CN117590816B - Multi-robot cooperative control system and method based on Internet of things - Google Patents

Multi-robot cooperative control system and method based on Internet of things Download PDF

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Publication number
CN117590816B
CN117590816B CN202311721763.0A CN202311721763A CN117590816B CN 117590816 B CN117590816 B CN 117590816B CN 202311721763 A CN202311721763 A CN 202311721763A CN 117590816 B CN117590816 B CN 117590816B
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robot
target
information
robots
station
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CN117590816A (en
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李艳斌
张寒乐
庞敏丽
周博文
周良
李康军
何世超
龚权华
鲍文一
易志雄
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Hunan Linkstar Technology Co ltd
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Hunan Linkstar Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32252—Scheduling production, machining, job shop
    • 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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  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The invention discloses a multi-robot cooperative control system and method based on the Internet of things, wherein the system comprises a plurality of robots, an edge computing end, a field industrial personal computer, an Internet of things terminal, a flexible production line, a fitting library and a cloud computing platform; the plurality of robots are different types of movable industrial robots; the cloud computing platform comprises a standby setting module, a fault detection module and a cooperative control module; the standby setting module is used for selecting a standby robot according to the type of the robot, the initial function of the robot and the adaptation information of the robot accessories; the cooperative control module is used for calculating a maximum yield parameter in a preset period according to the working beats of the second target robot and the fault robot, and selecting the second target robot with the maximum yield parameter as the cooperative control robot. The invention can realize flexible production through the cooperative work of a plurality of movable robots, process faults in time and improve the reliability and the working efficiency.

Description

Multi-robot cooperative control system and method based on Internet of things
Technical Field
The invention relates to the technical field of robot control, in particular to a multi-robot cooperative control system and method based on the Internet of things.
Background
With the increasing complexity of industrial manufacturing lines, an increasing number and variety of robots are beginning to appear in the lines, and what control strategies are deployed so that the co-operation of multiple robots faces tremendous challenges. Firstly, the product updating iteration speed is extremely high at present, a production line with huge cost often needs to produce various types of products, and how to create a flexible production line with multiple robots for cooperative work is a technical problem to be solved. In addition, the types and the number of robots are increased, and the industrial manufacturing environment is severe and complex, so that the robots are easy to fail, and huge losses are caused if the robots simply stop for maintenance when in failure. How to control a plurality of robots to cooperatively complete the functions of a failed robot when the robot fails, thereby improving the reliability and the production efficiency, which is an unresolved problem in the prior art. In addition, the control terminal of the industrial field has limited computing resources, and is difficult to bear the computing load when facing the problem of multi-robot control, and the current internet of things technology and cloud computing technology provide new ideas, but a technical scheme with complete functional architecture does not appear yet.
CN114924513a in the prior art proposes a multi-robot cooperative control system and method, the system includes: the acquisition module is used for acquiring a target task; the determining module is used for determining proper task division based on the target task and a preset neural network model; and the control module is used for carrying out cooperative control on the plurality of first robots based on task division so as to execute the target task. According to the invention, a worker is not required to cooperatively control the robot, so that the labor cost is reduced, and the problems that the task execution is not efficient and the like due to the fact that the robot is not explicitly divided due to manual cooperative control are effectively avoided by introducing a neural network model. However, the core means of the cooperative control method of the invention is that a neural network model is used, but in practical application, the task division types of multiple robots are changed, and the identification and training of multiple task division types are difficult, so that model parameters are difficult to determine, and the control effect is greatly reduced.
