CN-121989257-A - Control method and device for multi-arm intelligent robot with body

CN121989257ACN 121989257 ACN121989257 ACN 121989257ACN-121989257-A

Abstract

The application provides a control method and a device of a multi-arm intelligent robot with a body, wherein the control method comprises the steps of conducting gridding processing on a working space of the multi-arm intelligent robot, constructing an initial space-time grid database which adopts a sparse storage mode and consists of space-time grid units, establishing a reservation mechanism based on the space-time grid database, applying for occupation of needed space-time grid units in advance for a planning track of each mechanical arm of the multi-arm intelligent robot, determining candidate planning paths of the multi-arm intelligent robot, conducting two-stage conflict detection on the candidate track paths, optimizing the candidate planning paths according to conflict detection results to obtain target planning paths of the multi-arm intelligent robot, and controlling the multi-arm intelligent robot to move according to the target planning paths so as to complete working tasks. In this way, the application establishes a space-time grid reservation mechanism and two-stage conflict detection in the planning stage to realize the prior interference avoidance of the dobby robot, thereby improving the real-time performance and the overall efficiency of collaborative operation.

Inventors

ZHANG JIANZHENG
DONG YI
WEI KUN
ZOU JINPEI

Assignees

上海飒智智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260408

Claims (10)

1. A control method of a multi-arm self-contained intelligent robot, the control method comprising: Gridding the dobby robot operation space to construct an initial space-time grid database which adopts a sparse storage mode and consists of space-time grid units; Establishing a reservation mechanism based on a space-time grid database, applying for occupation of needed space-time grid units in advance for the planning track of each mechanical arm of the multi-arm robot, and determining candidate planning paths of the multi-arm robot; performing two-stage conflict detection on the candidate track paths, and optimizing the candidate planning paths according to a conflict detection result to obtain target planning paths of the dobby robot; and controlling the movement of the dobby robot according to the target planning path so as to complete the operation task.
2. The control method according to claim 1, wherein the step of meshing the dobby operation space to construct an initial space-time grid database composed of space-time grid cells in a sparse storage manner includes: determining the reachable space and the current environmental information of the multi-arm robot, and acquiring the operation task information of the multi-arm robot; Instantiating and marking grids occupied by the reachable areas of the mechanical arm and static obstacles according to the reachable space, the current environmental information and the operation task information, and constructing space-time grids with attribute marks; The initial spatiotemporal grid database is determined from the spatiotemporal grid of presence attribute tags.
3. The control method of claim 2, wherein the attribute information labeled in the space-time grid includes at least one of a time attribute, a robot arm association attribute, a dynamic potential energy field attribute, and a static obstacle identifier.
4. The control method according to claim 1, wherein the establishing a reservation mechanism based on the space-time grid database applies for the space-time grid cells required for occupation in advance for the planned trajectory of each arm of the dobby, and determining the candidate planned path of the dobby comprises: According to the initial space-time grid database, the tail end target points of all the mechanical arms and the optimized pose, adopting a means of calculating gravitational potential energy fields on the low-resolution space-time grid and introducing time weights to obtain a moving path region; And switching the moving path region to a high-resolution space-time grid, and calculating a repulsive force potential energy field in real time according to the attribute information associated with the mechanical arm to obtain a candidate planning path estimated by the repulsive force field.
5. The control method according to claim 1, wherein the performing two-stage collision detection on the candidate trajectory path includes: Inquiring the mechanical arm association attribute of the space-time grids on the candidate planning path, and judging that hard conflict exists if multiple mechanical arms reserve the same grid at the same time; And calculating repulsive potential energy values of space-time grids on the candidate planning paths, and judging that soft conflict exists if the repulsive potential energy values exceed a preset threshold or the accumulated interference cost exceeds a standard.
6. The control method according to claim 1, wherein optimizing the candidate planned path according to the collision detection result to obtain the target planned path of the dobby includes: When the conflict detection result indicates that a conflict exists, determining a conflict type; Determining a corresponding conflict resolution strategy and an optimization target according to the conflict type; And adjusting conflict grids in the candidate planning paths based on the conflict resolution strategy and the optimization target to obtain the target planning paths.
7. The control method according to claim 1, wherein the controlling the movement of the dobby according to the target planned path includes: when the multi-arm robot is controlled to move according to a target planning path, the pose of the mechanical arm of the multi-arm robot and the occupation state of the space-time grid unit are monitored in real time; and updating the target planning path according to the monitoring result.
8. A control device of a multi-arm body-building intelligent robot, characterized in that the control device comprises: the construction module is used for carrying out gridding treatment on the working space of the dobby robot and constructing an initial space-time grid database which adopts a sparse storage mode and consists of space-time grid units; The determining module is used for establishing a reservation mechanism based on the space-time grid database, applying for occupation of needed space-time grid units in advance for the planning track of each mechanical arm of the multi-arm robot, and determining candidate planning paths of the multi-arm robot; The optimization module is used for carrying out two-stage conflict detection on the candidate track paths, and optimizing the candidate planning paths according to a conflict detection result to obtain target planning paths of the dobby robot; and the control module is used for controlling the movement of the dobby robot according to the target planning path so as to complete the operation task.
9. An electronic device comprising a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is in operation, the machine-readable instructions being executable by the processor to perform the steps of the control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the control method according to any of claims 1 to 7.

