1. A multi-robot transfer cooperative assembly method is characterized by comprising the following steps: moving a plurality of mobile robots to an assembly area, and planning paths of the plurality of mobile robots by adopting a global-local fusion mode; adjusting the pose of the parallel robot by adopting a visual servo control strategy, and aligning and contacting components on the clamp; if the pose of the parallel robot cannot be adjusted, the mobile robot is controlled to move, and macro and micro motion composition of the parallel robot and the mobile robot is realized; after the components are contacted, a multi-robot assembly cooperative control strategy is adopted to assemble the components.

2. The multi-robot transfer cooperative assembling method according to claim 1, wherein the path planning for the plurality of mobile robots using global-local fusion mode comprises: and carrying out global path planning on the plurality of mobile robots by adopting a slam path planning strategy, and if any one of the plurality of mobile robots encounters an obstacle, carrying out local path planning on any one of the mobile robots by adopting a visual servo control strategy.

3. The multi-robot transfer cooperative assembling method according to claim 2, wherein the adjusting of the pose of the parallel robot by using the vision servo control strategy comprises:

e＝s-s^*

wherein, V_cThe joint speed of the parallel robot; lambda is an adjustable parameter;a Jacobian matrix; e is an error; s is an actual characteristic; s^*Is a desired feature.

4. The multi-robot transfer cooperative assembling method according to claim 3, wherein the macro-micro motion composition of the parallel robot and the mobile robot is realized by: and the macroscopic level controls the mobile robot to move to position the component, and the microscopic level controls the posture of the parallel robot to adjust the posture of the component by adopting the visual servo control strategy.

5. The multi-robot transfer cooperative assembling method according to claim 4, wherein said assembling the component by using the multi-robot assembly cooperative control strategy comprises: when the component is assembled, a resistance control mode is adopted to keep constant force tracking of the component assembly.

6. The multi-robot transfer cooperative assembling method according to claim 5, wherein the impedance control mode includes:

F_e＝K_e(X_e-X)

wherein M is a 6x6 mass matrix; b is a 6x6 damping matrix; k is a 6x6 stiffness matrix; x is the current position; x_rIs a reference position; f_eThe actual environmental contact force is obtained; f_dA desired contact force; x_eIs the environment initial position; k_eIs the ambient stiffness.

7. A multi-robot transfer cooperative assembly system is characterized by comprising: the parallel robots are used for adjusting the pose of the component; a plurality of mobile robots for adjusting the positions of the members; a control platform for implementing the multi-robot transfer cooperative assembling method as claimed in any one of claims 1 to 6.

8. A multi-robot transfer cooperative assembling apparatus is characterized by comprising: the first main module is used for moving the mobile robots to an assembly area and planning paths of the mobile robots by adopting a global-local fusion mode; the second main module is used for adjusting the pose of the parallel robot by adopting a visual servo control strategy and aligning and contacting components on the clamp; the third main module is used for controlling the mobile robot to move if the pose of the parallel robot is only adjusted and the pose required for assembly cannot be obtained, so that macro and micro motion composition of the parallel robot and the mobile robot is realized; and the fourth main module is used for assembling the components by adopting a multi-robot assembly cooperative control strategy after the components are contacted.

9. An electronic device, comprising:

at least one processor, at least one memory, and a communication interface; wherein the content of the first and second substances,

the processor, the memory and the communication interface are communicated with each other;

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 6.

10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 6.

Background

In the field of industrial manufacturing, large complex components are very common, assembly of such components firstly requires two or more components to be moved to close positions from a longer distance, then posture adjustment and centering are performed, and finally assembly operation is performed, so that the whole assembly process usually requires a large amount of manpower and material resources, and the efficiency is low.

Therefore, it is an urgent technical problem in the art to develop a multi-robot transfer cooperative assembly method and apparatus, which can effectively overcome the above-mentioned drawbacks in the related art.

Disclosure of Invention

Aiming at the problems in the prior art, the embodiment of the invention provides a multi-robot transfer cooperative assembly method and equipment.

In a first aspect, an embodiment of the present invention provides a multi-robot transfer cooperative assembly method, including: moving a plurality of mobile robots to an assembly area, and planning paths of the plurality of mobile robots by adopting a global-local fusion mode; adjusting the pose of the parallel robot by adopting a visual servo control strategy, and aligning and contacting components on the clamp; if the pose of the parallel robot cannot be adjusted, the mobile robot is controlled to move, and macro and micro motion composition of the parallel robot and the mobile robot is realized; after the components are contacted, a multi-robot assembly cooperative control strategy is adopted to assemble the components.

