A multi-robot cooperative work synchronization control method based on an event triggering mechanism

Abstract

The application relates to the technical field of multi-robot cooperative control, and discloses a multi-robot cooperative operation synchronous control method based on an event triggering mechanism, which comprises the following steps: acquiring a first parameter of a mechanical arm; wherein the first parameter comprises the spatial distance between an executor at the end of the mechanical arm and a target operation point, the contact force of the executor along an axial direction, and the angle difference between the current angle of a shoulder joint and the angle of physical limiting of the shoulder joint; in response to the first parameter meeting a preset event triggering condition, triggering a corresponding sub-working condition event; according to the triggered sub-working condition event, making the mechanical arm and an AGV execute a corresponding response strategy to execute a target operation task at the target operation point; wherein the target operation point is a back wiring terminal in an electric box. The multi-robot cooperative operation synchronous control method based on the event triggering mechanism can eliminate the strategy shock of a position event and make the mechanical arm execute the target operation task at the target operation point.

Description

Technical Field

[0001] This invention relates to the technical field of multi-robot collaborative control, and in particular to a method for synchronous control of multi-robot collaborative operations based on an event-triggered mechanism. Background Technology

[0002] In the construction of smart grids and the management of low-voltage residential electricity consumption, the regular replacement, installation, and removal of smart meters is an important daily task for the operation and maintenance departments of power supply companies. With the increase in the number of users and the accelerated replacement cycle of meters, traditional manual installation and removal methods face problems such as low efficiency, high safety risks, and high labor intensity. Therefore, multi-robot collaborative operation systems consisting of automated guided vehicles (AGVs) equipped with robotic arms are gradually being introduced to automate the installation and removal of electricity meters.

[0003] In residential building corridors, electricity meters are typically installed in embedded metal meter boxes. The rear wiring terminals are those located on the back face of the meter, with the wiring holes facing the rear wall of the box. Due to the compact structure of the meter box and the rail-mounted design, the gap between the rear wiring terminal surface and the rear wall of the box is extremely small, typically 5mm to 15mm, leaving no clearance and creating a blind spot for installation.

[0004] When the robotic arm goes deep into the meter box to remove or install the wiring screws of the back terminal, the shoulder joint of the robotic arm is often close to the physical limit, and the distance between the end effector and the target work point is very close. At the same time, it faces two positional events: first, the adjacent joints of the robotic arm may cause self-collision risk due to the small angle; second, the distance between the upper arm, lower arm or end effector and the rear wall of the meter box or surrounding obstacles is too close, which poses a collision risk.

[0005] However, in deep-working scenarios involving back-end terminals, due to the extremely narrow space and lack of rear clearance, the responses to the two positional events mentioned above physically conflict with each other, causing the robotic arm to repeatedly switch between the two corresponding strategies, resulting in strategy oscillation. This leads to end effector jitter, operation failure, and even damage to the terminals. Summary of the Invention

[0006] Therefore, the purpose of this invention is to overcome the problem of repeated switching between strategies corresponding to different position events in multi-robot operations, which leads to strategy oscillation, causing end effector jitter, operation failure, or even damage to the wiring terminals. The invention proposes a multi-robot collaborative operation synchronization control method based on an event triggering mechanism. This method can identify the operation stage based on the first parameter of the robotic arm and trigger the corresponding sub-condition event. Based on the triggered sub-condition event, the robotic arm and AGV execute the corresponding response strategy. This method can eliminate strategy oscillation of position events and enable the robotic arm to perform the target operation task at the target operation point.

[0007] To address the aforementioned technical problems, this invention provides a multi-robot collaborative operation synchronization control method based on an event-triggered mechanism, wherein the multi-robot includes an AGV and a robotic arm, and the robotic arm is mounted on the AGV.

[0008] The control method includes:

[0009] Obtain the first parameters of the robotic arm; wherein the first parameters include: the spatial distance between the actuator at the end of the robotic arm and the target work point, the contact force of the actuator along the axial direction, and the angle difference between the current angle of the shoulder joint and the physical limit of the shoulder joint;

[0010] In response to the first parameter meeting the preset event triggering condition, the corresponding sub-condition event is triggered;

[0011] Based on the triggered sub-condition event, the robotic arm and AGV execute the corresponding response strategy to perform the target task at the target work point; where the target work point is the back wiring terminal inside the electrical box.

