CN111266272A - Spraying method and system based on multiple robots - Google Patents
Spraying method and system based on multiple robots Download PDFInfo
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- CN111266272A CN111266272A CN201811482039.6A CN201811482039A CN111266272A CN 111266272 A CN111266272 A CN 111266272A CN 201811482039 A CN201811482039 A CN 201811482039A CN 111266272 A CN111266272 A CN 111266272A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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Abstract
The invention relates to the field of spraying, in particular to a method, a system, a device, a platform and a storage medium based on multi-robot collaborative spraying. Acquiring data information of an object to be sprayed; performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object; and generating a spraying object after spraying. Can accomplish the spraying jointly through cooperative operation between a plurality of spraying robots, a plurality of spraying robot systems adaptation environment ability is strong moreover to ability self-regulation when the environment changes has better data redundancy nature and robustness, and system space distributes extensively, has better time distribution nature. Preferably, through the cooperative cooperation among a plurality of spraying robots, complex tasks which cannot be completed by a single robot can be reliably completed, and efficient and high-precision personalized spraying is realized.
Description
Technical Field
The invention relates to the field of spraying, in particular to a method, a system, a device, a platform and a storage medium based on multi-robot collaborative spraying.
Background
In recent years, with the continuous development and improvement of the spraying process, the innovation of the spraying machine technology is constantly carried out, the requirement of automatic industrial production is gradually increased, and the principles of safe production, environment-friendly production and the like are continuously implemented, so that the appearance of a spraying robot becomes inevitable.
However, the traditional spraying process mainly adopts a single spraying robot to spray a fixed area, and is difficult to realize high-efficiency and high-precision personalized spraying. With the continuous change of the production capacity and the working environment, some work is hard to be realized only by a single robot.
Also, with the development of robotics, many excellent SLAM algorithms are proposed and verified for reliability. However, most of SLAM algorithms are implemented and applied on a single robot, and when the robot works under the condition that the environment scale is large or the environment is complex, the single robot cannot stably implement SLAM.
Disclosure of Invention
Aiming at the defect that the problem of high-efficiency and high-precision personalized spraying is difficult to realize, the invention provides a collaborative spraying method, a collaborative spraying system, a collaborative spraying device, a collaborative spraying platform and a storage medium based on a plurality of robots, and complex tasks which cannot be completed by a single robot can be reliably completed through collaborative cooperation among the plurality of spraying robots.
The invention is realized by the following technical scheme:
a spraying method based on cooperation of a plurality of robots specifically comprises the following steps:
acquiring data information of an object to be sprayed;
performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and generating a spraying object after spraying.
Further, before the step of obtaining the data information of the object to be sprayed, the method further comprises the steps of: and (4) pretreating the spraying object.
Further, the spraying object is cooperatively sprayed by a plurality of robots according to the data information of the spraying object, specifically, the spraying is performed by using a robot closed-loop flow control technology.
Further, the number of the robots is at least four;
in the step of performing the collaborative spraying on the spraying object by the plurality of robots according to the data information of the spraying object, the method further comprises the following steps:
the position of a spraying object is adjusted through laser positioning;
carrying out overall spraying and detail supplementary coating on the spraying object with the adjusted position;
further, the collaborative spraying of the spraying object by the multiple robots is carried out by adopting a distributed multi-robot environment information fusion algorithm;
the method comprises the following specific steps:
acquiring environmental data information of the position of the robot;
comparing and judging the acquired environmental data information with the historical position environmental information of the robot;
traversing all the robots in the area through the topological structures of the plurality of robots according to the comparison result;
and finishing the information fusion of the collaborative environment of a plurality of robots.
In order to achieve the above object, the present invention further provides a spraying system based on multiple robots, wherein the system comprises:
the acquisition unit is used for acquiring data information of an object to be sprayed;
the spraying unit is used for performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and the generating unit is used for generating the spraying object after spraying.
Further, the system further comprises:
the pretreatment module is used for pretreating a spraying object;
the second acquisition module is used for acquiring environmental data information of the position where the robot is located;
the comparison judgment module is used for comparing and judging the acquired environmental data information with the environmental information of the historical position of the robot;
the traversing module is used for traversing all the robots in the area through the topological structures of the robots according to the comparison result;
and the fusion module is used for completing the information fusion of the collaborative environment of the plurality of robots.
