and each R is updated. m The initial set of operations;

[0098] Based on the updated initial operation set, the initial operation path and the estimated operation duration are re-analyzed and named as update operation path and operation update duration, respectively.

[0099] In practical applications, the updated initial operation set is as follows: Figure 8 As shown, according to Figure 8 The initial set of operations shown is reanalyzed for each R. mThe initial operation path and estimated operation duration are used to obtain the updated operation path and operation update duration. Since the initial operation set of R3 has not changed, R3 does not need to be re-analyzed. The initial operation path and estimated operation duration obtained from the previous analysis can be directly used as the updated operation path and operation update duration.

[0100] Get the maximum value in the operation update duration and name it the maximum update duration. Determine if the maximum update duration is less than T1. If it is, output a valid update signal; otherwise, output an invalid update signal.

[0101] If a valid update signal is output, the update operation path obtained in this analysis will be used as the initial operation path, and the operation update duration will be used as the operation estimate duration. The next update operation path and operation update duration will then be re-analyzed.

[0102] In practical applications, the maximum update duration is found to be 69.8246s, while the original T1 is 74.8246s. Since the maximum update duration is less than T1, a valid update signal is output. Based on this analysis, the operation update duration is re-analyzed, and T1 is now 69.8246s instead of 74.8246s. This process is repeated until an invalid update signal is output.

[0103] If an invalid update signal is output, the target set is marked as the optimal set. The operation points in the optimal set do not participate in the subsequent analysis. The update operation path and operation update duration are re-analyzed. When all initial operation sets except the initial operation set to which the point to be divided belongs are optimal sets, the analysis of update operation path and operation update duration is stopped. At the same time, the initial operation set to which the point to be divided belongs is also summarized as the optimal set.

[0104] The initial operation path of the optimal set is the optimal operation path;

[0105] In practical applications, if an invalid update signal is output, it means that assigning dispatch points to the target set cannot improve the overall working efficiency of the robot. Therefore, the target set is divided into the optimal set. This means that the target set is no longer suitable for receiving work points within T1. However, the other robots outside the target set are still unknown. Therefore, the optimal set is not included in the subsequent analysis. The target point, dispatch point, and target set are analyzed again to see if R3 can receive operation points within R1 to improve the overall working efficiency of the robot. When the initial operation sets of all robots except the robot to which T1 belongs belong to the optimal set, it means that the overall working efficiency of the robot has reached its maximum. The time for each robot to complete the work is not much different. Thus, the optimal operation path of each robot can be obtained.

[0106] The robot servo control module is used to control the robot to operate at each operation point in the optimal operation path;

[0107] The robot servo control module is configured with a robot servo control strategy, which includes:

[0108] Control the robot to operate at each operation point according to the corresponding optimal operation path;

[0109] The robot is equipped with a manipulator head changing device, which is used to change the manipulator head according to the type of manipulator point.

[0110] In practical applications, the robot is controlled to operate on each operation point according to the corresponding optimal operation path. Since different operation points may have different operation types, such as welding type and screw type, in order to perform centralized servo control on the robot so that the robot can complement each other during work and shorten the overall work time, this embodiment is equipped with an operation head changing device on the robot. The operation head changing device is equipped with different types of operation heads, which can be quickly changed by rotation. The robot can change the operation head in advance when moving to the next operation point based on the operation type of the operation point.

[0111] Example 2, please refer to Figure 9 As shown, this application provides a servo centralized control method for multiple robots, including the following steps:

[0112] Step S1: Collect the robot's position information and simultaneously obtain an operation distribution map, marking the operation time for each operation point; Step S1 includes the following sub-steps:

[0113] Step S101: Collect the robot's position information and simultaneously obtain the operation distribution map;

[0114] Step S102: Number the operation points in the operation distribution map, using the symbol OP. n This indicates that n is a non-zero natural number and n is the index of OP;

[0115] Step S103: Map the robot's position information onto the operation distribution map, assign numbers to the robots, and use the symbol R. m This indicates that m is a non-zero natural number and m is the index of R;

[0116] Step S104, obtain OP n Operation time.

[0117] Step S2 involves constructing an initial operation path analysis model to comprehensively analyze the initial operation path of each robot. Step S2 includes the following sub-steps:

[0118] Step S201: Construct an initial operation path analysis model and analyze the robot's initial operation set by analyzing the operation points and the robot's position information;

[0119] Step S201 includes the following sub-steps:

[0120] Step S201.1: Construct the initial operation path analysis model and obtain the OP. n With each R m The distance is denoted as L(n,m);

[0121] Step S201.2: For each value of n, obtain the R corresponding to the minimum value in L(n,m). m Name it the most recent machine, and assign it to the OP. n Include in the initial operation set of the most recent machine;

[0122] Step S201.3, each R m There exists an initial set of operations for all OPs. n After analysis, the initial operation set was divided.