[0012] Preferably, the event triggering conditions include:

[0013] First triggering conditions: Second distance threshold < spatial distance ≤ first distance threshold; angle difference > first angle threshold; contact force of actuator along axis < first force threshold; wherein, second distance threshold < first distance threshold;

[0014] Second triggering conditions: Second distance threshold < spatial distance ≤ first distance threshold; angle difference ≤ first angle threshold; contact force of actuator along axis < second force threshold; wherein, first force threshold < second force threshold;

[0015] The third triggering condition is: the spatial distance is less than or equal to the first distance threshold, the angle difference is less than or equal to the first angle threshold, and the contact force of the actuator along the axial direction is greater than or equal to the second force threshold; or, the spatial distance is less than or equal to the second distance threshold.

[0016] If the first parameter meets the first triggering condition, the first sub-condition event is triggered; if the first parameter meets the second triggering condition, the second sub-condition event is triggered; if the first parameter meets the third triggering condition, the third sub-condition event is triggered.

[0017] Preferably, when the first triggering condition or the second triggering condition is triggered, the response strategy includes:

[0018] Obtain the minimum distance between the robotic arm and the nearest obstacle. When the minimum distance is less than or equal to the third distance threshold, trigger a hard obstacle approach event.

[0019] In response to the triggering of a hard obstacle approach event, a first response strategy is executed, the first response strategy including:

[0020] Put the AGV into a braking state;

[0021] Pause the current feed motion of the robotic arm; generate a first intermediate point and a second intermediate point of the detour path based on the direction of the nearest obstacle; wherein, the first intermediate point is located on the side of the robotic arm end that is farthest from the nearest obstacle; the second intermediate point is located on the side of the target work point that is farthest from the nearest obstacle;

[0022] After the robotic arm moves sequentially to the first intermediate point, the second intermediate point, and the target work point at a first preset speed, it resumes the feed motion.

[0023] Preferably, when the first triggering condition or the second triggering condition is triggered, the response strategy further includes:

[0024] Obtain the included angle between adjacent joints of the robotic arm; wherein, the included angle between adjacent joints includes a first included angle between the shoulder joint and the elbow joint and / or a second included angle between the elbow joint and the wrist joint;

[0025] When the included angle between any adjacent joints of the robotic arm is less than or equal to the first preset angle, a joint interference approximation event is triggered.

[0026] In response to the triggering of the joint interference approximation event, a second response strategy is executed, the second response strategy including:

[0027] Put the AGV into a braking state;

[0028] Pause the current feed motion of the robotic arm, and adjust the joint poses until the included angle between adjacent joints is greater than or equal to the second preset angle, or the first cumulative duration of the joint pose adjustment is greater than or equal to the first preset duration, and then resume the feed motion of the robotic arm.

[0029] Preferably, when the first triggering condition is triggered, if a hard obstacle approaching event and a joint interference approaching event are triggered simultaneously within the same detection cycle, the first response strategy is invoked first. After the first response strategy is executed and a first cooling-off period has elapsed, the second response strategy is invoked.

[0030] Preferably, when the second triggering condition is triggered, if a hard obstacle approaching event and a joint interference approaching event are triggered simultaneously within the same detection cycle, the second response strategy is invoked first. After the second response strategy is executed and a second cooling-off period has elapsed, the first response strategy is invoked.

[0031] Preferably, when the third triggering condition is triggered, a third sub-condition event is triggered, and a fourth response strategy is executed, the fourth response strategy including:

[0032] Pause the current feed motion of the robotic arm, allow the AGV to move towards the target work point at a third preset speed for a first preset step length, and then resume the feed motion of the robotic arm.

[0033] Preferably, the fourth response strategy further includes:

[0034] Accumulate the AGV's displacement. When the AGV's cumulative displacement is greater than or equal to the first displacement threshold, trigger an alarm and stop operation.

[0035] Alternatively, if the second cumulative duration of the third sub-condition event is greater than or equal to the second preset duration, an alarm will be triggered and the operation will be stopped.

[0036] Preferably, when the third triggering condition is triggered, the response strategy further includes:

[0037] Obtain the minimum distance between the robotic arm and the nearest obstacle. When the minimum distance is less than or equal to the third distance threshold, trigger a hard obstacle approach event.

