CN115097816B - Modularized multi-robot cooperative control method - Google Patents
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Abstract
The invention provides a modularized multi-robot cooperation control method, which comprises the following steps: step 1: according to the characteristics and distribution of the multiple robots, carrying out modularized control on the multiple robots to obtain a modularized control system; step 2: acquiring work tasks aiming at the multiple robots, and setting a multiple robot work flow aiming at the work tasks according to the characteristics and the distribution of the multiple robots; step 3: and determining the motion control of each robot for the workflow according to the independent characteristics of each robot in the multiple robots, determining the reasonable workflow and motion control of the multiple robots, ensuring the efficiency of the multiple robot control on the work tasks, and ensuring the effective control of the multiple robots in the working process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a modularized multi-robot cooperative control method.
Background
Letting the robot liberate human labor force is always ideal for engineers and is the original purpose of first researching the robot. After decades of development, we have seen that some robots can already function in some scenes, greatly improving the working efficiency.
In the field of cooperation and actual combination of multiple robots, the use of multiple groups of robots can accomplish some tasks more efficiently than single or single groups of robots. The low cost robots cooperate with each other for redundancy to provide greater fault tolerance than a powerful and expensive robot. In addition, the multi-robot system has the characteristics of wider task fields, robustness, inherent parallelism and the like. On one hand, due to the complexity of the task, when a single group of robots are difficult to complete the task, the task can be completed through cooperation among multiple groups of robots; on the other hand, through cooperation among a plurality of groups of robots, the efficiency of the robot system in the operation process can be improved, and further when the working environment changes or the robot system locally breaks down, the plurality of groups of robot systems can still complete preset tasks through own cooperation relationship. However, most of the task problems cannot realize effective control over multiple robots due to the complexity of the task problems, and the efficiency of the cooperation of the multiple robots needs to be improved.
Disclosure of Invention
The invention provides a modularized multi-robot cooperative control method, which ensures the efficiency of multi-robot control on work tasks and ensures the effective control on the multi-robots in the working process.
A modularized multi-robot cooperation control method comprises the following steps:
step 1: according to the characteristics and distribution of the multiple robots, carrying out modularized control on the multiple robots to obtain a modularized control system;
step 2: acquiring work tasks aiming at the multiple robots, and setting a multiple robot work flow aiming at the work tasks according to the characteristics and the distribution of the multiple robots;
step 3: determining motion control of each robot for the workflow according to individual characteristics of each robot in the multiple robots;
step 4: based on the motion control, parameter control for the multiple robots is determined using the modular control system.
Preferably, in the step 1, according to characteristics and distribution of the multiple robots, performing modular control on the multiple robots to obtain a modular control system includes:
based on the characteristics and distribution of the multiple robots, establishing a data module of the multiple robots;
constructing a driving module of a plurality of robots based on driving characteristics of each robot in the robots;
setting a communication module by using a standard communication protocol to realize the mutual communication of the data module and the driving module;
the data module, the driving module and the communication module form the modularized control system together.
Preferably, based on the characteristics and distribution of the multiple robots, establishing the data module of the multiple robots includes:
constructing a shape data sub-module of the multiple robots based on the shape characteristics of each robot in the multiple robots;
constructing a distributed data sub-module of the multiple robots based on the position distribution of each robot in the multiple robots;
based on the appearance characteristics and the position distribution of each robot, determining the association information between the appearance and the position to obtain an association sub-module;
the shape data sub-module, the distribution data sub-module and the association sub-module form the data module together.
Preferably, the multi-robot is modularly controlled, and further comprises:
the characteristics of the multiple robots are monitored in real time, and whether the characteristics of the multiple robots change or not is judged;
if yes, alarming and reminding are carried out;
otherwise, not alarming and reminding;
and after the modularized control system receives the alarm prompt, acquiring the change data of the multiple robots, and updating the corresponding data information in the data module and the driving module by utilizing the change data.
Preferably, in the step 2, a task for the multiple robots is obtained, and a multiple robot workflow for the task is set according to characteristics and distribution of the multiple robots, including:
decomposing the work task to obtain a task step of the work task;
determining a movement rule of the multiple robots based on the characteristics and the distribution of the multiple robots;
determining an optimal movement scheme of the multi-robot under each task step based on the movement rules;
and obtaining the workflow of the multiple robots based on the optimal movement scheme.