Correspondingly, the spraying unit comprises:
the adjusting module is used for adjusting the position of the spraying object through laser positioning;
and the second spraying template is used for carrying out overall spraying and detail supplementary coating on the spraying object with the adjusted position.
In order to achieve the above object, the present invention further provides a spraying device based on multiple robots in cooperation, wherein the device comprises at least four robots;
the robot is placed on a four-wheel mobile platform; a paint quick-change mechanism which is detachably mounted is arranged on the four-wheel mobile platform;
the coating quick-change mechanism is rotatably arranged;
the multiple robot collaborative spraying device realizes the steps of the multiple robot collaborative spraying method.
In order to achieve the above object, the present invention further provides a spraying platform based on multiple robots in cooperation, including:
the system comprises a processor, a memory and a control program based on a plurality of robots to cooperate with a spraying platform;
wherein the platform control program is executed at the processor, the multi-robot based collaborative spray coating platform control program is stored in the memory, and the multi-robot based collaborative spray coating method steps are implemented based on the multi-robot based collaborative spray coating platform control program.
In order to achieve the above object, the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a control program based on multiple robot collaborative spraying platforms, and the control program based on multiple robot collaborative spraying platforms implements the steps of the method based on multiple robot collaborative spraying.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a multi-robot-based collaborative spraying method
Acquiring data information of an object to be sprayed;
performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and generating a spraying object after spraying.
And correspondingly the system unit:
the acquisition unit is used for acquiring data information of an object to be sprayed;
the spraying unit is used for performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and the generating unit is used for generating the spraying object after spraying.
Can accomplish the spraying jointly through cooperative operation between a plurality of spraying robots, a plurality of spraying robot systems adaptation environment ability is strong moreover to ability self-regulation when the environment changes has better data redundancy nature and robustness, and system space distributes extensively, has better time distribution nature. Preferably, through the cooperative cooperation among a plurality of spraying robots, complex tasks which cannot be completed by a single robot can be reliably completed, and efficient and high-precision personalized spraying is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a multi-robot cooperative spraying method architecture according to the present invention;
FIG. 2 is a schematic diagram of the overall structure of a spraying process flow based on a multi-robot cooperative spraying method according to the present invention;
FIG. 3 is a schematic flow chart of a distributed multi-robot cooperative spraying architecture based on a multi-robot cooperative spraying method according to the present invention;
FIG. 4 is a schematic diagram of a flow chart of an implementation architecture of a distributed multi-robot environment information fast fusion algorithm based on a multi-robot collaborative spraying method according to the present invention;
FIG. 5 is a schematic diagram of a multi-robot based cooperative spraying system architecture according to the present invention;
FIG. 6 is a schematic diagram of a multi-robot based collaborative spraying system module architecture according to the present invention;
FIG. 7 is a schematic diagram of a multi-robot based collaborative spraying platform architecture according to the present invention;
FIG. 8 is a block diagram of a computer-readable storage medium according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an embodiment of a spraying apparatus based on multiple robots in cooperation according to the present invention;
description of reference numerals:
1-large robot; 2-a small robot; 3-a coating quick-change mechanism; 4-a slightly larger four-wheel mobile platform; 5-slightly smaller four-wheeled mobile platforms; 6-coating bottle; 11-a first painting robot; 12-a second spray robot; 21-a third spray robot; 22-a fourth spray robot; 41-a first four-wheel mobile platform; 42-a second four-wheel mobile platform; 51-a third four-wheel mobile platform; 52-fourth four-wheel mobile platform;
the objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
For better understanding of the objects, aspects and advantages of the present invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings, and other advantages and capabilities of the present invention will become apparent to those skilled in the art from the description.
The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Secondly, the technical solutions in the embodiments can be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
Preferably, the multi-robot-based collaborative spraying method is applied to one or more terminals or servers. The terminal is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The terminal can be a desktop computer, a notebook, a palm computer, a cloud server and other computing equipment. The terminal can be in man-machine interaction with a client in a keyboard mode, a mouse mode, a remote controller mode, a touch panel mode or a voice control device mode.