[0038] In response to the triggering of a hard obstacle approach event, a fifth response strategy is executed, the fifth response strategy including:

[0039] Pause the current feed motion of the robotic arm, deflect the actuator at the end of the robotic arm toward the side away from the nearest obstacle, and then feed at the second preset speed.

[0040] Preferably, when the third triggering condition is triggered, the third sub-condition event is triggered; after the fifth response strategy is executed twice, when the hard obstacle approaching event is triggered, an alarm is triggered and the operation is stopped.

[0041] The time interval between the end of the first execution of the fifth response strategy and the start of the second execution of the fifth response strategy is greater than or equal to the third cooldown time.

[0042] Compared with the prior art, the above-described technical solution of the present invention has the following advantages:

[0043] The multi-robot collaborative operation synchronization control method based on an event-triggered mechanism described in this invention can identify the operation stage based on the first parameter of the robotic arm and trigger corresponding sub-condition events. Based on the triggered sub-condition events, the robotic arm and AGV execute corresponding response strategies, thus eliminating strategy oscillations caused by position events and enabling the robotic arm to perform the target operation task at the target operation point. Specifically:

[0044] Based on the spatial distance between the actuator at the end effector of the robotic arm and the target work point, the contact force of the actuator along the axial direction, and the difference between the current angle of the shoulder joint and its physical limit, the following sub-conditions are defined: the first sub-condition is when the robotic arm is far from the wall, the joint still has some margin, and the risk of hitting the wall outweighs the risk of self-collision; the second sub-condition is when the joint is close to its physical limit, and the risk of self-collision outweighs the risk of hitting the wall; and the third sub-condition is when the robotic arm has no more travel and must rely on the AGV for movement. Furthermore, each sub-condition only responds to the most pressing physical threat, avoiding the repeated alternation of response strategies for hard obstacle approach events and joint interference approach events within the same time period, thereby preventing actuator jitter at the end effector. Attached Figure Description

[0045] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0046] Figure 1 This is a flowchart illustrating a multi-robot collaborative operation synchronization control method based on an event-triggered mechanism in an embodiment of the present invention.

[0047] Figure 2 This is a schematic diagram of a bypass path in an embodiment of the present invention. Detailed Implementation

[0048] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0049] This application introduces a method for synchronous control of multi-robot collaborative operation based on an event-triggered mechanism.

[0050] In this application, a newly built residential building has a three-story stairwell with an embedded electricity meter box installed on the wall. The meter box is made of metal, with internal dimensions of 400mm x 500mm x 450mm (width x height x depth). Two rows of single-phase smart meters are installed inside the box, and a back-side wiring terminal is located on the back of each meter. The gap between the surface of the back-side wiring terminal and the back wall of the meter box is less than or equal to 15mm, and the X-axis coordinate of the back-side wiring terminal is greater than or equal to 800mm.

[0051] The target task in this embodiment is to remove the wiring screws at the target work point. The rear wiring terminal is the target work point in this embodiment. The surface of the rear wiring terminal is 430mm from the plane of the meter box door, the terminal hole diameter is 2.5mm, and the hole depth is 12mm.

[0052] In practical applications, refer to Figure 2 The multi-robot system includes automated guided vehicles (AGVs) and robotic arms, with the robotic arms mounted on the AGVs.

[0053] Specifically: The center of the top mounting plate of the AGV is used to mount the robotic arm base. The AGV shell is 600mm long, 500mm wide, and 150mm high. In some embodiments, the initial position of the AGV is: the AGV is parked in front of the control box, with the center of the AGV aligned with the center of the control box in the width direction, 400mm away from the plane of the control box door. In some other embodiments, the AGV uses differential drive, with a drive wheel diameter of 150mm.

[0054] In the robot arm base coordinate system: the origin is located at the center of the robot arm base, the X-axis points perpendicularly to the electrical box door and inwards, the Y-axis is to the left, and the Z-axis is upwards. The coordinates of the target working point in the robot arm base coordinate system are (830mm, 0mm, 200mm).

[0055] The robotic arm is mounted on a robotic arm base. Specifically: the robotic arm base has a shoulder joint with a physical limit of [-60°, 120°]; the output end of the shoulder joint connects to one end of the upper arm, which is 300mm long; the other end of the upper arm connects to the elbow joint, which has a physical limit of [-170°, 170°]; the output end of the elbow joint connects to one end of the forearm, which is 300mm long; the other end of the forearm connects to the wrist joint, which has a physical limit of [-180°, 180°]; the output end of the wrist joint connects to an end effector, which has an actuator for performing the target task. The end effector has a diameter of 2.3mm and a length of 50mm.