Preferably, determining the movement rule of the multiple robots based on the characteristics and distribution of the multiple robots includes:
determining a movement track range of the multiple robots based on the distribution of the multiple robots;
determining a movement form and a movement speed range of each robot in the multiple robots in the movement track range based on the characteristics of the multiple robots;
performing overlapping detection on the movement form of each robot, and establishing movement related constraint according to the overlapping detection result;
based on the movement related constraint, carrying out speed simulation on the movement speed of each robot in the movement speed range, and establishing a speed related constraint according to a speed simulation result;
and obtaining a movement rule based on the movement related constraint and the speed related constraint.
Preferably, based on the movement rule, determining an optimal movement scheme of the multiple robots under each task step includes:
acquiring a working area of each task step, determining a target robot in the working area based on the movement rule, and establishing a movement track of the target robot in the working area;
based on the working content of the task step, a working track is established in the working area;
determining a target track of the target robot meeting the working track from the moving track, and establishing a track label of the target robot;
determining a first moving scheme set of the target robot meeting a task step based on the track label, determining the working efficiency of the first moving scheme set, and selecting a scheme meeting the first preset efficiency threshold from the first moving scheme set based on a preset efficiency threshold of the task step to obtain a second moving scheme set;
based on task evaluation indexes, evaluating each task step, setting task weight for each task step according to an evaluation result, and sequencing the task steps according to the task weight to obtain a priority sequence;
analyzing two adjacent task steps, and determining the association degree between the two task steps;
determining the analysis sequence of two adjacent task steps based on the priority sequence;
according to the association degree, analyzing the second movement scheme sets corresponding to the two task steps according to the analysis sequence, and determining two second movement schemes with the best connection effect as a third movement scheme of the two task steps;
combining the target third movement schemes corresponding to each task step to obtain a movement total scheme;
judging whether the total working efficiency for completing the working task according to the total moving scheme is greater than the preset total efficiency;
if yes, taking the total mobile scheme as an optimal mobile scheme;
otherwise, extracting a third movement scheme with the working efficiency smaller than a second preset efficiency threshold, backward moving the priority sequence of the third movement scheme to obtain the latest priority sequence, and determining a latest movement total scheme according to the latest priority sequence until the working total efficiency of the latest movement total scheme is larger than the preset total efficiency.
Preferably, the evaluating each task step based on the task evaluation index includes:
based on the relation between the movement information and the control information of the target robot, carrying out complexity analysis on all second movement schemes in the corresponding second movement scheme set of the task step, and determining the working complexity of the task step;
determining the working importance of the task step based on the layout information of the task step in the working task;
and determining an evaluation value of the task step based on the working complexity and the working importance and preset weights of the working complexity and the working importance, and taking the evaluation value of the task step as an evaluation result of the task step.
Preferably, in step 3, determining motion control of each robot for the workflow according to the individual feature of each robot in the multiple robots includes:
determining the joint movement characteristics of each robot based on the joint appearance characteristics and the joint connection characteristics of each robot, and establishing an joint movement model of each robot based on the joint movement characteristics;
determining an initial form and a target form of each robot under the workflow, and inputting the initial form and the target form into the joint motion model to obtain a dynamic joint motion set of the robot realizing the target form;
determining the movement sequence and the rotation angle of each joint of the robot in each dynamic joint movement in the dynamic joint movement set;
determining the flexibility of the corresponding robot under the movement sequence based on the joint appearance characteristics;
determining the joint movement difficulty of each joint under the rotation angle based on the joint connection characteristics, and determining the movement difficulty of the corresponding robot based on the joint movement difficulty of each joint;
determining implementation difficulty of each dynamic joint motion in the dynamic joint motion set based on the flexibility and the motion difficulty, and selecting a first dynamic joint motion with the implementation difficulty smaller than a preset difficulty;
determining a motor parameter of a robot implementing the first dynamic articulation, and determining a completion speed of the first dynamic articulation at the motor parameter;
selecting the highest completion speed as a target action of the corresponding robot;
establishing an action sequence according to the target action of each robot under the workflow;
based on the sequence of actions, an action control for each robot is determined.