The invention provides a method, a system, a device, a platform and a storage medium based on multiple robots for realizing the collaborative spraying based on multiple robots.
Fig. 1 is a flowchart of a multi-robot cooperative spraying method according to an embodiment of the present invention.
In this embodiment, the method based on the multiple robots for collaborative spraying may be applied to a terminal or a fixed terminal having a display function, where the terminal is not limited to a personal computer, a smart phone, a tablet computer, a desktop or all-in-one machine with a camera, and the like.
The multi-robot-based collaborative spraying method can also be applied to a hardware environment consisting of a terminal and a server connected with the terminal through a network. Networks include, but are not limited to: a wide area network, a metropolitan area network, or a local area network. The spraying method based on the cooperation of the plurality of robots in the embodiment of the invention can be executed by a server, a terminal or both.
For example, for a terminal needing to perform cooperative spraying based on multiple robots, the cooperative spraying function based on multiple robots provided by the method of the present invention can be directly integrated on the terminal, or a client for implementing the method of the present invention is installed. For another example, the method provided by the present invention may further be operated on a device such as a server in the form of a Software Development Kit (SDK), an interface based on the multiple robot cooperative spraying function is provided in the form of an SDK, and a terminal or other devices may implement the multiple robot cooperative spraying function through the provided interface.
As shown in fig. 1, the present invention provides a multi-robot based collaborative spraying method, which specifically includes the following steps, and the sequence of the steps in the flowchart can be changed and some steps can be omitted according to different requirements.
Acquiring data information of an object to be sprayed;
performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and generating a spraying object after spraying.
Specifically, before the step of obtaining the data information of the object to be sprayed, the method further comprises the steps of: and (4) pretreating the spraying object. That is, as shown in fig. 2, the painting object is pre-processed, then transplanted to a jig AGV, and then sent to a painting room.
Preferably, the spraying object is cooperatively sprayed by a plurality of robots according to the data information of the spraying object, specifically, the spraying is performed by using a closed-loop flow control technique of the robots. The specific technical principle is as follows: by adopting a ConMix two-component precise electronic automatic proportioning technology, a ConFlo closed-loop flow automatic control technology, a fine low-pressure atomization spraying technology, a RobConon atomization electrostatic sprayer full-automatic cleaning machine technology and an infrared and ultraviolet curing technology, the novel process of the whole spraying industry is improved. Meanwhile, automatic off-line programming software is equipped to easily generate the spraying program.
Furthermore, in the spraying process, real-time monitoring and flow adjustment can be realized, the flow change of the flow in the fluid pipeline can be always accurately controlled, three layers of rotatable coating quick-change mechanisms are arranged near each spraying robot, if different colors need to be sprayed, the coating tanks can be quickly switched, the color change time is shortened, and meanwhile, the residual colors in the pipeline are greatly saved.
Specifically, the number of the robots at least comprises four;
in the step of performing the collaborative spraying on the spraying object by the plurality of robots according to the data information of the spraying object, the method further comprises the following steps:
the position of a spraying object is adjusted through laser positioning; that is, the spray object is adjusted to a required precise position by laser positioning.
Carrying out overall spraying and detail supplementary coating on the spraying object with the adjusted position; in the embodiment of the invention, two large mobile robots are adopted to carry out overall spraying, and then two small mobile robots are adopted to carry out detail supplementary coating, so that task division is realized. After the four mobile robots finish spraying, the spraying object is moved to a turnover AGV, then is sent to an oven, is baked until being dried and then is discharged.
In the field of multi-mobile-robot collaborative spraying, accurate path following of multiple robots in an unknown environment is a core technology for realizing collaborative spraying.
In the embodiment of the invention, the cooperative spraying of the spraying object by the plurality of robots is carried out by adopting a distributed multi-robot environment information fusion algorithm;
as shown in fig. 3, the specific steps are as follows:
acquiring environmental data information of the position of the robot;
comparing and judging the acquired environmental data information with the historical position environmental information of the robot;
traversing all the robots in the area through the topological structures of the plurality of robots according to the comparison result;
and finishing the information fusion of the collaborative environment of a plurality of robots.