[0056] Furthermore, a first displacement sensor and a second displacement sensor are respectively installed on the left and right sides of the forearm to detect the distances between the left and right sides of the forearm and the side wall of the instrument case. A force sensor is installed at the wrist joint to detect the axial contact force of the actuator at the end effector of the robotic arm. A third displacement sensor and a fourth displacement sensor are respectively installed on the left and right sides of the end effector to detect the distances between the left and right sides of the end effector and the side wall of the instrument case. A fifth displacement sensor is installed at the front end of the end effector to detect the distance between the front end of the end effector and the side wall of the instrument case.

[0057] Example 1: This example introduces a multi-robot collaborative operation synchronization control method based on an event-triggered mechanism.

[0058] In application, the multi-robot collaborative operation synchronization control method based on the event triggering mechanism in this embodiment is applicable to the multi-robot deep operation conditions facing blind spots and dead angles.

[0059] In practical applications, refer to Figure 1 The multi-robot collaborative operation synchronization control method based on the event triggering mechanism in this embodiment includes steps SS1 to SS3.

[0060] Step SS1: Obtain the first parameters of the robotic arm.

[0061] When applied, the first parameters include: the spatial distance between the actuator at the end of the robotic arm and the target work point, and the contact force of the actuator along the axial direction.

[0062] In practical applications, deep-field operations in blind spots primarily rely on shoulder joint extension. Specifically, the physical limit of the elbow joint is greater than that of the shoulder joint. Furthermore, during deep-field operations, when the robotic arm extends forward, the elbow joint typically bends backward at a negative angle, making it difficult to reach the limit of the elbow joint's physical limit. The elbow joint only approaches its limit when the robotic arm needs to move significantly downward or upward. However, in scenarios involving straight insertion near a wall terminal, the change in elbow joint angle is minimal. Additionally, the primary requirement for deep-field operations in blind spots is reaching the target work point forward. The wrist joint is mainly responsible for the actuator's deflection, rotation, and pitch. The contribution of wrist joint angle changes to the robotic arm's forward travel is negligible; for example, every 10° deflection of the wrist joint contributes -0.3mm to 0.3mm to the robotic arm's forward travel. Therefore, the first parameter also includes the difference between the current shoulder joint angle and the shoulder joint's physical limit angle.

[0063] Step SS2: In response to the first parameter meeting the preset event triggering conditions, the corresponding sub-condition event is triggered.

[0064] When applied, if the first parameter does not meet the event triggering conditions, the sub-condition event will not be triggered. The event triggering conditions include a first triggering condition, a second triggering condition, and a third triggering condition.

[0065] The first triggering conditions include: second distance threshold < spatial distance ≤ first distance threshold; angle difference > first angle threshold; contact force of the actuator along the axial direction < first force threshold; wherein, the second distance threshold < first distance threshold.

[0066] The second triggering conditions include: second distance threshold < spatial distance ≤ first distance threshold; angle difference ≤ first angle threshold; contact force of the actuator along the axial direction < second force threshold; wherein, the first force threshold < second force threshold.

[0067] The third triggering conditions include: spatial distance ≤ first distance threshold, angle difference ≤ first angle threshold, and contact force of actuator along axis ≥ second force threshold; or, spatial distance ≤ second distance threshold.

[0068] Furthermore, the second distance threshold is less than the first distance threshold; the first force threshold is less than the second force threshold.

[0069] In practical applications, to allow for early triggering of the deep working mode and provide sufficient safety adjustment space, the first distance threshold can be 50mm; simultaneously, to avoid premature triggering of hard obstacle approach events leading to unnecessary retreat, the second distance threshold can be 10mm. To effectively adjust the robotic arm, the first angle threshold can be 5°. To determine whether the actuator has been inserted into the wiring terminal, the first force threshold can be 0.5N, and the second force threshold can be 1N.

[0070] In actual implementation, the sub-operating condition event includes the first sub-operating condition event, the second sub-operating condition event, and the third sub-operating condition event.

[0071] If the first parameter meets the first triggering condition, the first sub-condition event is triggered; if the first parameter meets the second triggering condition, the second sub-condition event is triggered; if the first parameter meets the third triggering condition, the third sub-condition event is triggered.

