CN116216528B - Multi-robot coordination lifting system based on dynamic programming - Google Patents
Multi-robot coordination lifting system based on dynamic programming Download PDFInfo
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- CN116216528B CN116216528B CN202310333177.2A CN202310333177A CN116216528B CN 116216528 B CN116216528 B CN 116216528B CN 202310333177 A CN202310333177 A CN 202310333177A CN 116216528 B CN116216528 B CN 116216528B
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- 238000000034 method Methods 0.000 claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims description 24
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 14
- 210000001503 joint Anatomy 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000012216 screening Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-robot coordinated lifting system based on dynamic programming, relates to the field of multi-robot lifting systems, and solves the problems that the lifting capacity of an existing lifting system of a single lifting robot is generally difficult to meet actual requirements and a lifting task cannot be carried out due to heavy lifting objects. The system has good coordination, improves the stability in the lifting process, and effectively improves the lifting efficiency.
Description
Technical Field
The invention relates to the field of multi-robot lifting systems, in particular to a multi-robot coordinated lifting system based on dynamic programming.
Background
In the development process of robotics, the mechanical arm is an automation device with wider application, and has body and shadow in the fields of industrial manufacture, space, military and medical treatment. The mechanical arm mainly comprises 3 parts: 1) A machine body; 2) A mechanical drive system; 3) A machine control system. The automatic control and repeated programming device can replace manual labor, can realize automatic control and repeated programming, and has high production efficiency and low production cost. The mechanical arm is a branch of a robot, is high-tech equipment developed in the current society, has high intelligent degree, and can realize multiple functions of sensing external environment, issuing instructions, providing driving power and the like. When complex tasks are executed, if the output of the control system is unstable, unpredictable economic loss is caused, so that research on a control method for stabilizing the mechanical arm is significant for promoting intelligent development.
And with the development of technology, the lifting capacity of a lifting system of a single lifting robot is generally difficult to meet actual requirements, and can not be born for lifting due to heavier lifting objects. Therefore, a multi-robot coordination lifting system based on dynamic programming is provided.
Disclosure of Invention
The invention aims to provide a multi-robot coordinated lifting system based on dynamic programming, which solves the problems that the lifting capacity of the existing lifting system of a single lifting robot is generally difficult to meet actual demands and a lifting task cannot be carried because of heavy lifting objects.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a multi-robot coordination handling system based on dynamic programming, includes three handling robots that the structure is the same, and single handling robot comprises fixed base, 3 joint arm and flexible rope, installs the lifting subassembly on the terminal joint arm to install the flexible rope through lifting subassembly, by the handling object hang in the below of three robots through linking to each other with the flexible rope, install control system in the three handling robots that the structure is the same, control system is connected with manual control module, mission input module, by handling object track planning system respectively, by handling object track planning system is connected with the terminal track planning system of loop wheel machine, and the terminal track planning system of loop wheel machine is connected with the motion planning module, the motion planning module is connected with position constraint module, speed constraint module and acceleration constraint module respectively, and it is connected with joint track planning control system and flexible rope orbit adjustment control system respectively, joint track control system and flexible rope orbit adjustment control system and handling robot control signal connection, all install joint gesture sensor unit and flexible rope attitude sensor unit on each handling robot, and the two are connected with its control system.
Preferably, the task input module comprises a lifting object pose expected unit, a lifting object starting point and ending point unit and a terminal flexible cable pose expected unit.
Preferably, the control system is used for comprehensively controlling each joint and lifting assembly of each lifting robot, and can be used for manually controlling and analyzing lifting tasks.
Preferably, the manual control module is used for manually controlling the three lifting robots, and the task input system is used for inputting lifting tasks into a control system associated with the three lifting robots.
Preferably, the system for planning the track of the lifted object is used for planning the lifting track of the object to be lifted according to the input lifting task.