In addition, the invention CN113799143a proposes a method and apparatus for secure collaboration of multiple robots in a working area, comprising: acquiring first position coordinate information and first motion information of each robot; acquiring a second coordinate position and second motion information of the operation mechanical arm by taking the robot as an origin; acquiring terminal coordinate positions and terminal operation movement information; acquiring a first predicted relative distance and a second predicted relative distance based on first position coordinate information, first motion information, terminal coordinate position and terminal operation motion information between two adjacent robots; performing collision risk prediction processing of safety collaboration to obtain a collision prediction risk result; and formulating a corresponding cooperative control instruction based on the collision prediction risk result to perform multi-robot safety cooperative control. The invention can realize the operation safety control of two adjacent robots when the robots work cooperatively. However, the invention only relates to the anti-collision problem of multiple robots, and does not consider the problem of fault safety, so that the efficiency of the invention is greatly reduced when the robot breaks down.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention provides a multi-robot cooperative control system and method based on the Internet of things.
The technical scheme is as follows:
In a first aspect, the invention provides a multi-robot cooperative control system based on the Internet of things, which comprises a plurality of robots, an edge computing end, a field industrial personal computer, an Internet of things terminal, a flexible production line, a fitting library and a cloud computing platform;
The plurality of robots are different types of movable industrial robots;
the accessory library is used for storing replaceable accessories of the robot;
the edge computing end is in communication connection with the robot and is used for acquiring basic information of the robot;
The field industrial personal computer is used for acquiring production target information of the production management system and generating a first processing route based on the production target information and basic information of a plurality of robots;
The cloud computing platform comprises a standby setting module, a fault detection module and a cooperative control module;
The standby setting module is used for selecting a standby robot according to the type of the robot, the initial function of the robot and the adaptation information of the robot accessories;
the fault detection module is used for carrying out fault diagnosis on the first target robot;
the cooperative control module is used for searching a plurality of first target robots which are the same as the type of the fault robot in the production line, setting the first target robots as second target robots, calculating single-pass moving time according to the moving speed of the second target robots, calculating maximum yield parameters in a preset period according to the working beats of the second target robots and the fault robot, and selecting the second target robot with the maximum yield parameters as the cooperative control robot.
Preferably, the flexible production line is used for producing different types of products;
The site industrial personal computer and the edge computing end are in communication connection with the cloud computing platform through an Internet of things terminal;
the edge computing end comprises an MCU and a communication module;
The MCU of the edge computing end inquires the communication module to acquire connection state information, and basic information of a plurality of robots in communication connection with the edge computing end is read from the connection state information;
the basic information comprises robot type, initial robot function and robot accessory adaptation information;
the robot accessory adapting information is an accessory type which can be adapted by the robot;
the initial function of the robot is a default function set in a default state of the robot;
the field industrial personal computer comprises a production target acquisition module, wherein the production target acquisition module is used for acquiring production target information from a production management system;
the production target information comprises product model numbers, quantity and process parameters.
Preferably, the on-site industrial personal computer comprises a processing route generating module, a processing route generating module and a processing module, wherein the processing route generating module is used for inquiring corresponding first production processes in a production process database according to product models in production target information, and determining first station information according to the first production processes, wherein the first station information comprises station positions and station functions;
determining second station information according to the process parameters in the production target information, wherein the second station information is the process parameter information of the station;
According to the initial functions of robots in the basic information of the robots, searching a first target robot, wherein the first target robot is a robot with the initial functions of the robots matched with the station functions, controlling the first target robots to move to the station positions, and processing according to the process parameter information, so that a first processing route is generated.
In a second aspect, the present invention further provides a multi-robot cooperative control method based on the internet of things, where the method includes:
S1, acquiring basic information of a plurality of robots in communication connection with an edge computing end;
s2, the field industrial personal computer acquires production target information from a production management system;
S3, generating a first processing route based on production target information and basic information of a plurality of robots;
s4, acquiring a standby robot based on the type of the robot, the initial function of the robot and the adaptation information of the robot accessories;
S5, performing fault diagnosis on the first target robot by the cloud computing platform;
s6, judging whether the fault robot has a standby robot or not; comprising the following steps:
S61, judging whether the first target robot with the fault has a first standby robot, if so, enabling the first standby robot to go to a fault station to replace the fault robot, and if not, entering a step S62;
S62, judging whether the first failed target robot has a second standby robot, if so, enabling the second standby robot to go to a fitting library to replace a fitting matched with the first target robot, and going to a failed station to replace the failed robot, otherwise, entering a step S7;
S7, analyzing a cooperative control robot of the fault robot based on the cloud computing platform; comprising the following steps: searching a plurality of second target robots which are the same as the fault robot type in the production line, calculating single-pass movement time according to the movement speed of the second target robots, calculating maximum yield parameters according to the working beats of the second target robots and the fault robot, and selecting the second target robot with the maximum yield parameters as a cooperative control robot.