[0072] In some implementations, when (1) or (2) exists, and it is determined that the joint has no effective travel, a third sub-condition event is triggered.

[0073] (1) Within three consecutive detection cycles, the absolute value of the change in shoulder joint angle is less than 0.1 degrees, and the output torque of the joint actuator has approached or reached the maximum allowable torque.

[0074] (2) Within five consecutive detection cycles, the position change of the end of the robotic arm is less than 0.5 mm, and the robotic arm controller has issued a forward motion command.

[0075] Step SS3: Based on the triggered sub-condition event, the robotic arm and AGV execute the corresponding response strategy to perform the target task at the target work point.

[0076] When applying this method, the target work point is the back wiring terminal inside the electrical box.

[0077] In practical applications, response strategies include a first response strategy, a second response strategy, and a third response strategy. The third response strategy further includes a fourth response strategy and a fifth response strategy.

[0078] In some embodiments, when a first triggering condition or a second triggering condition is triggered, the response strategy includes steps SS311 to SS312.

[0079] Step SS311: Obtain the minimum distance between the robotic arm and the nearest obstacle. When the minimum distance is less than or equal to the third distance threshold, trigger a hard obstacle approach event.

[0080] In application, compare the real-time measurement values ​​of each displacement sensor, and take the minimum value among all real-time measurement values ​​as the minimum distance.

[0081] In practical applications, the third distance threshold is determined based on the preset feed rate and the detection accuracy of the displacement sensor. Furthermore, the third distance threshold can be 30mm.

[0082] Step SS312: In response to the triggering of a hard obstacle approach event, execute the first response strategy.

[0083] When applied, the first response strategy includes steps A1 to A3.

[0084] Step A1: The AGV is in braking mode.

[0085] Step A2: Pause the current feed motion of the robotic arm; generate the first and second intermediate points of the detour path based on the direction of the nearest obstacle.

[0086] In application, the direction of the nearest obstacle is determined based on the calibration direction of the displacement sensor that measured the minimum distance. For example, if the calibration direction of the displacement sensor that measured the minimum distance is to the left, the direction of the nearest obstacle is to the left; if the calibration direction of the displacement sensor that measured the minimum distance is to the right, the direction of the nearest obstacle is to the right.

[0087] In practical applications, the first intermediate point M1 is located on the side of the robotic arm's end cap furthest from the nearest obstacle; the second intermediate point M2 is located on the side of the target work point furthest from the nearest obstacle. To ensure that the detour path avoids the nearest obstacle while preventing the robotic arm from colliding with an obstacle on the other side due to excessive offset, the distance between the first intermediate point M1 and the robotic arm's end cap, and the distance between the second intermediate point M2 and the target work point, are determined based on the actuator width. Further, the distance between the first intermediate point M1 and the robotic arm's end cap can be 20mm; the distance between the second intermediate point and the target work point can also be 20mm.

[0088] In actual implementation, starting from the current position of the robotic arm's end effector, a first offset of 20mm is made in the direction away from the nearest obstacle to determine the first intermediate point M1, and the first intermediate point M1 is placed on the same horizontal plane as the target work point; starting from the target work point, a second offset of 20mm is made in the direction away from the nearest obstacle. Furthermore, linear interpolation can be used between the first intermediate point and the second intermediate point.

[0089] Step A3: Move the robotic arm sequentially to the first intermediate point, the second intermediate point, and the target work point at a first preset speed, and then resume the feed motion.

[0090] In application, the first preset speed can be 30% of the preset feed speed. Furthermore, the preset feed speed is 20 mm / s.

[0091] In practical applications, refer to Figure 2 The current position P0 at the end of the robotic arm, the first intermediate point M1, the second intermediate point M2, and the target work point P1 constitute the detour path.

[0092] In some embodiments, when the first triggering condition or the second triggering condition is triggered, the response strategy further includes steps SS313 to SS315.

[0093] Step SS313: Obtain the included angle between adjacent joints of the robotic arm.

[0094] When applied, the included angle between adjacent joints includes: the first included angle between the shoulder joint and the elbow joint and / or the second included angle between the elbow joint and the wrist joint.

[0095] Step SS314: When the included angle between any adjacent joints of the robotic arm is less than or equal to the first preset included angle, a joint interference approximation event is triggered.