Preferably, the crane tail end track planning system is used for planning a track of movement of the joint mechanical arm tail end in the lifting process, and the motion planning module is used for controlling each joint to coordinate according to the movement track of the crane tail end.
Preferably, the position constraint module, the speed constraint module and the acceleration constraint module are respectively used for controlling the position and the speed of each joint mechanical arm and the acceleration in the motion process of the lifting robot in the lifting process.
Preferably, the joint track planning control system is used for performing corresponding adjustment control on each joint mechanical arm according to a required motion track, the flexible cable track adjustment control system is used for controlling swing and length of the flexible cable, and feedback can be performed on the joint track planning control system, so that the flexible cable can be adjusted through adjustment of the joint mechanical arm.
Preferably, each lifting robot is provided with a joint gesture sensor unit module and a flexible cable gesture sensor unit module, and the joint gesture sensor unit modules are used for detecting the gesture of each joint mechanical arm and the flexible cable of the lifting robot in the lifting operation process, feeding back to the control system for screening, and adjusting through the joint track planning control system in time, wherein the gesture does not accord with the planned track.
Compared with the related art, the multi-robot coordination lifting system based on dynamic programming has the following beneficial effects:
1. the invention provides a multi-robot coordinated lifting system based on dynamic programming, which is characterized in that a track planning system of an object to be lifted is arranged in a control system to conveniently plan the movement track of the tail end of a joint mechanical arm, and finally, each joint mechanical arm is controlled to execute through a movement planning module, so that the three designed lifting robots can be effectively ensured to run in a coordinated manner without intermittently executing lifting tasks, and the overall lifting efficiency is further improved.
2. The invention provides a multi-robot coordinated lifting system based on dynamic programming, which is characterized in that a position constraint module, a speed constraint module and an acceleration constraint module are arranged in a motion planning module, so that the position constraint, the speed constraint and the acceleration constraint of each joint mechanical arm can be conveniently determined according to environmental conditions, lifting objects and the like, and the stability of the lifting process is further improved. The position constraint module, the speed constraint module and the acceleration constraint module are respectively connected with a joint track planning control system and a flexible cable track adjustment control system, and the joint track planning control system can control the movement of each joint mechanical arm of each lifting robot in a specific lifting process; the flexible cable track adjustment control system plans the flexible cable track, and suppresses swinging of the flexible cable by adjusting movement of the joint mechanical arm.
3. The invention provides a multi-robot coordinated lifting system based on dynamic programming, which is characterized in that a joint attitude sensor unit module and a flexible cable attitude sensor unit module are arranged on each lifting robot, so that the states of each structure of the lifting robot are detected in real time and fed back to a control system, and when the control system detects errors of the planned attitude and track, the control system timely adjusts the positions through controlling a motion planning module.
The system has good coordination, improves the stability in the lifting process, and effectively improves the lifting efficiency.
Drawings
Fig. 1 is a system diagram of a multi-robot coordinated hoisting system based on dynamic programming according to the present invention.
Fig. 2 is a system diagram of a task input module of the multi-robot coordinated hoisting system based on dynamic programming.
Fig. 3 is a schematic diagram of a layout of a handling robot of a multi-robot coordinated handling system based on dynamic programming according to the present invention.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, the present invention provides a technical solution: a multi-robot coordinated lifting system based on dynamic planning comprises three lifting robots with the same structure, wherein a single lifting robot consists of a fixed base, 3 joint mechanical arms and flexible ropes, lifting components are arranged on the tail end joint mechanical arms, flexible ropes are arranged on the tail end joint mechanical arms, a lifted object is suspended below the three robots through connection with the flexible ropes, a control system is arranged in the three lifting robots with the same structure, the control system is respectively connected with a manual control module, a task input module and a lifted object track planning system, the lifted object track planning system is connected with a crane tail end track planning system, the crane tail end track planning system is connected with a motion planning module, the motion planning module is respectively connected with a position constraint module, a speed constraint module and an acceleration constraint module, the joint track planning control system and a flexible rope track adjustment control system are respectively connected with the flexible rope track adjustment control system and the control robot control signals, and each lifting robot is provided with a joint gesture sensor unit module and a flexible rope gesture sensor unit module which are connected with the control system.