That is, in a multi-robot group, each robot continuously detects environment information such as new positions in an unknown environment and compares the environment information with the past historical position environment information. If it is found that some new location environment information does not appear in the historical location environment information, the robot sends information to other robots (such as neighbor robots within communication range) inquiring whether the current environment information is detected by other robots. This "challenge" is then propagated throughout the population, traversing the entire population according to the multi-robot topology. If a robot already has a history of current environmental information, it will send back the specific data of this environmental information via the topology to the robot that issued the "inquiry". And finishing the information fusion of the collaborative environment. The specific process can be divided into two steps, namely 'inquiry' issuing and traversing and environment information returning.
Preferably, each mobile robot is mounted with a lidar sensor thereon. The geometric center position of the robot is the origin of the coordinate system of the robot body. And each robot is also provided with a wireless communication module which is responsible for communicating with surrounding robots.
In the embodiment of the present invention, as shown in fig. 4, the proposed distributed multi-robot environment information fast fusion algorithm is specifically implemented as follows:
the dispatching system confirms the relative position of each robot according to the UWB indoor positioning system on each robot, and establishes an unknown grid map with a specified scale according to the geometric center of each robot position, and the resolution of the sub-grids is also specified by the system.
The robot obtains the relative distance between the robot and the environmental barrier in the detection range according to the installed laser radar sensor, and obtains the position information of the adjacent robot from the system.
And (4) carrying out mapping path planning by adopting an artificial potential field method. Namely, the unknown environment generates attraction to the mobile robot, the image building result of the obstacle and the adjacent robot generates repulsion to the mobile robot, and the robot is driven to search for the unknown environment.
The robot continuously detects new environment information in an unknown environment, and continuously increases the numerical value in the data structure of the sub-grid map for repeatedly scanned obstacles so as to continuously enhance the confidence coefficient of the attributes of the obstacles in the map.
When the robot detects a new position environment information, that is, the sub grid map is not updated, the robot sends information to other robots (for example, neighbor robots within a communication range) to inquire whether the current environment information is detected by other robots.
The inquiry is continuously spread in the group, the whole group is traversed according to the topological structure of the multiple robots, if a certain robot has the sub-grid data historical record of the current environment, the data is transmitted back to the robot sending the inquiry through the topological structure, and the inquiry is finished.
And (4) the robot performs cooperative environment information fusion, namely, the sub-grid position information transmitted by the robot is added in the detected grid map.
And if the grid map with the specified size of the system is not updated completely, the robot plans a detection path again according to the manual potential field regulation.
In another aspect, the robot perception further includes aspects of vision-based guiding positioning, appearance detection, high-precision alignment, identification and the like. The vision positioning requires that a machine vision system can quickly and accurately find a workpiece to be detected and confirm the position of the workpiece, and the feeding and discharging uses machine vision to position and guide a mechanical arm to accurately grab the workpiece. In a complex spraying process of a complex workpiece, equipment needs to adjust the posture of a tail end tool according to workpiece position information obtained by machine vision, and the workpiece is accurately operated. The perception can also be applied to detecting whether the product on the production line has quality problems, and the link is the link which replaces the most manpower. The main detection comprises spraying uniformity detection.
Due to the multitask characteristic and the multitask division of the four-spraying robot, multitask planning and task modeling are involved. The method comprises the following specific steps:
step one, setting a multi-robot cooperative spraying system according to spraying requirementsIs T ═ 1,2, Λ, m, representing the task, T1，T2，Λ，TmThese targets may correspond to different spray areas, and different spray colors, processes, etc. may be used.
Step two, summarizing the resource type and quantity set required to be provided by the spraying system according to the spraying target in the step one
For example, target T is achievediThe type and amount of resources required are expressed as
Wherein
Indicating a processing target TiThe kth attribute corresponds to the resource requirement of the task.
For example, target TiOne kilogram of each of three paints, namely black, red, blue and the like, is needed, and two spraying processes, namely micro-spraying, electric spraying and the like, are needed. Then the target TiThe set of resources required can be described as { black (1kg), red (1kg), blue (1kg), micro-spray, dot-spray }.