Preferably, the S1 includes:
s11, an MCU of an edge computing end queries a communication module to acquire connection state information;
s12, basic information of a plurality of robots which are in communication connection with the edge computing end is read from the connection state information; the basic information comprises robot type, initial robot function and robot accessory adaptation information;
the robot accessory adapting information is an accessory type which can be adapted by the robot; the initial function of the robot is a default function set in a default state of the robot.
Preferably, the S2 includes:
S21, setting production target information through a production management system, wherein the production target information comprises product types, quantity and process parameters;
s22, the production management system sends the production target information to the field industrial personal computer.
Preferably, the S3 includes:
S31, inquiring a corresponding first production process in a production process database according to a product model in production target information, and determining first station information according to the first production process, wherein the first station information comprises a station position and a station function;
s32, determining second station information according to the process parameters in the production target information, wherein the second station information is the process parameter information of the station;
S33, searching a first target robot according to the initial functions of robots in the basic information of the robots, wherein the first target robot is a robot with the initial functions of the robots matched with the station functions;
s34, the plurality of first target robots move to the station positions, and process according to the process parameter information to generate a first processing route.
Preferably, the S4 includes:
s41, judging whether an idle robot with the same initial function as the first target machine exists, if so, setting the idle robot as a first standby robot, and if not, entering S42;
S42, acquiring a robot type of the first target robot, and determining an idle robot with the same type as the first target robot; the robot type comprises a processing robot, an assembling robot, a carrying robot and a vision detection robot; if yes, go to step S43, if not, go to step S5;
s43, finding fitting information of an idle robot with the same type as the first target robot, and judging whether the fitting information is matched with a fitting of the first target robot; if yes, go to step S44, if not, go to step S5;
S44, inquiring the accessory library information, judging whether the accessory adapting information is searched in the accessory library information, if so, setting the idle robot as a second standby robot, and if not, entering step S5.
Preferably, the S5 includes:
S51, judging whether a fault signal of a first target robot in communication connection is received or not through an edge computing end, if so, entering a step S6, otherwise, entering a step S52;
s52, the cloud computing platform receives a detection result of the visual detection robot and stores the detection result into a detection information base;
S53, the cloud computing platform judges whether the change rate of the detection result exceeds a threshold value based on the history detection information of the detection information base, and if so, the step S54 is carried out;
S54, judging whether the production target information set by the production management system is changed or not through the field industrial personal computer, if so, ending, and if not, entering into S55;
S55, judging whether the change rate of the electrical parameters of the first target robot connected in a communication mode exceeds a preset value through an edge computing end, if so, judging that the first target robot fails, entering a step S6, and if not, ending.
Preferably, the S7 includes:
s71, a plurality of first target robots which are searched in a production line and have the same type as the fault robot are used as second target robots;
S72, acquiring the working beats P of each second target robot, acquiring the distance L between the station of each second target robot and the fault station of the fault robot and the distance D between the station of each second target robot and the accessory library, acquiring the original working beats U of the fault robot, the distance M between the fault robot and the accessory library and the moving speed V of the second target robot;
S73, calculating single-pass movement time T Y of the second target robot;
S74, calculating a yield function Q in a preset period T 1:
;
Wherein v P is the working speed of the second target robot at the original station, v U is the working speed of the second robot at the failure station, T P is the working time of the second target robot at the original station, and T U is the working time of the second target robot at the failure station;
s75, taking Qmax as an optimization target to obtain a maximum yield parameter Q M of the second target robot;
S76, calculating a maximum yield parameter Q M of each second target robot, and selecting the second target robot with the maximum Q M as the cooperative control robot.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, the robots of all stations of the production line can be configured in a modularized manner by cooperatively controlling the robots in the production line, so that flexible production is realized, and the production process line can be automatically adjusted according to the production target of the production management system.