Preferably, in step 4, determining, based on the motion control, parameter control for the multiple robots using the modular control system includes:
determining, based on the motion control, a power parameter to a drive module of the modular control system;
analyzing the power parameters to determine performance indexes of the multiple robots under the power parameters and under current driving parameters;
judging whether the index is larger than a preset performance index;
if yes, determining the current driving parameter of the driving module as the optimal driving parameter;
otherwise, based on the power parameter and the performance index, the current driving parameter is adjusted, and after the adjusted latest performance index is determined to be larger than a preset performance index, the adjusted driving parameter is determined to be the optimal driving parameter.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a flow chart of a modular multi-robot cooperative control method in an embodiment of the invention;
FIG. 2 is a flow chart of a modular control system setup in an embodiment of the present invention;
FIG. 3 is a flow chart of a multi-robot workflow determination in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1
A modular multi-robot cooperative control method, as shown in fig. 1, includes:
step 1: according to the characteristics and distribution of the multiple robots, carrying out modularized control on the multiple robots to obtain a modularized control system;
step 2: acquiring work tasks aiming at the multiple robots, and setting a multiple robot work flow aiming at the work tasks according to the characteristics and the distribution of the multiple robots;
step 3: determining motion control of each robot for the workflow according to individual characteristics of each robot in the multiple robots;
step 4: based on the motion control, parameter control for the multiple robots is determined using the modular control system.
In this embodiment, the characteristics of the multi-robot include shape characteristics, use characteristics, and the like.
In this embodiment, the modular control system is a system for implementing overall control of the multiple robots, and may obtain the working state of each robot and the overall working state from the modular control system, so as to implement control of each robot.
In this embodiment, the work task may be, for example: stacking of goods, processing of devices, and the like.
In this embodiment, the workflow includes the work order and work general actions, work content of each robot.
In this embodiment, the motion control is a specific motion control of the robot that implements the work content of the robot.
In this embodiment, the parameter control is a motorized parameter control for the multiple robots, ensuring normal operation of the robots.
The beneficial effects of above-mentioned design scheme are: by determining reasonable working flow and action control of the multiple robots according to tasks of the multiple robots and characteristics of each robot, efficiency of the multiple robots in controlling the working tasks is guaranteed, accurate control of each robot is achieved, the multiple robots can smoothly complete the working tasks, and effective control of the multiple robots in a working process is guaranteed by establishing a modularized control system to achieve action control of the multiple robots.
Example 2
Based on embodiment 1, an embodiment of the present invention provides a method for collaborative control of multiple robots in a modularization manner, as shown in fig. 2, in the step 1, according to characteristics and distribution of the multiple robots, the multiple robots are subjected to modularization control, and a modularization control system is obtained, including:
step 1-1: based on the characteristics and distribution of the multiple robots, establishing a data module of the multiple robots;
step 1-2: constructing a driving module of a plurality of robots based on driving characteristics of each robot in the robots;
step 1-3: setting a communication module by using a standard communication protocol to realize the mutual communication of the data module and the driving module;
step 1-4: the data module, the driving module and the communication module form the modularized control system together.
The beneficial effects of above-mentioned design scheme are: the modular control system is obtained by establishing a data module, a driving module and a driving module of the multiple robots according to various characteristics of the multiple robots, and the problems that the multiple robots are large in number and complex in work in cooperation and accurate management and control of the multiple robots are difficult to realize are solved through modular management of the multiple robots.
Example 3
Based on embodiment 2, the embodiment of the invention provides a modularized multi-robot cooperative control method, and based on the characteristics and distribution of the multi-robots, establishing a data module of the multi-robots includes:
constructing a shape data sub-module of the multiple robots based on the shape characteristics of each robot in the multiple robots;
constructing a distributed data sub-module of the multiple robots based on the position distribution of each robot in the multiple robots;
based on the appearance characteristics and the position distribution of each robot, determining the association information between the appearance and the position to obtain an association sub-module;
the shape data sub-module, the distribution data sub-module and the association sub-module form the data module together.