On the basis of the content of the above method embodiment, the multi-robot transfer cooperative assembly method provided in the embodiment of the present invention, where path planning is performed on the plurality of mobile robots by using a global-local fusion mode, includes: and carrying out global path planning on the plurality of mobile robots by adopting a slam path planning strategy, and if any one of the plurality of mobile robots encounters an obstacle, carrying out local path planning on any one of the mobile robots by adopting a visual servo control strategy.

On the basis of the content of the embodiment of the method, the method for multi-robot transfer cooperative assembly provided by the embodiment of the invention adopts a visual servo control strategy to adjust the poses of the parallel robots, and comprises the following steps:

e＝s-s^*

wherein, V_cThe joint speed of the parallel robot; lambda is an adjustable parameter;a Jacobian matrix; e is an error; s is an actual characteristic; s^*Is a desired feature.

On the basis of the content of the embodiment of the method, the multi-robot shifting cooperative assembly method provided by the embodiment of the invention for realizing the macro-micro motion composition of the parallel robot and the mobile robot comprises the following steps: and the macroscopic level controls the mobile robot to move to position the component, and the microscopic level controls the posture of the parallel robot to adjust the posture of the component by adopting the visual servo control strategy.

On the basis of the content of the embodiment of the method, the method for multi-robot transfer cooperative assembly provided in the embodiment of the invention adopts a multi-robot assembly cooperative control strategy to assemble the components, and comprises the following steps: when the component is assembled, a resistance control mode is adopted to keep constant force tracking of the component assembly.

On the basis of the content of the above method embodiment, the multi-robot transfer cooperative assembling method provided in the embodiment of the present invention includes:

F_e＝K_e(X_e-X)

wherein M is a 6x6 mass matrix; b is a 6x6 damping matrix; k is a 6x6 stiffness matrix; x is the current position; x_rIs a reference position; f_eIs in actual environmental contact withForce; f_dA desired contact force; x_eIs the environment initial position; k_eIs the ambient stiffness.

In a second aspect, an embodiment of the present invention provides a multi-robot transfer cooperative assembly system, including: the parallel robots are used for adjusting the pose of the component; a plurality of mobile robots for adjusting the positions of the members; a control platform for implementing the multi-robot transfer cooperative assembly method according to any one of the embodiments of the method of the first aspect.

In a third aspect, an embodiment of the present invention provides a multi-robot transfer cooperative assembly apparatus, including: the first main module is used for moving the mobile robots to an assembly area and planning paths of the mobile robots by adopting a global-local fusion mode; the second main module is used for adjusting the pose of the parallel robot by adopting a visual servo control strategy and aligning and contacting components on the clamp; the third main module is used for controlling the mobile robot to move if the pose of the parallel robot is only adjusted and the pose required for assembly cannot be obtained, so that macro and micro motion composition of the parallel robot and the mobile robot is realized; and the fourth main module is used for assembling the components by adopting a multi-robot assembly cooperative control strategy after the components are contacted.

In a fourth aspect, an embodiment of the present invention provides an electronic device, including:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the multi-robot transfer cooperative assembly method provided by any one of the various implementation manners of the first aspect.

In a fifth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the multi-robot transfer cooperative assembling method provided in any one of the various implementation manners of the first aspect.

According to the multi-robot shifting cooperative assembly method and equipment provided by the embodiment of the invention, the large-scale component is automatically assembled by using the multiple robots, the assembled component is transported to an assembly point from a long distance and is subjected to cooperative assembly operation, the assembly efficiency can be obviously improved, the labor and material cost is reduced, the large-scale component is assembled by using the parallel robots, the weight of the large-scale component can be borne, and the assembly precision of the large-scale component is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a flowchart of a multi-robot transfer cooperative assembly method according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a multi-robot transfer cooperative assembly apparatus according to an embodiment of the present invention;

fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a multi-robot transfer cooperative assembly system according to an embodiment of the present invention;

fig. 5 is a schematic diagram illustrating an effect of controlling the mobile robot to move to the assembly point according to the embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating the pose effect of the cooperative adjustment member of the parallel robot according to the embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating the effect of the cooperative assembly of the parallel robot and the mobile robot according to the embodiment of the present invention;

fig. 8 is a flowchart of another multi-robot transfer cooperative assembly method according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.

The embodiment of the invention provides a multi-robot transfer cooperative assembly method, and referring to fig. 1, the method comprises the following steps: moving a plurality of mobile robots to an assembly area, and planning paths of the plurality of mobile robots by adopting a global-local fusion mode; adjusting the pose of the parallel robot by adopting a visual servo control strategy, and aligning and contacting components on the clamp; if the pose of the parallel robot cannot be adjusted, the mobile robot is controlled to move, and macro and micro motion composition of the parallel robot and the mobile robot is realized; after the components are contacted, a multi-robot assembly cooperative control strategy is adopted to assemble the components.