2. According to the invention, the internet of things technology is utilized, and the edge calculation and the cloud calculation are combined, so that the collaborative operation capability of multiple robots is enhanced, and the problem of overlarge calculation load of a field host in the prior art is avoided.
3. The invention can efficiently and accurately detect the fault robot, and can be used for configuring the standby robot in advance according to the type and the function of the robot, thereby improving the reliability and the fault coping capability of production.
4. When the robot fault handling device is used for handling the robot faults, the working beats of all robots in the production line are considered, and the functions of the fault robots can be replaced under the condition of replacing the original functions of the robots as low as possible, so that the production line is prevented from stopping production, the fault handling speed is improved, and the loss caused by faults is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a multi-robot cooperative control system based on the internet of things according to an embodiment of the present invention;
fig. 2 is a flowchart of a multi-robot cooperative control method based on the internet of things, which is provided by the embodiment of the invention.
Detailed Description
It will be apparent that many modifications and variations are possible within the scope of the invention, as will be apparent to those skilled in the art based upon the teachings herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element or component is referred to as being "connected" to another element or component, it can be directly connected to the other element or component or intervening elements or components may also be present. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.
Embodiment one:
Referring to fig. 1 specifically, fig. 1 is a schematic structural diagram of a multi-robot cooperative control system based on the internet of things, where the system includes: the system comprises a plurality of robots, an edge computing terminal, a field industrial personal computer, an Internet of things terminal, a flexible production line, a fitting library and a cloud computing platform;
The plurality of robots are different types of movable industrial robots;
the accessory library is used for storing replaceable accessories of the robot;
the edge computing end is in communication connection with the robot and is used for acquiring basic information of the robot;
The field industrial personal computer is used for acquiring production target information of the production management system and generating a first processing route based on the production target information and basic information of a plurality of robots;
The cloud computing platform comprises a standby setting module, a fault detection module and a cooperative control module;
The standby setting module is used for selecting a standby robot according to the type of the robot, the initial function of the robot and the adaptation information of the robot accessories;
the fault detection module is used for carrying out fault diagnosis on the first target robot;
the cooperative control module is used for searching a plurality of first target robots which are the same as the type of the fault robot in the production line, setting the first target robots as second target robots, calculating single-pass moving time according to the moving speed of the second target robots, calculating maximum yield parameters in a preset period according to the working beats of the second target robots and the fault robot, and selecting the second target robot with the maximum yield parameters as the cooperative control robot.
Preferably, the flexible production line is used for producing different types of products;
The site industrial personal computer and the edge computing end are in communication connection with the cloud computing platform through an Internet of things terminal;
the edge computing end comprises an MCU and a communication module;
The MCU of the edge computing end inquires the communication module to acquire connection state information, and basic information of a plurality of robots in communication connection with the edge computing end is read from the connection state information;
the basic information comprises robot type, initial robot function and robot accessory adaptation information;
the robot accessory adapting information is an accessory type which can be adapted by the robot;
the initial function of the robot is a default function set in a default state of the robot;
the field industrial personal computer comprises a production target acquisition module, wherein the production target acquisition module is used for acquiring production target information from a production management system;
the production target information comprises product model numbers, quantity and process parameters.