[0123] Step S202: Analyze the shortest path within the initial operation set to obtain the robot's initial operation path;

[0124] Step S202 includes the following sub-steps:

[0125] Step S202.1: Analyze each initial operation set independently, setting two coordinate groups: a start group and a stop group. Both the start group and the stop group contain the operations (OPs) from the initial operation set. n OP in the starting group n Marked as SO i This will terminate the OP in the group. n Marked as EO j , where i and j are both non-zero natural numbers and i is the index of SO, and j is the index of EO;

[0126] Step S202.2, obtain SO i With EO j The distance is denoted as H(i,j). When i is fixed, H(i,j) is sorted and numbered in ascending order, denoted by G(i,f), where f is a non-negative integer and (i,f) is the index of G, where G(i,0) is the distance between SO and SO. i and EO j The same OP n Since the distance to itself is fixed at 0, G(i,0) is removed, the range of values ​​for f is corrected to non-zero natural numbers, and the EO corresponding to G(i,f) is set to 0. j Labeled as E(i,f);

[0127] Step S202.3, set the path set, assuming it is SO k Let's begin the analysis, SO kSO for i=k i , will SO k Corresponding EO j To add a path to the path set, start with f=1. Check if E(k,f) already exists in the path set. If yes, increment f and check again. If no, add E(k,f) to the path set and use E(k,f) as the SO. k And analyze again until all EOs are identified. j Once all paths have been included in the path set, E(k,f) is the same as E(i,f) for i=k;

[0128] Step S202.4: Process the EOs according to the order of the input path set. j Sort and number them, and label them as EW t Where t is a non-zero natural number and t is the index of EW, obtain the R to which this initial operation set belongs. m The distance from EW1 is denoted as LM;

[0129] Step S202.5, starting at t=1, obtain EW t With EW t+1 The distance, denoted as LW t ,calculate The calculation result is named the estimated path distance, where max(t) is the maximum value of t. Each SO is calculated... i As SO k The estimated path distance is calculated, and the minimum estimated path distance is obtained and named as the minimum estimated path distance. The EW corresponding to the minimum estimated path distance is then obtained. t The initial operation path is formed by following the order of t from smallest to largest.

[0130] Step S3 involves constructing an optimal operation path analysis model to analyze the initial operation path and modifying some parts of it to obtain the optimal operation path. Step S3 includes the following sub-steps:

[0131] Step S301: Calculate the estimated operation time required for the initial operation path, and determine the initial operation path that needs to be modified based on the estimated operation time.

[0132] Step S301 includes the following sub-steps:

[0133] Step S301.1: Obtain the robot's moving speed, label it V, and label the estimated minimum path distance as MinD. Then, set EW... t Operation time, marked as ED t ,calculate Name the calculation results "Operation Estimation Duration" and calculate each R. m The estimated duration of operations for the initial set of operations;

[0134] Step S301.2: Sort and number the estimated operation times in descending order, using the symbol T. r Let T be a non-zero natural number, where r is the index of T. r The corresponding R m Marked as Rt r ;

[0135] Step S301.3, starting with r=1, set Rt r The operation points in the initial operation set are named as the points to be assigned. The operation point closest to the point to be assigned is found and named as the target point. At the same time, the point to be assigned closest to the target point is named as the dispatch point. The initial operation set to which the target point belongs is named as the target set.

[0136] Step S302: Modify the initial operation path and verify whether the initial operation path is the optimal operation path by using the estimated operation time.

[0137] Step S302 includes the following sub-steps:

[0138] Step S302.1: Add the dispatch points to the target set and update each R. m The initial set of operations;

[0139] Step S302.2: Reanalyze the initial operation path and estimated operation duration based on the updated initial operation set, and name them as update operation path and operation update duration respectively.

[0140] Step S302.3: Obtain the maximum value in the operation update duration, name it the maximum update duration, and determine whether the maximum update duration is less than T1. If yes, output a valid update signal; otherwise, output an invalid update signal.

[0141] Step S302.4: If a valid update signal is output, the update operation path obtained in this analysis is used as the initial operation path and the operation update duration is used as the operation estimated duration. The next update operation path and operation update duration are then re-analyzed.

[0142] Step S302.5: If an invalid update signal is output, the target set is marked as the best set. The operation points in the best set do not participate in the subsequent analysis. The update operation path and operation update duration are re-analyzed. When all initial operation sets except the initial operation set to which the point to be divided belongs are the best sets, the analysis of the update operation path and operation update duration is stopped. At the same time, the initial operation set to which the point to be divided belongs is also summarized as the best set.