Based on the content of the foregoing method embodiment, as an optional embodiment, the method for multi-robot transfer cooperative assembly provided in the embodiment of the present invention, where path planning is performed on the plurality of mobile robots by using a global-local fusion mode, includes: and carrying out global path planning on the plurality of mobile robots by adopting a slam path planning strategy, and if any one of the plurality of mobile robots encounters an obstacle, carrying out local path planning on any one of the mobile robots by adopting a visual servo control strategy.

Based on the content of the above method embodiment, as an optional embodiment, the method for multi-robot transfer cooperative assembly provided in the embodiment of the present invention, where the adjusting of the pose of the parallel robot by using the visual servo control strategy includes:

e＝s-s^* (2)

wherein, V_cThe joint speed of the parallel robot; lambda is an adjustable parameter;a Jacobian matrix; e is an error; s is an actual characteristic; s^*Is a desired feature. And when the error e is smaller than the error limit, the control target is considered to be finished.

Specifically, in an actual working condition, the actual feature is an actual pose feature or an actual position feature, and the expected feature is an expected pose feature or an expected position feature.

Based on the content of the above method embodiment, as an optional embodiment, the method for multi-robot transfer cooperative assembly provided in the embodiment of the present invention for implementing macro and micro motion composition of a parallel robot and a mobile robot includes: and the macroscopic level controls the mobile robot to move to position the component, and the microscopic level controls the posture of the parallel robot to adjust the posture of the component by adopting the visual servo control strategy.

Based on the content of the foregoing method embodiment, as an optional embodiment, the method for multi-robot transfer cooperative assembly provided in the embodiment of the present invention, where a multi-robot assembly cooperative control strategy is adopted to assemble a component, includes: when the component is assembled, a resistance control mode is adopted to keep constant force tracking of the component assembly.

Based on the content of the foregoing method embodiment, as an optional embodiment, the method for multi-robot transfer cooperative assembly provided in the embodiment of the present invention includes:

F_e＝K_e(X_e-X) (4)

wherein M is a 6x6 mass matrix; b is a 6x6 damping matrix; k is a 6x6 stiffness matrix; x is the current position; x_rIs a reference position; f_eThe actual environmental contact force is obtained; f_dA desired contact force; x_eIs the environment initial position; k_eIs the ambient stiffness.

In particular, by controlling X_rInput of, ensure F_e-F_dIs 0, the environmental contact force is equal to the expected force, and the requirement of cooperative compliance control is met.

The specific control flow of the multi-robot transfer cooperative assembly method provided by the embodiment of the invention can be seen in fig. 8. The control platform is responsible for path planning of the mobile robot, the whole platform moves cooperatively, and contact compliance assembly is carried out; the mobile robot receives the control signal, then carries out mobile macro alignment, and feeds back position information to the control platform, the parallel robot receives the control signal, then carries out attitude micro adjustment, and feeds back visual pose to the control platform, and in the final assembly stage of the large member, the parallel robot and the mobile robot are linked, and respectively feed back force sense information to the control platform.

According to the multi-robot transfer cooperative assembly method provided by the embodiment of the invention, the large-scale component is automatically assembled by using the multiple robots, the assembled component is transported to an assembly point from a long distance and is subjected to cooperative assembly operation, the assembly efficiency can be obviously improved, the labor and material cost is reduced, the large-scale component is assembled by using the parallel robots, the weight of the large-scale component can be borne, and the assembly precision of the large-scale component is improved.

The embodiment of the invention provides a multi-robot transfer cooperative assembly system, which comprises: the parallel robots are used for adjusting the pose of the component; a plurality of mobile robots for adjusting the positions of the members; and the control platform is used for realizing the multi-robot transfer cooperative assembly method in any embodiment of the method embodiments. Referring to fig. 4 in particular, the mobile robot 1 and the parallel robot 2 are matched, a degree of freedom is left, and the parallel robot 2 can freely rotate on the mobile robot 1 around the axis of the parallel robot 2. The clamp 3 is fixed on the parallel robot 2 and can adjust the pose along with the parallel robot 2. The member 4 is arranged with marking points and force sensors for enabling camera recognition visual servoing and force control. On the other side, a mobile robot 8 and a parallel robot 7 are arranged, a degree of freedom is left between the two robots in a matching mode, and the parallel robot 7 can freely rotate on the mobile robot 8 around the axis of the parallel robot. The clamp 6 is fixed on the parallel robot 7, and can adjust the pose along with the parallel robot 7.