In this embodiment, the association submodule establishes a relationship between the appearance and the position of the same robot, so that the robot can be fully understood.
The beneficial effects of above-mentioned design scheme are: the characteristics of each robot in the multiple robots are acquired, the relation among the characteristics is acquired, and a data module is established, so that the detailed record of each robot in the modularized control system is ensured, and a basis is provided for the follow-up accurate control of the robots.
Example 4
Based on embodiment 2, the embodiment of the invention provides a modularized multi-robot cooperative control method for performing modularized control on a plurality of robots, which further comprises the following steps:
the characteristics of the multiple robots are monitored in real time, and whether the characteristics of the multiple robots change or not is judged;
if yes, alarming and reminding are carried out;
otherwise, not alarming and reminding;
and after the modularized control system receives the alarm prompt, acquiring the change data of the multiple robots, and updating the corresponding data information in the data module and the driving module by utilizing the change data.
The beneficial effects of above-mentioned design scheme are: by monitoring the characteristics of the multiple robots in real time, after the characteristics of the multiple robots change, alarming and reminding are carried out, so that corresponding data information in the data module and the driving module is timely updated, and timeliness and accuracy of data in each module in the modularized control system are guaranteed.
Example 5
Based on embodiment 1, an embodiment of the present invention provides a method for collaborative control of multiple robots in a modularized manner, wherein in step 2, as shown in fig. 3, a task for the multiple robots is obtained, and a multiple robot workflow for the task is set according to characteristics and distribution of the multiple robots, including:
step 2-1: decomposing the work task to obtain a task step of the work task;
step 2-2: determining a movement rule of the multiple robots based on the characteristics and the distribution of the multiple robots;
step 2-3: determining optimal movement information of the multiple robots under each task step based on the movement rules;
step 2-4: and obtaining the workflow of the multiple robots based on the optimal movement information.
In this embodiment, the task is, for example, stacking the goods, and the corresponding task steps are to reach the initial position of the goods, grab the goods, move the acquired goods to the target position, and place the goods to the target point.
In this embodiment, the movement rule is a constraint on the movement process of the multiple robots, for example, when the multiple robots work together, and when other robots are detected to exist around, the movement speed of the current robot cannot exceed a preset speed value, or the current robot can only work in a specific area and cannot exceed the specific area due to the appearance functional characteristics, and the movement rule ensures that the multiple robots work normally without collision.
In this embodiment, the optimal movement information is a movement condition of each robot in the plurality of robots.
The beneficial effects of above-mentioned design scheme are: the method has the advantages that the movement information of the multiple robots is convenient to determine by decomposing the work task, the movement rules of the multiple robots are determined according to the characteristics and distribution of the multiple robots, the normal work of the multiple robots is ensured, no conflict occurs, the optimal movement information of the multiple robots in each task step is established under the movement rules, and the efficiency of completing the work task is ensured while the orderly movement of the multiple robots is ensured.
Example 6
Based on embodiment 5, the embodiment of the invention provides a modularized multi-robot cooperation control method, and based on the characteristics and distribution of the multi-robots, determining the movement rule of the multi-robots includes:
determining a movement track range of the multiple robots based on the distribution of the multiple robots;
determining a movement form and a movement speed range of each robot in the multiple robots in the movement track range based on the characteristics of the multiple robots;
performing overlapping detection on the movement form of each robot, and establishing movement related constraint according to the overlapping detection result;
based on the movement related constraint, carrying out speed simulation on the movement speed of each robot in the movement speed range, and establishing a speed related constraint according to a speed simulation result;
and obtaining a movement rule based on the movement related constraint and the speed related constraint.
The beneficial effects of above-mentioned design scheme are: according to the characteristics and the distribution of the multiple robots, the movement position constraint and the speed constraint of the robots in the movement process are determined, so that the movement rule is established, the movement rule is complied with when the work tasks are completed later, the orderly operation of the multiple robots is ensured, and the conflict is avoided.