Preferably, the on-site industrial personal computer comprises a processing route generating module, a processing route generating module and a processing module, wherein the processing route generating module is used for inquiring corresponding first production processes in a production process database according to product models in production target information, and determining first station information according to the first production processes, wherein the first station information comprises station positions and station functions;
determining second station information according to the process parameters in the production target information, wherein the second station information is the process parameter information of the station;
According to the initial functions of robots in the basic information of the robots, searching a first target robot, wherein the first target robot is a robot with the initial functions of the robots matched with the station functions, controlling the first target robots to move to the station positions, and processing according to the process parameter information, so that a first processing route is generated.
Embodiment two:
The embodiment of the invention also provides a multi-robot cooperative control method based on the Internet of things, referring specifically to fig. 2, fig. 2 is a flowchart of the multi-robot cooperative control method based on the Internet of things, which comprises the following steps:
S1, acquiring basic information of a plurality of robots in communication connection with an edge computing end;
s11, an MCU of an edge computing end queries a communication module to acquire connection state information;
s12, basic information of a plurality of robots which are in communication connection with the edge computing end is read from the connection state information; the basic information comprises robot type, initial robot function and robot accessory adaptation information;
the robot accessory adapting information is an accessory type which can be adapted by the robot; the initial function of the robot is a default function set in a default state of the robot;
s2, the field industrial personal computer acquires production target information from a production management system;
S21, setting production target information through a production management system, wherein the production target information comprises product types, quantity and process parameters;
s22, the production management system sends the production target information to a site industrial personal computer;
S3, generating a first processing route based on production target information and basic information of a plurality of robots;
S31, inquiring a corresponding first production process in a production process database according to a product model in production target information, and determining first station information according to the first production process, wherein the first station information comprises a station position and a station function;
s32, determining second station information according to the process parameters in the production target information, wherein the second station information is the process parameter information of the station;
S33, searching a first target robot according to the initial functions of robots in the basic information of the robots, wherein the first target robot is a robot with the initial functions of the robots matched with the station functions;
S34, controlling a plurality of first target robots to move to station positions, and processing according to the process parameter information to generate a first processing route;
In this way, the robot with correct functions is arranged on each station, and an initial first processing route is formed;
s4, acquiring a standby robot based on the type of the robot, the initial function of the robot and the adaptation information of the robot accessories;
s41, judging whether an idle robot with the same initial function as the first target machine exists, if so, setting the idle robot as a first standby robot, and if not, entering S42;
S42, acquiring a robot type of the first target robot, and determining an idle robot with the same type as the first target robot; the robot type comprises a processing robot, an assembling robot, a carrying robot and a vision detection robot; if yes, go to step S43, if not, go to step S5;
s43, finding fitting information of an idle robot with the same type as the first target robot, and judging whether the fitting information is matched with a fitting of the first target robot; if yes, go to step S44, if not, go to step S5;
S44, inquiring accessory library information, judging whether accessory adaptation information is searched in the accessory library information, if so, setting the idle robot as a second standby robot, and if not, entering step S5;
Specifically, the step S4 further includes:
when the robot types of the idle robot and the first target robot are processing robots, the fitting adaptation information is processing drilling tool information, the fitting library information is queried to judge whether the processing drilling tools of the first target robot exist in the fitting library, and if so, the idle robot is used as a second standby robot;
When the robot types of the idle robot and the first target robot are assembly robots, the fitting adaptation information is assembly tool information, the fitting library information is queried to judge whether an assembly tool of the first target robot exists in the fitting library, and if so, the idle robot is used as a second standby robot;