The task input module further comprises a lifting object pose expected unit, a lifting object starting point and ending point unit and a terminal flexible cable pose expected unit.
The control system is used for comprehensively controlling all joints and lifting components of all lifting robots, can be controlled manually, and can analyze lifting tasks.
The manual control module is used for manually controlling the three lifting robots, and the task input system is used for inputting lifting tasks into a control system associated with the three lifting robots.
The system for planning the track of the lifted object is used for planning the lifting track of the object to be lifted according to the input lifting task.
The crane tail end track planning system is used for planning a track of movement of the tail end of the joint mechanical arm in the lifting process, and the motion planning module is used for controlling each joint to coordinate according to the movement track of the tail end of the crane.
The position constraint module, the speed constraint module and the acceleration constraint module are respectively used for controlling the position and the speed of each joint mechanical arm and the acceleration in the motion process of the lifting robot in the lifting process.
The joint track planning control system is used for carrying out corresponding adjustment control on each joint mechanical arm according to the required movement track, the flexible cable track adjustment control system is used for controlling the swing and the length of the flexible cable, and the joint track planning control system can be fed back to each other, so that the flexible cable can be adjusted through adjustment of the joint mechanical arm.
And each lifting robot is provided with a joint gesture sensor unit module and a flexible cable gesture sensor unit module, and the joint gesture sensor unit modules are used for detecting the gesture of each joint mechanical arm and the flexible cable of the lifting robot in the lifting operation process, feeding back to a control system for screening, and timely adjusting through the joint track planning control system without conforming to the planned track.
In the embodiment, the motion track of the tail end of the joint mechanical arm is conveniently planned by arranging the track planning system of the lifted object in the control system, and finally, each joint mechanical arm is controlled to execute through the motion planning module, so that the three designed lifting robots can be effectively guaranteed to coordinate to each other to run, lifting tasks can be continuously executed, and the overall lifting efficiency is further improved. The track planning problem of the multi-robot coordination lifting system is divided into two steps, firstly, the object to be lifted is planned according to lifting tasks, and then, the feasible track or the optimal track of the tail end of the crane is planned according to inverse kinematics. Specifically, the track planning system of the lifted object in the control system adopts the existing and mature theory and technology of track planning in Cartesian coordinate space and track planning in joint space, which are applied to the field of unmanned mechanical arms, to carry out point-to-point track planning on the multi-robot lifting system. Specifically, in a track planning system of the lifted object, an inverse kinematics and an inverse dynamics solving algorithm of the lifting robots are written, and the motion state of each lifting robot is solved according to the motion track of the lifted object. In the system for planning the track of the tail end of the crane, three lifting robots with the same structure are provided with three lifting starting points and three finishing points, paths between the corresponding starting points and the corresponding finishing points are respectively used as planning targets in specific operation, the track planning of the three lifting robots is combined, and when objects to be lifted are at different positions on the track, corresponding adjustment is carried out by controlling each joint mechanical arm.