[0143] Step S302.6: The initial operation path of the optimal set is the optimal operation path.

[0144] Step S4: Control the robot to operate at each operation point along the optimal operation path; Step S4 includes the following sub-steps:

[0145] Step S401: Control the robot to operate on each operation point according to the corresponding optimal operation path;

[0146] Step S402: The robot is equipped with an operating head changing device, which is used to change the operating head according to the type of operating point.

[0147] Example 3: This application provides an electronic device, which may include a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other via the communication bus. The memory stores computer-readable instructions, and the processor can call these instructions. When the processor executes a computer-readable instruction, it performs steps similar to those in a multi-robot servo centralized control method to achieve the following functions: collecting robot position information and simultaneously acquiring an operation distribution map, marking the operation time of each operation point; constructing an initial operation path analysis model for comprehensive analysis of the initial operation path of each robot; constructing an optimal operation path analysis model for analyzing the initial operation path and modifying some parts of the initial operation path to obtain the optimal operation path; and controlling the robot to operate at each operation point using the optimal operation path.

[0148] Furthermore, when the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0149] Example 4: This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it performs the steps of the above-described multi-robot servo centralized control method to achieve the following functions: collecting robot position information, simultaneously acquiring an operation distribution map, and marking the operation time of each operation point; constructing an initial operation path analysis model for comprehensively analyzing the initial operation path of each robot; constructing an optimal operation path analysis model for analyzing the initial operation path and modifying some of the initial operation paths to obtain the optimal operation path; and controlling the robot to operate on each operation point using the optimal operation path.

[0150] Based on the above description of the embodiments, the embodiments of the present invention can be provided as methods, systems, or computer program products. Based on this understanding, the above technical solutions, in essence or in terms of their contribution to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or certain parts of the embodiments.

[0151] In the embodiments provided in this application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces. The indirect coupling or communication connection between systems, modules, and units may be electrical, mechanical, or other forms.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A servo centralized control method for multiple robots, characterized in that, Includes the following steps: Collect robot location information and simultaneously obtain an operation distribution map, marking the operation time for each operation point; map the robot's location information onto the operation distribution map, assign a number to the robot, and use the symbol R. m This indicates that m is a non-zero natural number and m is the index of R; Construct an initial operation path analysis model to comprehensively analyze the initial operation path of each robot; Construct an optimal operation path analysis model to analyze the initial operation path and modify some of the initial operation paths to obtain the optimal operation path. Control the robot to operate at each operation point in the optimal operation path; Constructing an optimal operation path analysis model to analyze the initial operation path and modifying some parts of the initial operation path to obtain the optimal operation path includes the following sub-steps: Calculate the estimated operation time required for the initial operation path, and determine the initial operation path that needs to be modified based on the estimated operation time; Modify the initial operation path and verify whether the initial operation path is the optimal operation path by measuring the estimated operation time. Calculate the estimated operation time required for the initial operation path, and determine the initial operation path that needs to be modified based on the estimated operation time, including the following sub-steps: Obtain the robot's moving speed, labeled V, and label the estimated minimum path distance as MinD. Then, label the EW... t Operation time, marked as ED t ,calculate Name the calculation results "Operation Estimation Duration" and calculate each R. m The estimated duration of operations for the initial set of operations; The estimated operation times are sorted and numbered in descending order, using the symbol T. r Let T be a non-zero natural number, where r is the index of T. r The corresponding R m Marked as Rt r ; Starting with r=1, set Rt r The operation points in the initial operation set are named as the points to be assigned. The operation point closest to the point to be assigned is found and named as the target point. At the same time, the point to be assigned closest to the target point is named as the dispatch point. The initial operation set to which the target point belongs is named as the target set. Modifying the initial operation path and verifying its optimality based on estimated operation time includes the following sub-steps: Add the outposts to the target set and update each R m The initial set of operations; Based on the updated initial operation set, the initial operation path and the estimated operation duration are re-analyzed and named as update operation path and operation update duration, respectively. Get the maximum value in the operation update duration and name it the maximum update duration. Determine if the maximum update duration is less than T1. If it is, output a valid update signal; otherwise, output an invalid update signal. If a valid update signal is output, the update operation path obtained in this analysis will be used as the initial operation path, and the operation update duration will be used as the operation estimate duration. The next update operation path and operation update duration will then be re-analyzed. If an invalid update signal is output, the target set is marked as the optimal set. The operation points in the optimal set do not participate in the subsequent analysis. The update operation path and operation update duration are re-analyzed. When all initial operation sets except the initial operation set to which the point to be divided belongs are optimal sets, the analysis of update operation path and operation update duration is stopped. At the same time, the initial operation set to which the point to be divided belongs is also summarized as the optimal set. The initial operation path of the optimal set is the optimal operation path.