[0096] In application, the first preset angle after entering the first sub-condition event and the second sub-condition event are different. Furthermore, to improve intervention and prevent self-collision, the first preset angle after entering the first sub-condition event is larger than the first preset angle after entering the second sub-condition event. Specifically: when the first triggering condition is triggered, the first preset angle is 15°; when the second triggering condition is triggered, the first preset angle is 10°, to reduce unnecessary yielding.

[0097] Step SS315: In response to the triggering of the joint interference approximation event, execute the second response strategy.

[0098] When applied, the second response strategy includes steps B1 to B2.

[0099] Step B1: Put the AGV into a braking state.

[0100] Step B2: Pause the current feed motion of the robotic arm, and adjust the joint poses until the angle between adjacent joints is greater than or equal to the second preset angle, or the first cumulative duration of the joint pose adjustment is greater than or equal to the first preset duration, and then resume the feed motion of the robotic arm.

[0101] In application, joint interference relief requires changing the joint angle to increase the included angle between adjacent joints. To avoid collisions with walls or end effector deviation from terminal holes, the position of the actuator at the end of the robotic arm must remain unchanged when adjusting the joint pose. "Collision with walls" is a general term encompassing collisions with obstacles.

[0102] In practical applications, in order to provide sufficient margin and avoid triggering again immediately after exiting the interference, the second preset included angle can be 25°.

[0103] In practical applications, the cumulative time from the start to the end of joint pose adjustment is used as the first cumulative duration. Furthermore, the first preset duration is determined based on the average value of historical data, and can be 0.5 seconds. The joint pose adjustment can be implemented using existing technologies, which will not be elaborated upon here.

[0104] In actual implementation, resuming the feed motion of the robotic arm means that the robotic arm continues to execute the interrupted preset work path.

[0105] In some embodiments, when the first triggering condition is triggered, if a hard obstacle approaching event and a joint interference approaching event are triggered simultaneously within the same detection cycle, the first response strategy is invoked first, and after the first response strategy is executed and a first cooling time has elapsed, the second response strategy is invoked.

[0106] In application, the detection period in this embodiment is less than or equal to 10ms. Preferably, the detection period is 5ms.

[0107] In practical applications, the cooling time is the time during which the triggering condition will not be repeated even if the same triggering condition is met again after the same event is triggered. To prevent jitter and avoid high-frequency triggering of the same event due to sensor noise or minor vibrations, the first cooling time can be 0.5 seconds.

[0108] In actual implementation, after executing the first response strategy and waiting for the first cooling time, step SS1 is executed again.

[0109] In some embodiments, when the second triggering condition is triggered, if a hard obstacle approaching event and a joint interference approaching event are triggered simultaneously within the same detection cycle, the second response strategy is invoked first. After the second response strategy is executed and a second cooling time has elapsed, the first response strategy is invoked.

[0110] In application, since the execution time of the second response strategy is longer than that of the first response strategy, the second cooldown time is longer than the first cooldown time. Furthermore, the second cooldown time can be 1.0s.

[0111] In some embodiments, when the third triggering condition is triggered, a third sub-condition event is triggered, and a fourth response strategy is executed.

[0112] When applied, the fourth response strategy includes steps C1 to C3.

[0113] Step C1: Pause the current feed motion of the robotic arm, move the AGV towards the target work point at the third preset speed for the first preset step length, and then resume the feed motion of the robotic arm.

[0114] When the third trigger condition is triggered, it indicates that the robotic arm itself cannot move forward. Therefore, the AGV is moved to provide additional travel. Specifically: the current feed motion of the robotic arm is paused, the AGV is switched to motion mode, the AGV moves towards the target work point at a third preset speed for a first preset step length, the AGV is switched to braking mode, and the feed motion of the robotic arm is resumed.

[0115] In practical applications, the AGV moves along the X-axis, with a third preset speed ≤ 2mm / s and a first preset step size of 2mm.

[0116] In some embodiments, the fourth response strategy further includes step C2 or step C3.

[0117] Step C2: Accumulate the AGV's displacement. When the AGV's cumulative displacement is greater than or equal to the first displacement threshold, trigger an alarm and stop operation to prevent the AGV from moving indefinitely due to abnormalities, thereby protecting the equipment and wiring terminals.