Example 7
Based on embodiment 5, the embodiment of the invention provides a modularized multi-robot cooperation control method, and based on the movement rule, determining an optimal movement scheme of the multi-robot under each task step comprises the following steps:
acquiring a working area of each task step, determining a target robot in the working area based on the movement rule, and establishing a movement track of the target robot in the working area;
based on the working content of the task step, a working track is established in the working area;
determining a target track of the target robot meeting the working track from the moving track, and establishing a track label of the target robot;
determining a first moving scheme set of the target robot meeting a task step based on the track label, determining the working efficiency of the first moving scheme set, and selecting a scheme meeting the first preset efficiency threshold from the first moving scheme set based on a preset efficiency threshold of the task step to obtain a second moving scheme set;
based on task evaluation indexes, evaluating each task step, setting task weight for each task step according to an evaluation result, and sequencing the task steps according to the task weight to obtain a priority sequence;
analyzing two adjacent task steps, and determining the association degree between the two task steps;
determining the analysis sequence of two adjacent task steps based on the priority sequence;
according to the association degree, analyzing the second movement scheme sets corresponding to the two task steps according to the analysis sequence, and determining two second movement schemes with the best connection effect as a third movement scheme of the two task steps;
combining the target third movement schemes corresponding to each task step to obtain a movement total scheme;
judging whether the total working efficiency for completing the working task according to the total moving scheme is greater than the preset total efficiency;
if yes, taking the total mobile scheme as an optimal mobile scheme;
otherwise, extracting a third movement scheme with the working efficiency smaller than a second preset efficiency threshold, backward moving the priority sequence of the third movement scheme to obtain the latest priority sequence, and determining a latest movement total scheme according to the latest priority sequence until the working total efficiency of the latest movement total scheme is larger than the preset total efficiency.
In this embodiment, the working track is a track through which the working content must be realized, and the moving track is a track in which the robot is movable in the working area.
In this embodiment, the trajectory tag is used to determine a correspondence between each of the target trajectories and the target robot.
In this embodiment, each working step in the first set of mobile schemes and the second set of mobile schemes corresponds to a plurality of mobile schemes.
In this embodiment, the task evaluation index includes, for example, task complexity, task importance degree, and the like.
In this embodiment, the greater the task weight, the higher the priority order of the corresponding task steps.
In this embodiment, the analysis sequence is determined by determining the priority sequence of two task steps corresponding to the analysis sequence by the method, setting the analysis sequence, and performing priority analysis on important task steps to determine a movement scheme preferentially, and then determining the movement scheme of other task steps based on the determined movement scheme, so that the movement scheme of other task steps is adapted to the movement scheme determined preferentially.
In this embodiment, the higher the overlap ratio of the robots required by two adjacent task steps is, the greater the association degree is, at this time, the second movement scheme sets corresponding to the two task steps are required to be analyzed, and two second movement schemes with the best linking effect of the front and rear two second movement schemes are selected for analysis, so that the linking effect between the two adjacent task steps is ensured, the time waste is avoided when the two task steps are handed over, and the working efficiency is ensured.
In this embodiment, when the total working efficiency of completing the working task according to the total movement plan is not greater than the preset total working efficiency, the determined total working efficiency of the total movement plan may be not high due to an improper analysis sequence of task steps, and at this time, the total working efficiency of the latest total movement plan finally obtained is greater than the preset total working efficiency by changing the analysis sequence.
The beneficial effects of above-mentioned design scheme are: according to the method, orderly operation of the multi-robot for completing the work tasks is guaranteed firstly according to the movement rules, collision is avoided, secondly, the movement scheme is analyzed through the association degree between each task step and every two adjacent task steps and the task weight of each task step, the optimal movement scheme is finally obtained, effective control of the multi-robot is achieved according to the work tasks, and the overall efficiency of multi-robot cooperation is guaranteed.
Example 8
Based on embodiment 7, the embodiment of the invention provides a modularized multi-robot cooperative control method, and based on task evaluation indexes, the evaluation of each task step comprises the following steps:
based on the relation between the movement information and the control information of the target robot, carrying out complexity analysis on all second movement schemes in the corresponding second movement scheme set of the task step, and determining the working complexity of the task step;
determining the working importance of the task step based on the layout information of the task step in the working task;
and determining an evaluation value of the task step based on the working complexity and the working importance and preset weights of the working complexity and the working importance, and taking the evaluation value of the task step as an evaluation result of the task step.