Step three, (3) all resources which can be provided by the multi-robot spraying system are integrated into Rsup＝{R1,R2,L,Rm}. According to the total number of the resources required by the induction in the step two, firstly, the multi-robot system is determined to meet all the resource requirements, namely Rreq≤Rsup. If the condition is not met, the multi-robot system resources need to be reconfigured. For example, it is checked whether paint is sufficient, whether color boxes need to be added, whether load is satisfied, etc. The resource may correspond to a function possessed by the robot, or a material that can be provided. For example, some robots are responsible for transporting paint of different colors, some robots are responsible for spray patterns of different processes, and so on.
Step four, the resource which can be provided by the robot j in the multi-robot group is represented as
When the spraying targets are definite in the step one, each target is a 'task' to be completed by the robot. Each robot j will evaluate the resources needed by the task and autonomously decide which target to participate in.
Specifically, the following evaluation function is used:
wherein the content of the first and second substances,
representing whether robot i has some resource required by jth task
The dominance of the k-th class of resources characterizing the robot i. According to the above evaluation function, the robot will take part in the task that it can satisfy to its maximum extent. Time efficiency optimization is achieved after multiple task scheduling.
And step five, distributing the multi-robot cooperative tasks. The robot can be endowed with a new task at any time during the cruising process, but the robot resource can be occupied by the current task and cannot respond to the execution of the new task. Namely, it is
Wherein the content of the first and second substances,
indicating whether to assign a robot i Process TjThe k-th attribute of the task,
indicating that robot i is processing task TjThe amount of resources required. Ratio ofFor example, robot i has a current target TjOne of the resources required is red paint. However, if the resource of the robot is occupied by other tasks, then
The robot cannot respond to the task; if the robot is free of the resource, the robot will be put into the task. However, it is often difficult for one robot to satisfy all resources required by a certain goal, and therefore, when a single robot is difficult to satisfy task resource requirements, the task is processed by cooperation of a plurality of robot subgroups, and the constraint is that
Wherein the content of the first and second substances,
indicating whether to assign robot i to process task TjThe k-th attribute of (1). The physical significance is as follows: can provide the object T to be achievediA minimum set of robot subgroups for all resources required.
Under the above five steps, the invention can realize that: and maximizing a task allocation objective function and realizing the allocation of tasks to robot subgroups. I.e. assigning planned tasks to a subgroup of robots of a multi-robot system according to target characteristics, each robot being able to participate in a plurality of tasks simultaneously. The goal of multi-robot task assignment mainly includes two aspects:
firstly, reasonably allocating the resources of the cluster and maximizing the task execution benefits. Because the profits obtained when each robot identifies and disposes different targets are different, resources of the cluster need to be reasonably allocated, and the task execution profits are maximized.
Second, responding in time and executing new tasks, processing as many tasks as possible in as short a time as possible. For the detected new target, timely response and processing are needed to ensure the real-time requirement of the emergency and shorten the processing time, and as many tasks as possible are processed in a certain time.
As shown in fig. 5, the present invention further provides a multi-robot based collaborative spraying system, which comprises:
the acquisition unit is used for acquiring data information of an object to be sprayed;
the spraying unit is used for performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and the generating unit is used for generating the spraying object after spraying.
Preferably, as shown in fig. 6, the system further comprises:
the pretreatment module is used for pretreating a spraying object;
the second acquisition module is used for acquiring environmental data information of the position where the robot is located;
the comparison judgment module is used for comparing and judging the acquired environmental data information with the environmental information of the historical position of the robot;
the traversing module is used for traversing all the robots in the area through the topological structures of the robots according to the comparison result;
and the fusion module is used for completing the information fusion of the collaborative environment of the plurality of robots.
Correspondingly, the spraying unit comprises:
the adjusting module is used for adjusting the position of the spraying object through laser positioning;
and the second spraying template is used for carrying out overall spraying and detail supplementary coating on the spraying object with the adjusted position.
The details are set forth above and will not be described herein;
the invention also provides a spraying device based on the cooperation of a plurality of robots, wherein the device comprises at least four robots;
the robot is placed on a four-wheel mobile platform; a paint quick-change mechanism which is detachably mounted is arranged on the four-wheel mobile platform;
the coating quick-change mechanism is rotatably arranged;
the multiple robot collaborative spraying device realizes the steps of the multiple robot collaborative spraying method.
For example: acquiring data information of an object to be sprayed;
performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and generating a spraying object after spraying.