When the robot types of the idle robot and the first target robot are transfer robots, the fitting adaptation information is fixture information, the fitting library information is queried to judge whether the fixture of the first target robot exists in the fitting library, and if so, the idle robot is used as a second standby robot;
When the robot types of the idle robot and the first target robot are vision detection robots, the fitting adaptation information is vision detection device information, fitting library information is queried to judge whether a vision detection device of the first target robot exists in a fitting library, and if so, the idle robot is used as a second standby robot;
it can be appreciated that the idle robot is of the same type as the first target robot, and can be used as a standby robot of the first target robot by replacing the matched accessories;
S5, performing fault diagnosis on the first target robot by the cloud computing platform;
S51, judging whether a fault signal of a first target robot in communication connection is received or not through an edge computing end, if so, entering a step S6, otherwise, entering a step S52;
s52, the cloud computing platform receives a detection result of the visual detection robot and stores the detection result into a detection information base;
S53, the cloud computing platform judges whether the change rate of the detection result exceeds a threshold value based on the history detection information of the detection information base, and if so, the step S54 is carried out;
S54, judging whether the production target information set by the production management system is changed or not through the field industrial personal computer, if so, ending, and if not, entering into S55;
s55, judging whether the change rate of the electrical parameters of the first target robot connected in a communication manner exceeds a preset value through an edge computing end, if so, judging that the first target robot fails, entering a step S6, otherwise, ending;
the invention judges the faults of the robot in two ways, is more accurate and avoids the occurrence of misjudgment of missed judgment;
s6, judging whether the fault robot has a standby robot or not;
S61, judging whether the first target robot with the fault has a first standby robot, if so, enabling the first standby robot to go to a fault station to replace the fault robot, and if not, entering a step S62;
S62, judging whether the first failed target robot has a second standby robot, if so, enabling the second standby robot to go to a fitting library to replace a fitting matched with the first target robot, and going to a failed station to replace the failed robot, otherwise, entering a step S7;
s7, analyzing a cooperative control robot of the fault robot based on the cloud computing platform;
s71, a plurality of first target robots which are searched in a production line and have the same type as the fault robot are used as second target robots;
It will be appreciated that there are typically a plurality of alternative robots of the same type in the system, and if it is determined in step S6 that there are no spare robots, it is indicated that a large number of robots are required for the product being produced at this time in the production line, so that there should be robots of the same type as the faulty robot in the production line;
S72, acquiring the working beats P of each second target robot, acquiring the distance L between the station of each second target robot and the fault station of the fault robot and the distance D between the station of each second target robot and the accessory library, acquiring the original working beats U of the fault robot, the distance M between the fault robot and the accessory library and the moving speed V of the second target robot;
s73, calculating single-pass movement time T Y of the second target robot:
；
S74, calculating a yield function Q in a preset period T 1:
；
Wherein v P is the working speed of the second target robot at the original station, v U is the working speed of the second robot at the failure station, T P is the working time of the second target robot at the original station, and T U is the working time of the second target robot at the failure station;
；
；
；
Wherein P is the original working beats of the second target robot, and the number of work completion of each production period T 0 is P; u is the original working beat of the fault robot, namely the number of work completion of each production period T 0 is U;
It can be understood that the production line can be a simple single-wire series type, i.e. the working beats of each robot on the production line are the same, and P is equal to U; the production line can also be a complex serial-parallel composite type, namely robots with different working beats exist on the production line, namely P and U are possibly unequal; further, since the time for changing the parts per robot is substantially fixed, the present invention omits the time for changing the parts in the calculation of S74 for the sake of simplifying the calculation;
S75, solving T P and T Y by taking Qmax as an optimization target, so as to obtain a maximum yield parameter Q M of the second target robot;
S76, calculating a maximum yield parameter Q M of each second target robot, and selecting the second target robot with the maximum Q M as the cooperative control robot.