In this embodiment, the task evaluation index is a work complexity or a work importance.
The beneficial effects of above-mentioned design scheme are: and determining the task step evaluation value according to the task evaluation index of the task step, and providing a data basis for reasonably determining the analysis sequence of the task step.
Example 9
Based on embodiment 7, the embodiment of the present invention provides a method for collaborative control of multiple robots, in step 3, determining motion control of each robot for the workflow according to individual features of each robot in the multiple robots, including:
determining the joint movement characteristics of each robot based on the joint appearance characteristics and the joint connection characteristics of each robot, and establishing an joint movement model of each robot based on the joint movement characteristics;
determining an initial form and a target form of each robot under the workflow, and inputting the initial form and the target form into the joint motion model to obtain a dynamic joint motion set of the robot realizing the target form;
determining the movement sequence and the rotation angle of each joint of the robot in each dynamic joint movement in the dynamic joint movement set;
determining the flexibility of the corresponding robot under the movement sequence based on the joint appearance characteristics;
determining the joint movement difficulty of each joint under the rotation angle based on the joint connection characteristics, and determining the movement difficulty of the corresponding robot based on the joint movement difficulty of each joint;
determining implementation difficulty of each dynamic joint motion in the dynamic joint motion set based on the flexibility and the motion difficulty, and selecting a first dynamic joint motion with the implementation difficulty smaller than a preset difficulty;
determining a motor parameter of a robot implementing the first dynamic articulation, and determining a completion speed of the first dynamic articulation at the motor parameter;
selecting the highest completion speed as a target action of the corresponding robot;
establishing an action sequence according to the target action of each robot under the workflow;
based on the sequence of actions, an action control for each robot is determined.
In this embodiment, the motor parameter is a motor parameter of the robot that implements the first dynamic articulation.
In this embodiment, the sequence of actions is composed of the target actions of each robot according to a workflow.
The beneficial effects of above-mentioned design scheme are: by determining the specific joint movement condition of each robot according to the individual characteristics of each robot and determining the optimal joint movement according to the implementation difficulty and the completion speed of the joint movement, finally, the action control is obtained, and the accuracy and the efficiency of the joint work of multiple robots are ensured.
Example 10
Based on embodiment 1, the embodiment of the present invention provides a method for collaborative control of multiple robots in a modularized manner, in step 4, based on the motion control, determining parameter control for the multiple robots using the modularized control system includes:
determining, based on the motion control, a power parameter to a drive module of the modular control system;
analyzing the power parameters to determine performance indexes of the multiple robots under the power parameters and under current driving parameters;
the calculation formula of the performance index K is as follows:
wherein alpha represents the position proportional gain of the driving module, beta represents the position feedforward gain of the driving module, gamma represents the speed proportional gain of the driving module, P represents the active power of the driving module for driving multiple robots, U represents the working voltage of the driving module, and I represents the working current of the driving module;
judging whether the index is larger than a preset performance index;
if yes, determining the current driving parameter of the driving module as the optimal driving parameter;
otherwise, based on the electric power parameter and the performance index, adjusting the current driving parameter, and after determining that the adjusted latest performance index is greater than a preset performance index, determining that the adjusted driving parameter is the optimal driving parameter;
the adjustment mode of the optimal driving parameters is as follows:
wherein alpha is 0 Indicating the adjusted position proportional gain, beta 0 Indicating the adjusted position feedforward gain, indicating the adjusted speed proportional gain, H g Represents the optimal load ratio, K 0 A preset performance index, n represents the rotating speed of the driving module, n g Representing an optimal rotational speed of the drive module under a current load;
in this embodiment, the power parameters include current, voltage, power, etc.
In this embodiment, the drive parameters include a speed proportional gain, a position feed forward gain, and the like.
In this embodiment, the smaller the position proportional gain is under the same frequency command pulse condition; however, too large a value may cause oscillations or overshoot; the parameter values are set by the specific load conditions.
In this embodiment, the greater the position feedforward gain represents the set point, the less the position lag amount at any frequency of command pulses; the feed-forward gain of the position loop is large, and the high-speed response characteristic of the driving module is improved, but the driving module is unstable and is easy to oscillate.