The position constraint module, the speed constraint module and the acceleration constraint module are arranged in the motion planning module, so that the position constraint, the speed constraint and the acceleration constraint of each joint mechanical arm can be conveniently determined according to environmental conditions, lifting objects and the like, and the stability of the lifting process is further improved. The position constraint module, the speed constraint module and the acceleration constraint module are respectively connected with a joint track planning control system and a flexible cable track adjustment control system, the joint track planning control system can control the movement of each joint mechanical arm of each lifting robot, the flexible cable track adjustment control system can plan the flexible cable track, and the swinging of the flexible cable is restrained by adjusting the movement of the joint mechanical arm. The position constraint module, the speed constraint module and the acceleration constraint module can be matched with each other, in specific operation, the swing amplitude of the lifted object is monitored by adopting the existing motion estimation and motion compensation algorithm based on video signals, after the swing amplitude exceeds the position range set by the position constraint module, the speed is regulated by the speed constraint module and the acceleration constraint module, and the speed constraint module is generally used for regulating the speed in the opposite direction, so that the acceleration and the position are inhibited and regulated. The joint track planning control system can plan joint angles of the crane according to the movement track of the tail end of the crane, and then correspondingly control each joint of the robot according to the movement state of each lifting robot. The flexible cable track adjustment control system can control the tension and the length of the flexible cable, specifically, the length information of the flexible cable is collected by using an encoder arranged on the flexible cable, and the tension information of the flexible cable is collected by using a dynamic torque sensor, so that the real-time adjustment of the flexible cable track is realized.
The joint attitude sensor unit modules and the flexible cable attitude sensor unit modules are arranged on each lifting robot, so that the states of each structure of the lifting robot are detected in real time and fed back to the control system, and when the control system detects errors of planning attitudes and trajectories, the control system timely adjusts the positions and trajectories through controlling the motion planning module. Specifically, the joint posture sensor unit module and the flexible cable posture sensor unit module can be based on visual monitoring devices in the prior art, a reasonable area range with adjustable joint posture and flexible cable is carried in the control system, the result can be obtained through reasonable comparison with a set range, and after the fact that the joints or the flexible cables exceed the area range is monitored in actual operation, the control system controls the track planning system of the lifted object to plan and adjust the corresponding joints and the flexible cable.
The system is good in coordination, stability in the lifting process is improved, and lifting efficiency is effectively improved.
Claims (5)
1. The multi-robot coordinated lifting system based on dynamic planning comprises three lifting robots with the same structure, wherein a single lifting robot consists of a fixed base, a 3-joint mechanical arm and a flexible rope, a lifting assembly is arranged on the tail-end joint mechanical arm, the flexible rope is arranged through the lifting assembly, a lifted object is suspended below the three robots through connection with the flexible rope, and a control system is arranged in the three lifting robots with the same structure, and the multi-robot coordinated lifting system is characterized in that the control system is respectively connected with a manual control module, a task input module and a lifted object track planning system, the lifted object track planning system is connected with a crane tail end track planning system, the crane tail end track planning system is connected with a motion planning module, the motion planning module is respectively connected with a position constraint module, a speed constraint module and an acceleration constraint module, the joint track planning control system and a flexible rope track adjustment control system are respectively connected with the flexible rope track adjustment control system, and the lifting robots are respectively provided with a joint gesture sensor unit and a flexible rope gesture sensor unit, and a flexible rope gesture sensor unit are respectively connected with the control system;
the task input module comprises a lifting object pose expected unit, a lifting object starting point and ending point unit and a tail end flexible cable pose expected unit;
the control system is used for comprehensively controlling all joints and lifting components of all lifting robots, can be controlled manually, and can also analyze lifting tasks;
the manual control module is used for manually controlling the three lifting robots, and the task input module is used for inputting lifting tasks into a control system associated with the three lifting robots;
the system for planning the track of the lifted object is used for planning the lifting track of the lifted object according to the input lifting task;