The implementation basis of the various embodiments of the present invention is realized by programmed processing performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on this actual situation, on the basis of the above embodiments, embodiments of the present invention provide a multi-robot-transfer cooperative assembling apparatus for performing the multi-robot-transfer cooperative assembling method in the above method embodiments. Referring to fig. 2, the apparatus includes: the first main module is used for moving the mobile robots to an assembly area and planning paths of the mobile robots by adopting a global-local fusion mode; the second main module is used for adjusting the pose of the parallel robot by adopting a visual servo control strategy and aligning and contacting components on the clamp; the third main module is used for controlling the mobile robot to move if the pose of the parallel robot is only adjusted and the pose required for assembly cannot be obtained, so that macro and micro motion composition of the parallel robot and the mobile robot is realized; and the fourth main module is used for assembling the components by adopting a multi-robot assembly cooperative control strategy after the components are contacted, and the whole assembly process is subjected to whole-process video recording by the camera 9. In the assembly process of the large-scale component, the two large-scale components are positioned and clamped, the two mobile robots are used for moving to an assembly place from a long distance, as shown in fig. 5, after the two mobile robots reach a preset designated area, the two parallel robots cooperatively adjust the pose of the large-scale component, as shown in fig. 6, after the pose adjustment of the large-scale component is finished, the two mobile robots can be continuously controlled to move in opposite directions, the two parallel robots are finely adjusted at the same time, the precise coupling of the large-scale component is realized, and the cooperative assembly operation of the parallel robots and the mobile robots on the large-scale component is completed.

The multi-robot shifting and cooperating assembly device provided by the embodiment of the invention adopts a plurality of modules in fig. 2, automatically assembles a large member by using a plurality of robots, transports the assembled member to an assembly point from a long distance and carries out cooperating assembly operation, can obviously improve the assembly efficiency, reduces the labor and material cost, and can bear larger member weight and improve the assembly precision of the large member because the parallel robots are adopted to assemble the large member.

It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:

based on the content of the foregoing device embodiment, as an optional embodiment, the multi-robot transfer cooperative assembling device provided in the embodiment of the present invention further includes: the first sub-module is configured to implement path planning on the plurality of mobile robots by using a global-local fusion mode, and includes: and carrying out global path planning on the plurality of mobile robots by adopting a slam path planning strategy, and if any one of the plurality of mobile robots encounters an obstacle, carrying out local path planning on any one of the mobile robots by adopting a visual servo control strategy.

Based on the content of the foregoing device embodiment, as an optional embodiment, the multi-robot transfer cooperative assembling device provided in the embodiment of the present invention further includes: the second submodule is used for adjusting the pose of the parallel robot by adopting a visual servo control strategy and comprises:

e＝s-s^*

wherein, V_cThe joint speed of the parallel robot; lambda is an adjustable parameter;a Jacobian matrix; e is an error; s is an actual characteristic; s^*Is a desired feature.

Based on the content of the foregoing device embodiment, as an optional embodiment, the multi-robot transfer cooperative assembling device provided in the embodiment of the present invention further includes: the third submodule is used for realizing the macro-micro motion composition of the parallel robot and the mobile robot, and comprises: and the macroscopic level controls the mobile robot to move to position the component, and the microscopic level controls the posture of the parallel robot to adjust the posture of the component by adopting the visual servo control strategy.

Based on the content of the foregoing device embodiment, as an optional embodiment, the multi-robot transfer cooperative assembling device provided in the embodiment of the present invention further includes: the fourth sub-module is used for realizing the adoption of a multi-robot assembly cooperative control strategy to assemble the component, and comprises the following steps: when the component is assembled, a resistance control mode is adopted to keep constant force tracking of the component assembly.

Based on the content of the foregoing device embodiment, as an optional embodiment, the multi-robot transfer cooperative assembling device provided in the embodiment of the present invention further includes: a fifth submodule, configured to implement the impedance control mode, including:

F_e＝K_e(X_e-X)

wherein M is a 6x6 mass matrix; b is a 6x6 damping matrix; k is a 6x6 stiffness matrix; x is the current position; x_rIs a reference position; f_eThe actual environmental contact force is obtained; f_dA desired contact force; x_eIs the environment initial position; k_eIs the ambient stiffness.

The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 3, including: the system comprises at least one processor (processor), a communication Interface (communication Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication Interface and the at least one memory are communicated with each other through the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or a portion of the steps of the methods provided by the various method embodiments described above.

In addition, the logic instructions in the at least one memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In this patent, 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. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.