In this embodiment, the greater the speed proportional gain setting, the higher the gain and the greater the stiffness. The parameter values are determined according to specific load value conditions.
In this embodiment, the greater the load, the greater the corresponding load ratio.
In this embodiment, for the formula
For example, P/ui=0.7,
k=0.77.
In this embodiment, for the formula
For example, it may be H g ＝0.6，K 0 =0.8, α=0.5, α 0 ＝0.6。
In this embodiment, for the formula
For example, β=0.8, β 0 ＝0.9。
In this embodiment, for the formula
For example, it can be +.>
Gamma=0.6, then gamma 0 ＝0.8。
The beneficial effects of above-mentioned design scheme are: and after determining the power parameters of the driving module of the modularized control system based on the action control, calculating the performance index of the robot, and adjusting the driving parameters according to the size of the performance index to obtain the optimal driving parameters so as to ensure the stability and accuracy of the multiple robots in the cooperative completion of the work tasks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A modular multi-robot cooperative control method, comprising:
step 1: according to the characteristics and distribution of the multiple robots, carrying out modularized control on the multiple robots to obtain a modularized control system;
step 2: acquiring work tasks aiming at the multiple robots, and setting a multiple robot work flow aiming at the work tasks according to the characteristics and the distribution of the multiple robots;
step 3: determining motion control of each robot for the workflow according to individual characteristics of each robot in the multiple robots;
step 4: determining, based on the motion control, a parameter control of the multiple robots using the modular control system;
in step 3, determining motion control of each robot for the workflow according to the individual feature of each robot in the multiple robots, including:
determining the joint movement characteristics of each robot based on the joint appearance characteristics and the joint connection characteristics of each robot, and establishing an joint movement model of each robot based on the joint movement characteristics;
determining an initial form and a target form of each robot under the workflow, and inputting the initial form and the target form into the joint motion model to obtain a dynamic joint motion set of the robot realizing the target form;
determining the motion sequence and the rotation angle of each joint of the robot corresponding to each dynamic joint motion in the dynamic joint motion set;
determining the flexibility of the corresponding robot under the movement sequence based on the joint appearance characteristics;
determining the joint movement difficulty of each joint under the rotation angle based on the joint connection characteristics, and determining the movement difficulty of the corresponding robot based on the joint movement difficulty of each joint;
determining implementation difficulty of each dynamic joint motion in the dynamic joint motion set based on the flexibility and the motion difficulty, and selecting a first dynamic joint motion with the implementation difficulty smaller than a preset difficulty;
determining a motor parameter of a robot implementing the first dynamic articulation, and determining a completion speed of the first dynamic articulation at the motor parameter;
selecting the highest completion speed as a target action of the corresponding robot;
establishing an action sequence according to the target action of each robot under the workflow;
determining motion control for each robot based on the motion sequence;
in step 4, determining parameter control for the multiple robots using the modular control system based on the motion control includes:
determining, based on the motion control, a power parameter to a drive module of the modular control system;
analyzing the power parameters to determine performance indexes of the multiple robots under the power parameters and under current driving parameters;
judging whether the index is larger than a preset performance index;
if yes, determining the current driving parameter of the driving module as the optimal driving parameter;
otherwise, based on the power parameter and the performance index, the current driving parameter is adjusted, and after the adjusted latest performance index is determined to be larger than a preset performance index, the adjusted driving parameter is determined to be the optimal driving parameter.
2. The method for collaborative control of multiple robots according to claim 1, wherein in step 1, performing modular control on the multiple robots according to characteristics and distribution of the multiple robots, obtaining a modular control system includes:
based on the characteristics and distribution of the multiple robots, establishing a data module of the multiple robots;
constructing a driving module of a plurality of robots based on driving characteristics of each robot in the robots;
setting a communication module by using a standard communication protocol to realize the mutual communication of the data module and the driving module;
the data module, the driving module and the communication module form the modularized control system together.