the track planning problem of the multi-robot coordination lifting system is divided into two steps, firstly, an object to be lifted is planned according to lifting tasks, and then a feasible track or an optimal track of the tail end of the crane is planned according to inverse kinematics; specifically, a track planning system of a lifted object in the control system adopts the theory and the technology of track planning in a Cartesian coordinate space and track planning in a joint space to carry out point-to-point track planning on the multi-robot lifting system; specifically, in a track planning system of the lifted object, writing an inverse kinematics and an inverse dynamics solving algorithm of the lifting robots, and solving the motion state of each lifting robot according to the motion track of the lifted object; in a crane tail end track planning system, three lifting robots with the same structure are provided with three lifting starting points and three finishing points, paths between the corresponding starting points and the corresponding finishing points are respectively used as planning targets in specific operation, the track planning of the three lifting robots is combined, and when objects to be lifted are at different positions on the track, corresponding adjustment is carried out by controlling each joint mechanical arm;
the position constraint module, the speed constraint module and the acceleration constraint module are arranged in the motion planning module, so that the position constraint, the speed constraint and the acceleration constraint of each joint mechanical arm can be conveniently determined according to environmental conditions and the lifting objects, and the stability of the lifting process is further improved; the position constraint module, the speed constraint module and the acceleration constraint module are respectively connected with a joint track planning control system and a flexible cable track adjustment control system, the joint track planning control system can control the movement of each joint mechanical arm of each lifting robot, the flexible cable track adjustment control system can plan the flexible cable track, and the swinging of the flexible cable is restrained by adjusting the movement of the joint mechanical arm; the position constraint module, the speed constraint module and the acceleration constraint module can be matched with each other, in a specific operation, a motion estimation and motion compensation algorithm based on video signals is adopted to monitor the swing amplitude of the lifted object, after the swing amplitude exceeds the position range set by the position constraint module, the speed constraint module and the acceleration constraint module are used for adjusting the speed in the opposite direction, and further, the acceleration and the position are restrained and adjusted; the joint track planning control system plans joint angles of the crane according to the movement track of the tail end of the crane, and then correspondingly controls each joint of the robot according to the movement state of each lifting robot; the flexible cable track adjustment control system controls the tension and the length of the flexible cable, specifically, an encoder arranged on the flexible cable is used for collecting the length information of the flexible cable, and a dynamic torque sensor is used for collecting the tension information of the flexible cable, so that the real-time adjustment of the flexible cable track is realized.
2. The multi-robot coordinated hoisting system based on dynamic planning according to claim 1, wherein the crane end trajectory planning system is used for planning trajectories of movement of the joint mechanical arm ends in a hoisting process, and the motion planning module is used for controlling each joint to perform coordinated operation according to the movement trajectories of the crane ends.
3. The multi-robot coordinated hoisting system based on dynamic programming according to claim 2, wherein the position constraint module, the speed constraint module and the acceleration constraint module are respectively used for controlling the position and the speed of each joint mechanical arm and the acceleration in the moving process of the hoisting robot in the hoisting process.
4. A multi-robot coordinated hoisting system based on dynamic planning according to claim 3, wherein the joint track planning control system is used for performing corresponding adjustment control on each joint mechanical arm according to a required motion track, the flexible cable track adjustment control system is used for controlling swing and length of a flexible cable, and feedback can be performed on the joint track planning control system, so that the flexible cable can be adjusted through adjustment of the joint mechanical arm.
5. The multi-robot coordinated lifting system based on dynamic programming according to claim 4, wherein each lifting robot is provided with a joint gesture sensor unit module and a flexible cable gesture sensor unit module, and the joint gesture sensor unit module is used for detecting the gesture of each joint mechanical arm and flexible cable of the lifting robot in the lifting operation process, feeding back to the control system for discrimination, and timely adjusting through the joint track planning control system when the planned track is not met.
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| CN102431036A (en) * | 2011-09-19 | 2012-05-02 | 中国矿业大学 | Hybrid-driven wire parallel robot real-time fault detection device and method |
| KR20190005558A (en) * | 2017-07-07 | 2019-01-16 | 전남대학교산학협력단 | Movable support frame, and a cable robot and controlling method of the same |
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| CN102431036A (en) * | 2011-09-19 | 2012-05-02 | 中国矿业大学 | Hybrid-driven wire parallel robot real-time fault detection device and method |
| KR20190005558A (en) * | 2017-07-07 | 2019-01-16 | 전남대학교산학협력단 | Movable support frame, and a cable robot and controlling method of the same |
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