In actual work, if the production line is stopped due to faults, the quantity in the production period is obviously reduced to 0 suddenly, and the processing and manufacturing efficiency is greatly affected; but the invention can call a plurality of robots of the same type in the production line to perform cooperative work, thereby ensuring that the production line can continue to work and improving the production efficiency through the system work among a plurality of robots.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Finally, it is further noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Claims (8)

1. The multi-robot cooperative control method based on the Internet of things is applied to a multi-robot cooperative control system based on the Internet of things, and the control system comprises a plurality of robots, an edge computing end, a field industrial personal computer, an Internet of things terminal, a flexible production line, a fitting library and a cloud computing platform; the plurality of robots are different types of movable industrial robots; the accessory library is used for storing replaceable accessories of the robot; the edge computing end is in communication connection with the robot and is used for acquiring basic information of the robot; the field industrial personal computer is used for acquiring production target information of the production management system and generating a first processing route based on the production target information and basic information of a plurality of robots; the cloud computing platform comprises a standby setting module, a fault detection module and a cooperative control module; the standby setting module is used for selecting a standby robot according to the type of the robot, the initial function of the robot and the adaptation information of the robot accessories; the fault detection module is used for carrying out fault diagnosis on the first target robot; the cooperative control module is used for searching a plurality of first target robots which are the same as the type of the fault robot in the production line, setting the first target robots as second target robots, calculating single-pass moving time according to the moving speed of the second target robots, calculating maximum yield parameters in a preset period according to the working beats of the second target robots and the fault robot, and selecting the second target robot with the maximum yield parameters as the cooperative control robot; the control method is characterized by comprising the following steps:
S1, acquiring basic information of a plurality of robots in communication connection with an edge computing end;
s2, the field industrial personal computer acquires production target information from a production management system;
S3, generating a first processing route based on production target information and basic information of a plurality of robots;
s4, acquiring a standby robot based on the type of the robot, the initial function of the robot and the adaptation information of the robot accessories;
S5, performing fault diagnosis on the first target robot by the cloud computing platform;
s6, judging whether the fault robot has a standby robot or not; comprising the following steps:
S61, judging whether the first target robot with the fault has a first standby robot, if so, enabling the first standby robot to go to a fault station to replace the fault robot, and if not, entering a step S62;
S62, judging whether the first failed target robot has a second standby robot, if so, enabling the second standby robot to go to a fitting library to replace a fitting matched with the first target robot, and going to a failed station to replace the failed robot, otherwise, entering a step S7;
s7, analyzing a cooperative control robot of the fault robot based on the cloud computing platform; comprising the following steps:
s71, a plurality of first target robots which are searched in a production line and have the same type as the fault robot are used as second target robots;
S72, acquiring the working beats P of each second target robot, acquiring the distance L between the station of each second target robot and the fault station of the fault robot and the distance D between the station of each second target robot and the accessory library, acquiring the original working beats U of the fault robot, the distance M between the fault robot and the accessory library and the moving speed V of the second target robot;
s73, calculating single-pass movement time T Y of the second target robot:
S74, calculating a yield function Q in a preset period T 1:
Q＝vp×Tp+vU×TU；
Wherein v p is the working speed of the second target robot at the original station, v U is the working speed of the second robot at the failure station, T p is the working time of the second target robot at the original station, and T U is the working time of the second target robot at the failure station;
TP+TU＝T1-TY；
Wherein P is the original working beats of the second target robot, and the number of work completion of each production period T 0 is P; u is the original working beat of the fault robot, and the number of work completion of each production period T 0 is U;
S75, solving T p and T U by taking Qmax as an optimization target, so as to obtain a maximum yield parameter Q M of the second target robot;
S76, calculating a maximum yield parameter Q M of each second target robot, and selecting the second target robot with the maximum Q M as the cooperative control robot.
2. The multi-robot cooperative control method based on the internet of things according to claim 1, wherein the flexible production line is used for producing different types of products; the site industrial personal computer and the edge computing end are in communication connection with the cloud computing platform through an Internet of things terminal;
The edge computing end comprises an MCU and a communication module; the MCU of the edge computing end inquires the communication module to acquire connection state information, and basic information of a plurality of robots in communication connection with the edge computing end is read from the connection state information; the basic information comprises robot type, initial robot function and robot accessory adaptation information; the robot accessory adapting information is an accessory type which can be adapted by the robot; the initial function of the robot is a default function set in a default state of the robot;
the field industrial personal computer comprises a production target acquisition module, wherein the production target acquisition module is used for acquiring production target information from a production management system; the production target information comprises product model numbers, quantity and process parameters.