3. The modular multi-robot cooperative control method of claim 2, wherein establishing the data modules of the multi-robots based on the characteristics and distribution of the multi-robots comprises:
constructing a shape data sub-module of the multiple robots based on the shape characteristics of each robot in the multiple robots;
constructing a distributed data sub-module of the multiple robots based on the position distribution of each robot in the multiple robots;
based on the appearance characteristics and the position distribution of each robot, determining the association information between the appearance and the position to obtain an association sub-module;
the shape data sub-module, the distribution data sub-module and the association sub-module form the data module together.
4. The modular multi-robot cooperative control method of claim 2, wherein the multi-robot is modularly controlled, further comprising:
the characteristics of the multiple robots are monitored in real time, and whether the characteristics of the multiple robots change or not is judged;
if yes, alarming and reminding are carried out;
otherwise, not alarming and reminding;
and after the modularized control system receives the alarm prompt, acquiring the change data of the multiple robots, and updating the corresponding data information in the data module and the driving module by utilizing the change data.
5. The method according to claim 1, wherein in the step 2, a task for the multiple robots is obtained, and a multiple robot workflow for the task is set according to characteristics and distribution of the multiple robots, and the method comprises:
decomposing the work task to obtain a task step of the work task;
determining a movement rule of the multiple robots based on the characteristics and the distribution of the multiple robots;
determining an optimal movement scheme of the multi-robot under each task step based on the movement rules;
and obtaining the workflow of the multiple robots based on the optimal movement scheme.
6. The modular multi-robot cooperative control method of claim 5, wherein determining movement rules of the multi-robots based on characteristics and distribution of the multi-robots comprises:
determining a movement track range of the multiple robots based on the distribution of the multiple robots;
determining a movement form and a movement speed range of each robot in the multiple robots in the movement track range based on the characteristics of the multiple robots;
performing overlapping detection on the movement form of each robot, and establishing movement related constraint according to the overlapping detection result;
based on the movement related constraint, carrying out speed simulation on the movement speed of each robot in the movement speed range, and establishing a speed related constraint according to a speed simulation result;
and obtaining a movement rule based on the movement related constraint and the speed related constraint.
7. The method of claim 5, wherein determining an optimal movement scheme of the multi-robot under each task step based on the movement rules comprises:
acquiring a working area of each task step, determining a target robot in the working area based on the movement rule, and establishing a movement track of the target robot in the working area;
based on the working content of the task step, a working track is established in the working area;
determining a target track of the target robot meeting the working track from the moving track, and establishing a track label of the target robot;
determining a first moving scheme set of the target robot meeting a task step based on the track label, determining the working efficiency of the first moving scheme set, and selecting a scheme meeting a first preset efficiency threshold from the first moving scheme set based on a preset efficiency threshold of the task step to obtain a second moving scheme set;
based on task evaluation indexes, evaluating each task step, setting task weight for each task step according to an evaluation result, and sequencing the task steps according to the task weight to obtain a priority sequence;
analyzing two adjacent task steps, and determining the association degree between the two task steps;
determining the analysis sequence of two adjacent task steps based on the priority sequence;
according to the association degree, analyzing the second movement scheme sets corresponding to the two task steps according to the analysis sequence, and determining two second movement schemes with the best connection effect as a third movement scheme of the two task steps;
combining the third movement schemes corresponding to each task step to obtain a movement total scheme;
judging whether the total working efficiency for completing the working task according to the total moving scheme is greater than the preset total efficiency;
if yes, taking the total mobile scheme as an optimal mobile scheme;
otherwise, extracting a third movement scheme with the working efficiency smaller than a second preset efficiency threshold, backward moving the priority sequence of the third movement scheme to obtain the latest priority sequence, and determining a latest movement total scheme according to the latest priority sequence until the working total efficiency of the latest movement total scheme is larger than the preset total efficiency.
8. The modular multi-robot cooperative control method of claim 7, wherein evaluating each of the task steps based on a task evaluation index comprises:
based on the relation between the movement information and the control information of the target robot, carrying out complexity analysis on all second movement schemes in the corresponding second movement scheme set of the task step, and determining the working complexity of the task step;
determining the working importance of the task step based on the layout information of the task step in the working task;
and determining an evaluation value of the task step based on the working complexity and the working importance and preset weights corresponding to the working complexity and the working importance, and taking the evaluation value of the task step as an evaluation result of the task step.
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