In the embodiment of the invention, the adopted multi-robot spraying has a task planning and division cooperation relationship.
As shown in fig. 9, taking four robots as an example, two large robots 1 and two small robots 2, the two large robots 1 are respectively placed on two slightly large four-wheel moving platforms 4, and the two small robots are respectively placed on two slightly small four-wheel moving platforms 5, so as to form four sets of mobile spraying robots. On the left of the four-wheel moving platform, three layers of rotatable coating quick-change mechanisms 3 are respectively arranged so as to realize quick switching of coating tanks when different colors are sprayed.
That is, the invention provides a spraying device based on multiple robots in coordination, which mainly comprises: two slightly larger first 11 and second 12 spray robots, and two slightly smaller third 21 and third 22 spray robots. The first and second painting robots 11 and 12 are respectively placed on two slightly larger first and second four- wheel moving platforms 41 and 42. The third spraying robot 21 and the fourth spraying robot 22 are respectively placed on two slightly smaller third four-wheel moving platforms 51 and fourth four-wheel moving platforms 52 to respectively form four sets of mobile spraying robots. And a three-layer rotatable paint quick-change mechanism 3 is respectively arranged on the left side of each four-wheel moving platform. The coating quick change mechanism 3 consists of three rotating disks, and six coating bottles 6 are uniformly distributed on each rotating disk. So as to realize the fast switching of the paint bottle 6 when different colors are sprayed.
Aiming at the complex spraying process of some complex workpieces, multiple layers and multiple contents are needed for spraying. For example, in a car spraying task, not only the whole car body needs to be sprayed, but also specific characters and patterns need to be sprayed on certain parts. Thus, two large mobile robots realize a large-format spraying task, and two small mobile robots realize a fine spraying task such as spraying characters and patterns.
Preferably, the four robots are realized by adopting a mode of moving an AGV and a mechanical arm to form a moving mechanical arm. The mobile mechanical arm realizes autonomous positioning through autonomous environment sensing, the big robot and the small robot cooperate to complete spraying of complex processes of complex workpieces, the flexibility of robot cooperation spraying can be improved, and personalized operation of efficient spraying is realized.
As shown in fig. 7, the present invention further provides a spraying platform based on multiple robots in cooperation, including:
the system comprises a processor, a memory and a control program based on a plurality of robots to cooperate with a spraying platform;
wherein the platform control program is executed at the processor, the multi-robot based collaborative spray coating platform control program is stored in the memory, and the multi-robot based collaborative spray coating method steps are implemented based on the multi-robot based collaborative spray coating platform control program. For example:
acquiring data information of an object to be sprayed;
performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and generating a spraying object after spraying.
The specific details of the steps have been set forth above and are not described herein again;
in an embodiment of the present invention, the built-in processor based on the multiple robot collaborative spraying platforms may be composed of an integrated circuit, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same function or different functions, including one or more Central Processing Units (CPUs), a microprocessor, a digital processing chip, a graphics processor, and a combination of various control chips. The processor acquires each part by using various interfaces and line connections, and executes various functions and processes data of the multiple robots in cooperation with spraying by running or executing programs or units stored in the memory and calling data stored in the memory;
the memory is used for storing program codes and various data, is arranged in the spraying platform based on the cooperation of a plurality of robots and realizes the high-speed and automatic access of the program or the data in the running process.
The Memory includes a Read-Only Memory (ROM),
random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), an EEPROM, a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, magnetic disk storage, tape storage, or any other medium readable by a computer that can be used to carry or store data.
As shown in fig. 8, the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a control program based on multiple robot collaborative spraying platforms, and the control program based on multiple robot collaborative spraying platforms implements the steps of the method based on multiple robot collaborative spraying. For example:
acquiring data information of an object to be sprayed;
performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and generating a spraying object after spraying.
The specific details of the steps have been set forth above and are not described herein again;
in describing embodiments of the present invention, it should be noted that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
Through the steps, the system, the device, the platform and the storage medium, the spraying can be completed through the cooperative operation among the plurality of spraying robots, the plurality of spraying robot systems have strong environment adaptation capability, can be self-regulated when the environment changes, and have better data redundancy and robustness, wide system space distribution and better time distribution. Preferably, through cooperative cooperation among a plurality of spraying robots, complex tasks which cannot be completed by a single robot can be reliably completed.