3. The multi-robot cooperative control method based on the internet of things according to claim 2, wherein the field industrial personal computer comprises a processing route generating module, wherein the processing route generating module is used for inquiring a corresponding first production process in a production process database according to a product model in production target information, and determining first station information according to the first production process, wherein the first station information comprises a station position and a station function; determining second station information according to the process parameters in the production target information, wherein the second station information is the process parameter information of the station; according to the initial functions of robots in the basic information of the robots, searching a first target robot, wherein the first target robot is a robot with the initial functions of the robots matched with the station functions, controlling the first target robots to move to the station positions, and processing according to the process parameter information, so that a first processing route is generated.
4. The multi-robot cooperative control method based on the internet of things according to claim 3, wherein the S1 comprises:
s11, an MCU of an edge computing end queries a communication module to acquire connection state information;
s12, basic information of a plurality of robots which are in communication connection with the edge computing end is read from the connection state information; the basic information comprises robot type, initial robot function and robot accessory adaptation information;
the robot accessory adapting information is an accessory type which can be adapted by the robot; the initial function of the robot is a default function set in a default state of the robot.
5. The multi-robot cooperative control method based on the internet of things according to claim 4, wherein the S2 comprises:
S21, setting production target information through a production management system, wherein the production target information comprises product types, quantity and process parameters;
s22, the production management system sends the production target information to the field industrial personal computer.
6. The multi-robot cooperative control method based on the internet of things according to claim 5, wherein the S3 comprises:
S31, inquiring a corresponding first production process in a production process database according to a product model in production target information, and determining first station information according to the first production process, wherein the first station information comprises a station position and a station function;
s32, determining second station information according to the process parameters in the production target information, wherein the second station information is the process parameter information of the station;
S33, searching a first target robot according to the initial functions of robots in the basic information of the robots, wherein the first target robot is a robot with the initial functions of the robots matched with the station functions;
s34, the plurality of first target robots move to the station positions, and process according to the process parameter information to generate a first processing route.
7. The multi-robot cooperative control method based on the internet of things according to claim 6, wherein the S4 comprises:
s41, judging whether an idle robot with the same initial function as the first target machine exists, if so, setting the idle robot as a first standby robot, and if not, entering S42;
S42, acquiring a robot type of the first target robot, and determining an idle robot with the same type as the first target robot; the robot type comprises a processing robot, an assembling robot, a carrying robot and a vision detection robot; if yes, go to step S43, if not, go to step S5;
s43, finding fitting information of an idle robot with the same type as the first target robot, and judging whether the fitting information is matched with a fitting of the first target robot; if yes, go to step S44, if not, go to step S5;
S44, inquiring the accessory library information, judging whether the accessory adapting information is searched in the accessory library information, if so, setting the idle robot as a second standby robot, and if not, entering step S5.
8. The multi-robot cooperative control method based on the internet of things according to claim 7, wherein the S5 comprises:
S51, judging whether a fault signal of a first target robot in communication connection is received or not through an edge computing end, if so, entering a step S6, otherwise, entering a step S52;
s52, the cloud computing platform receives a detection result of the visual detection robot and stores the detection result into a detection information base;
S53, the cloud computing platform judges whether the change rate of the detection result exceeds a threshold value based on the history detection information of the detection information base, and if so, the step S54 is carried out;
S54, judging whether the production target information set by the production management system is changed or not through the field industrial personal computer, if so, ending, and if not, entering into S55;
S55, judging whether the change rate of the electrical parameters of the first target robot connected in a communication mode exceeds a preset value through an edge computing end, if so, judging that the first target robot fails, entering a step S6, and if not, ending.
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