2. The servo centralized control method for multiple robots according to claim 1, characterized in that, Collecting robot location information and obtaining an operation distribution map, and marking the operation time for each operation point includes the following sub-steps: Collect the robot's location information and obtain an operation distribution map; The operation points in the operation distribution diagram are numbered and labeled with the symbol OP. n This indicates that n is a non-zero natural number and n is the index of OP; Get OP n Operation time.

3. The servo centralized control method for multiple robots according to claim 2, characterized in that, Constructing an initial operation path analysis model to comprehensively analyze the initial operation path of each robot includes the following sub-steps: Construct an initial operation path analysis model and analyze the robot's initial operation set by analyzing the operation points and the robot's position information; The robot's initial operation path is obtained by analyzing the shortest path within the initial operation set.

4. The servo centralized control method for multiple robots according to claim 3, characterized in that, Constructing an initial operation path analysis model involves analyzing the robot's initial operation set using the operation points and the robot's position information. This includes the following sub-steps: Build an initial operation path analysis model and obtain OP. n With each R m The distance is denoted as L(n,m); For each value of n, obtain the R corresponding to the minimum value in L(n,m). m Name it the most recent machine, and assign it to the OP. n Include in the initial operation set of the most recent machine; Each R m There exists an initial set of operations for all OPs. n After analysis, the initial operation set was divided.

5. A servo centralized control method for multiple robots according to claim 4, characterized in that, Analyzing the shortest path within the initial operation set yields the robot's initial operation path, which includes the following sub-steps: Each initial operation set is analyzed independently, with two coordinate sets: a start set and a stop set. Both the start set and the stop set contain the operations (OPs) from the initial operation set. n OP in the starting group n Marked as SO i This will terminate the OP in the group. n Marked as EO j , where i and j are both non-zero natural numbers and i is the index of SO, and j is the index of EO; Get SO i With EO j The distance is denoted as H(i,j). When i is fixed, H(i,j) is sorted and numbered in ascending order, denoted by G(i,f), where f is a non-negative integer and (i,f) is the index of G, where G(i,0) is the distance between SO and SO. i and EO j The same OP n Since the distance to itself is fixed at 0, G(i,0) is removed, the range of values ​​for f is corrected to non-zero natural numbers, and the EO corresponding to G(i,f) is set to 0. j Labeled as E(i,f); Set the path set, assuming it's SO k The analysis begins with the SO k SO for i=k i , will SO k Corresponding EO j To add a path to the path set, start with f=1. Check if E(k,f) already exists in the path set. If yes, increment f and check again. If no, add E(k,f) to the path set and use E(k,f) as the SO. k And analyze again until all EOs are identified. j Until all paths have been included in the path set, E(k,f) is the E(i,f) for i=k; EOs are processed according to the order of their input paths. j Sort and number them, and label them as EW t Where t is a non-zero natural number and t is the index of EW, obtain the R to which this initial operation set belongs. m The distance from EW1 is denoted as LM; Starting at t=1, obtain EW t With EW t+1 The distance, denoted as LW t ,calculate The calculation result is named the estimated path distance, where max(t) is the maximum value of t. Each SO is calculated... i As SO k The estimated path distance is calculated, and the minimum estimated path distance is obtained and named as the minimum estimated path distance. The EW corresponding to the minimum estimated path distance is then obtained. t The initial operation path is formed by following the order of t from smallest to largest.

6. The servo centralized control method for multiple robots according to claim 5, characterized in that, Controlling the robot to operate at each operation point along the optimal operation path includes the following sub-steps: Control the robot to operate at each operation point according to the corresponding optimal operation path; The robot is equipped with an operating head changing device, which is used to change the operating head according to the type of operating point.

7. A servo centralized control bracket for multiple robots, used to implement the servo centralized control method for multiple robots as described in any one of claims 1-6, characterized in that, The servo centralized control bracket integrates a servo centralized control system, which includes an operation data acquisition module, an operation path analysis module, an optimal path analysis module, and a robot servo control module; the operation data acquisition module, the operation path analysis module, and the robot servo control module are respectively connected to the optimal path analysis module. The operation data acquisition module is used to collect the robot's position information, and at the same time, acquire the operation distribution map and mark the operation time of each operation point; The operation path analysis module is used to construct an initial operation path analysis model, which is used to comprehensively analyze the initial operation path of each robot. The optimal path analysis module is used to construct an optimal operation path analysis model, which is used to analyze the initial operation path and modify some of the initial operation paths to obtain the optimal operation path. The robot servo control module is used to control the robot to operate at each operation point in the optimal operation path.

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