[0118] In application, after each execution of step C1, the first preset step size is added to the displacement of the AGV to obtain the cumulative displacement of the AGV.

[0119] In practical applications, after each execution of step C1, the coordinates of the robotic arm in the robotic arm base coordinate system are updated according to the first preset step size, i.e., the first preset step size is subtracted from the X-axis coordinate of the robotic arm. In actual implementation, the first displacement threshold is determined based on the installation error in the X-axis direction of the instrument box. Furthermore, the first displacement threshold can be 15mm.

[0120] Step C3: When the second cumulative duration of the third sub-condition event is greater than or equal to the second preset duration, an alarm is triggered and the operation is stopped to prevent the robotic arm from making ineffective attempts for a long time, thus avoiding energy consumption and potential risks.

[0121] When applied, the duration from the triggering of the third sub-condition event to the current moment is used as the second cumulative duration.

[0122] In practical applications, the second preset duration is determined based on the average value of historical data. Furthermore, the second preset duration can be 30 seconds.

[0123] In some embodiments, when the third triggering condition is triggered, the response strategy further includes steps SS316 and SS317.

[0124] Step SS316: Obtain the minimum distance between the robotic arm and the nearest obstacle. When the minimum distance is less than or equal to the third distance threshold, trigger a hard obstacle approach event.

[0125] Step SS317: In response to the triggering of a hard obstacle approach event, execute the fifth response strategy.

[0126] When applied, the fifth response strategy includes step D1. Further, it may also include step D2.

[0127] Step D1: Pause the current feed motion of the robotic arm, deflect the actuator at the end of the robotic arm toward the side away from the nearest obstacle, and then feed at the second preset speed.

[0128] When applying this technique, change the orientation of the wrist joint or actuator. For example, rotate the actuator around the X-axis or Y-axis.

[0129] In practical applications, the deflection angle is determined based on the average value of historical data. Furthermore, the deflection angle is less than or equal to 3°.

[0130] In actual implementation, in order to allow more reaction time after deflection and avoid excessive lateral force or missing the opportunity for fine adjustment due to high speed, the second preset speed is 50% of the preset feed speed.

[0131] Step D2: Simultaneously, initiate a third cooling-off period. During this third cooling-off period, even if the triggering conditions for the hard obstacle approach event are met again, the fifth response strategy will not be executed repeatedly.

[0132] When applied, the third cooldown time is determined based on the fourth response strategy and its execution time. Furthermore, the third cooldown time can be 1.5 seconds.

[0133] In practical applications, when the third triggering condition is triggered, the third sub-condition event is triggered. After the fifth response strategy is executed twice, when the hard obstacle approaching event is triggered, an alarm is triggered and the operation is stopped.

[0134] In actual implementation, the time interval between the end of the first execution of the fifth response strategy and the start of the second execution of the fifth response strategy is greater than the third cooldown time.

[0135] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0137] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0138] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0139] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for synchronous control of multi-robot collaborative operation based on an event-triggered mechanism, characterized in that, The multi-robot system includes: an AGV and a robotic arm, wherein the robotic arm is mounted on the AGV; The control method includes: Obtain the first parameters of the robotic arm; wherein the first parameters include: the spatial distance between the actuator at the end of the robotic arm and the target work point, the contact force of the actuator along the axial direction, and the angle difference between the current angle of the shoulder joint and the physical limit of the shoulder joint; In response to the first parameter meeting the preset event triggering condition, the corresponding sub-condition event is triggered; Based on the triggered sub-condition event, the robotic arm and AGV execute the corresponding response strategy to perform the target task at the target work point; where the target work point is the back wiring terminal inside the electrical box. The event triggering conditions include: First triggering conditions: Second distance threshold < spatial distance ≤ first distance threshold; angle difference > first angle threshold; contact force of actuator along axis < first force threshold; wherein, second distance threshold < first distance threshold; Second triggering conditions: Second distance threshold < spatial distance ≤ first distance threshold; angle difference ≤ first angle threshold; contact force of actuator along axis < second force threshold; wherein, first force threshold < second force threshold; The third triggering condition is: the spatial distance is less than or equal to the first distance threshold, the angle difference is less than or equal to the first angle threshold, and the contact force of the actuator along the axial direction is greater than or equal to the second force threshold; or, the spatial distance is less than or equal to the second distance threshold. If the first parameter meets the first triggering condition, the first sub-condition event is triggered; if the first parameter meets the second triggering condition, the second sub-condition event is triggered; if the first parameter meets the third triggering condition, the third sub-condition event is triggered. When the first triggering condition or the second triggering condition is triggered, the response strategy includes: Obtain the minimum distance between the robotic arm and the nearest obstacle. When the minimum distance is less than or equal to the third distance threshold, trigger a hard obstacle approach event. In response to the triggering of a hard obstacle approach event, a first response strategy is executed, the first response strategy including: Put the AGV into a braking state; Pause the current feed motion of the robotic arm; generate a first intermediate point and a second intermediate point of the detour path based on the direction of the nearest obstacle; wherein, the first intermediate point is located on the side of the robotic arm end that is farthest from the nearest obstacle; the second intermediate point is located on the side of the target work point that is farthest from the nearest obstacle; After the robotic arm moves sequentially to the first intermediate point, the second intermediate point, and the target work point at a first preset speed, the feeding motion is resumed. When the third triggering condition is triggered, the third sub-condition event is triggered, and the fourth response strategy is executed, the fourth response strategy including: Pause the current feed motion of the robotic arm, allow the AGV to move towards the target work point at a third preset speed for a first preset step length, and then resume the feed motion of the robotic arm.