The spraying robot is an industrial robot capable of automatically spraying paint or other coatings, mainly comprises a robot body, a computer and a corresponding control system, has the characteristics of high action speed, good explosion-proof performance and the like, can realize teaching through hand handle teaching or point location indication, and can be widely applied to process production departments such as automobiles, instruments, electrical appliances, enamel and the like.
And moreover, by adopting a multi-robot environment perception technology based on topological priority, a rotatable coating quick-change mechanism and a multi-robot complex task planning strategy, the efficient and high-precision personalized spraying can be realized for the complex spraying process of complex workpieces.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The spraying method based on the cooperation of a plurality of robots is characterized by comprising the following steps:
acquiring data information of an object to be sprayed;
performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and generating a spraying object after spraying.
2. The multi-robot collaborative spraying method according to claim 1, wherein the step of obtaining data information of the object to be sprayed further comprises the steps of: and (4) pretreating the spraying object.
3. The multi-robot cooperative spraying method according to claim 1, wherein the spraying object is cooperatively sprayed by the multiple robots according to the data information of the spraying object, specifically, the spraying is performed by using a robot closed-loop flow control technology.
4. The multi-robot based collaborative spraying method according to claim 1, wherein the number of the plurality of robots is at least four;
in the step of performing the collaborative spraying on the spraying object by the plurality of robots according to the data information of the spraying object, the method further comprises the following steps:
the position of a spraying object is adjusted through laser positioning;
and carrying out overall spraying and detail supplementary coating on the spraying object with the adjusted position.
5. The multi-robot collaborative spraying method according to claim 1 or 4, wherein collaborative spraying of a spraying object by a plurality of robots is performed by a distributed multi-robot environment information fusion algorithm;
the method comprises the following specific steps:
acquiring environmental data information of the position of the robot;
comparing and judging the acquired environmental data information with the historical position environmental information of the robot;
traversing all the robots in the area through the topological structures of the plurality of robots according to the comparison result;
and finishing the information fusion of the collaborative environment of a plurality of robots.
6. A multi-robot based collaborative spray coating system, comprising:
the acquisition unit is used for acquiring data information of an object to be sprayed;
the spraying unit is used for performing collaborative spraying on the spraying object through a plurality of robots according to the data information of the spraying object;
and the generating unit is used for generating the spraying object after spraying.
7. The multi-robot based collaborative spray coating system of claim 6, further comprising:
the pretreatment module is used for pretreating a spraying object;
the second acquisition module is used for acquiring environmental data information of the position where the robot is located;
the comparison judgment module is used for comparing and judging the acquired environmental data information with the environmental information of the historical position of the robot;
the traversing module is used for traversing all the robots in the area through the topological structures of the robots according to the comparison result;
and the fusion module is used for completing the information fusion of the collaborative environment of the plurality of robots.
Correspondingly, the spraying unit comprises:
the adjusting module is used for adjusting the position of the spraying object through laser positioning;
and the second spraying template is used for carrying out overall spraying and detail supplementary coating on the spraying object with the adjusted position.
8. A spraying device based on multiple robots is characterized in that the device comprises at least four robots;
the robot is placed on a four-wheel mobile platform; a paint quick-change mechanism which is detachably mounted is arranged on the four-wheel mobile platform;
the coating quick-change mechanism is rotatably arranged;
the multi-robot collaborative spraying device realizes the steps of the multi-robot collaborative spraying method according to any one of claims 1 to 5.
9. A spraying platform based on a plurality of robots in coordination, comprising:
the system comprises a processor, a memory and a control program based on a plurality of robots to cooperate with a spraying platform;
wherein the platform control program is executed at the processor, the multiple-robot-based collaborative spraying platform control program is stored in the memory, and the multiple-robot-based collaborative spraying platform control program implements the multiple-robot-based collaborative spraying method steps of any one of claims 1 to 5.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores a control program based on a plurality of robot collaborative spraying platform, and the control program based on the plurality of robot collaborative spraying platform implements the steps of the method of the multi-robot collaborative spraying according to any one of claims 1 to 5.
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