Description

Control method and device for multi-arm intelligent robot with body Technical Field The application relates to the technical field of robot control, in particular to a control method and device of a multi-arm intelligent robot with a body. Background The multi-arm mobile robot has wide application prospect in the fields of industrial manufacturing, logistics sorting, special operation and the like due to the capability of cooperative operation of a plurality of mechanical arms. However, when the dobby robots work cooperatively in a limited working space, there is often overlapping of working areas of the respective robot arms, and interference between the arms becomes a core problem that restricts the working efficiency and safety thereof. In the prior art, multi-arm interference avoidance strategies typically employ a "program-detect-correct" post-processing mode. Specifically, the system firstly plans motion tracks for all the mechanical arms respectively, then checks whether interference exists through a collision detection algorithm, and if interference is found, local tracks are corrected. The processing mode has the inherent defects of poor real-time performance, low operation efficiency, usually need to bypass or slow down the correction track, sacrifice the overall operation efficiency of the system and poor dynamic environment adaptability, and when moving obstacles or personnel intrude, the traditional method is difficult to adjust in real time. Therefore, how to avoid interference in advance and realize efficient collaborative operation of multiple arms in the planning stage becomes a technical problem to be solved in the field. Disclosure of Invention Accordingly, the present application is directed to a control method and apparatus for a multi-arm intelligent robot with body, which can avoid the prior interference of the multi-arm robot by establishing a space-time grid reservation mechanism and two-stage collision detection in the planning stage, thereby improving the real-time performance and the overall efficiency of the collaborative operation. The embodiment of the application provides a control method of a multi-arm intelligent robot with a body, which comprises the following steps: Gridding the dobby robot operation space to construct an initial space-time grid database which adopts a sparse storage mode and consists of space-time grid units; Establishing a reservation mechanism based on a space-time grid database, applying for occupation of needed space-time grid units in advance for the planning track of each mechanical arm of the multi-arm robot, and determining candidate planning paths of the multi-arm robot; performing two-stage conflict detection on the candidate track paths, and optimizing the candidate planning paths according to a conflict detection result to obtain target planning paths of the dobby robot; and controlling the movement of the dobby robot according to the target planning path so as to complete the operation task. Optionally, the step of performing gridding processing on the working space of the dobby robot to construct an initial space-time grid database which adopts a sparse storage mode and is composed of space-time grid units includes: determining the reachable space and the current environmental information of the multi-arm robot, and acquiring the operation task information of the multi-arm robot; Instantiating and marking grids occupied by the reachable areas of the mechanical arm and static obstacles according to the reachable space, the current environmental information and the operation task information, and constructing space-time grids with attribute marks; The initial spatiotemporal grid database is determined from the spatiotemporal grid of presence attribute tags. Optionally, the attribute information marked in the space-time grid comprises at least one of a time attribute, a mechanical arm association attribute, a dynamic potential energy field attribute and a static obstacle identifier. Optionally, the establishing a reservation mechanism based on the space-time grid database applies for occupying a required space-time grid unit in advance for the planned track of each mechanical arm of the multi-arm robot, and determining the candidate planned path of the multi-arm robot includes: According to the initial space-time grid database, the tail end target points of all the mechanical arms and the optimized pose, adopting a means of calculating gravitational potential energy fields on the low-resolution space-time grid and introducing time weights to obtain a moving path region; And switching the moving path region to a high-resolution space-time grid, and calculating a repulsive force potential energy field in real time according to the attribute information associated with the mechanical arm to obtain a candidate planning path estimated by the repulsive force field. Optionally, the performing two-stage collision detection on the candidate track path