2. The multi-robot collaborative operation synchronization control method based on an event-triggered mechanism according to claim 1, characterized in that, When the first triggering condition or the second triggering condition is triggered, the response strategy further includes: Obtain the included angle between adjacent joints of the robotic arm; wherein, the included angle between adjacent joints includes a first included angle between the shoulder joint and the elbow joint and / or a second included angle between the elbow joint and the wrist joint; When the included angle between any two adjacent joints of the robotic arm is less than or equal to the first preset angle, a joint interference approximation event is triggered. In response to the triggering of the joint interference approximation event, a second response strategy is executed, the second response strategy including: Put the AGV into a braking state; Pause the current feed motion of the robotic arm, and adjust the joint poses until the included angle between adjacent joints is greater than or equal to the second preset angle, or the first cumulative duration of the joint pose adjustment is greater than or equal to the first preset duration, and then resume the feed motion of the robotic arm.

3. The multi-robot cooperative operation synchronization control method based on an event-triggered mechanism according to claim 2, characterized in that, When the first triggering condition is triggered, if a hard obstacle approaching event and a joint interference approaching event are triggered simultaneously within the same detection cycle, the first response strategy is invoked first. After the first response strategy is executed and a first cooling-off period has elapsed, the second response strategy is invoked.

4. The multi-robot collaborative operation synchronization control method based on an event-triggered mechanism according to claim 2, characterized in that, When the second triggering condition is triggered, if a hard obstacle approaching event and a joint interference approaching event are triggered simultaneously within the same detection cycle, the second response strategy is invoked first. After the second response strategy is executed and a second cooling-off period has elapsed, the first response strategy is invoked.

5. The multi-robot collaborative operation synchronization control method based on an event-triggered mechanism according to claim 1, characterized in that, The fourth response strategy also includes: Accumulate the AGV's displacement. When the AGV's cumulative displacement is greater than or equal to the first displacement threshold, trigger an alarm and stop operation. Alternatively, if the second cumulative duration of the third sub-condition event is greater than or equal to the second preset duration, an alarm will be triggered and the operation will be stopped.

6. The multi-robot cooperative operation synchronization control method based on event triggering mechanism according to claim 1, characterized in that, When the third triggering condition is triggered, the response strategy further includes: Obtain the minimum distance between the robotic arm and the nearest obstacle. When the minimum distance is less than or equal to the third distance threshold, trigger a hard obstacle approach event. In response to the triggering of a hard obstacle approach event, a fifth response strategy is executed, the fifth response strategy including: Pause the current feed motion of the robotic arm, deflect the actuator at the end of the robotic arm toward the side away from the nearest obstacle, and then feed at the second preset speed.

7. The multi-robot cooperative operation synchronization control method based on an event-triggered mechanism according to claim 6, characterized in that, When the third triggering condition is triggered, the third sub-condition event is triggered. After the fifth response strategy is executed twice, when the hard obstacle approach event is triggered, an alarm is triggered and the operation is stopped. The time interval between the end of the first execution of the fifth response strategy and the start of the second execution of the fifth response strategy is greater than or equal to the third cooldown time.

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