CN-122008264-A - Industrial robot multitasking cooperative control method and system

CN122008264ACN 122008264 ACN122008264 ACN 122008264ACN-122008264-A

Abstract

The application relates to the technical field of robot control, and provides a method and a system for cooperatively controlling multi-task operation of industrial robots, wherein the method comprises the steps of obtaining theoretical position information of each industrial robot in a plurality of industrial robots on a production line after the current moment; the method comprises the steps of determining the theoretical position information of a geometric center of an industrial robot, determining redundant safety spaces of the industrial robot according to the theoretical position information of the industrial robot for each industrial robot, enabling the industrial robot to be located in the redundant safety spaces in the operation process, responding to task instruction information of a target industrial robot in a plurality of industrial robots, and determining task control information of the target industrial robot according to the task instruction information and the redundant safety spaces of each industrial robot in the plurality of industrial robots. Through the scheme, the efficiency of the cooperative control of the industrial robot multi-task operation can be improved.

Inventors

WU YUANXIN
Luo Xionglan

Assignees

深圳市丽湖电子科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260416

Claims (10)

1. The industrial robot multitasking cooperative control method is characterized by comprising the following steps: Acquiring theoretical position information of each industrial robot in a plurality of industrial robots on a production line after the current moment, wherein the theoretical position information is the position information of the geometric center of the industrial robot; For each industrial robot, determining a redundant safety space of the industrial robot according to theoretical position information of the industrial robot; In response to task instruction information for a target industrial robot of the plurality of industrial robots, task control information for the target industrial robot is determined based on the task instruction information and the redundant safety space for each of the plurality of industrial robots.
2. The method for collaborative control of multi-tasking of an industrial robot according to claim 1, wherein determining a redundant safety space for the industrial robot based on theoretical positional information of the industrial robot comprises: acquiring historical theoretical position information and historical actual position information of the industrial robot at each of a plurality of historical moments; Determining a spatial redundancy distance of the industrial robot according to the historical theoretical position information and the historical actual position information of each historical moment in the plurality of historical moments; and determining the redundant safety space of the industrial robot according to the space redundant distance of the industrial robot and the theoretical position information of the industrial robot.
3. The method according to claim 2, wherein determining the spatial redundancy distance of the industrial robot based on the historical theoretical position information and the historical actual position information at each of the plurality of historical moments comprises: Determining a root mean square error between the historical theoretical position information and the historical actual position information according to the historical theoretical position information and the historical actual position information of each of the plurality of historical moments; Acquiring the safety coefficient of the industrial robot; And taking the product of the root mean square error and the safety coefficient of the industrial robot as the spatial redundancy distance of the industrial robot.
4. A method of collaborative control of industrial robot multitasking in accordance with claim 3, comprising: The method comprises the steps of obtaining a safety requirement index of a production line and a first corresponding relation, wherein the first corresponding relation comprises a one-to-one corresponding relation between a plurality of safety requirement index ranges and a plurality of first safety coefficients; Taking a first safety coefficient corresponding to a safety requirement index range of the production line in the first corresponding relation as a production line safety coefficient; acquiring a first corresponding relation between the operation time length of the industrial robot after the last maintenance and a second corresponding relation between a plurality of operation time length ranges and a plurality of second safety coefficients; Taking a second safety coefficient corresponding to the operation duration range of the operation duration of the industrial robot after the last maintenance in the second corresponding relation as an operation duration safety coefficient; and taking the weighted sum of the production line safety coefficient and the operation time length safety coefficient as the safety coefficient of the industrial robot.
5. The method according to claim 2, wherein the position information of the industrial robot includes theoretical position information of the industrial robot at each moment after the current moment, and determining the redundant safety space of the industrial robot based on the spatial redundancy distance of the industrial robot and the theoretical position information of the industrial robot includes: acquiring the outline of an industrial robot; For each moment after the current moment, taking theoretical position information of the industrial robot as a geometric center of an initial redundant safety space, taking a space redundant distance corresponding to each moment as a distance from a boundary of the initial redundant safety space of the industrial robot to a position corresponding to a contour of the industrial robot, and obtaining the initial redundant safety space of the industrial robot; acquiring the planned running speed of the industrial robot at each moment after the current moment; And aiming at each moment after the current moment, adjusting the initial redundant safety space of the industrial robot according to the planned running speed of the industrial robot at each moment to obtain the redundant safety space of the industrial robot.
6. The method for collaborative control of industrial robot multitasking of claim 5, wherein adjusting an initial redundant safety space of an industrial robot based on a planned operating speed of the industrial robot at each time to obtain the redundant safety space of the industrial robot comprises: Acquiring a third corresponding relation for each time after the current time, wherein the third corresponding relation comprises one-to-one corresponding relation between a plurality of running speed ranges and a plurality of elongation coefficients; Taking the elongation coefficient corresponding to the operation speed range where the planned operation speed of the industrial robot at each moment is located in the third corresponding relation as the target elongation coefficient corresponding to each moment; and elongating the initial redundant safety space corresponding to the industrial robot according to the target elongation coefficients at all times along the movement direction of the industrial robot to obtain the redundant safety space of the industrial robot.
7. The method according to claim 1, wherein in response to task instruction information for a target industrial robot among the plurality of industrial robots, determining task control information for the target industrial robot based on the task instruction information and redundant safety spaces for each of the plurality of industrial robots, comprises: Determining initial task control information of the target industrial robot according to task instruction information in response to the task instruction information of the target industrial robot in the plurality of industrial robots, wherein the initial task control information comprises initial position information and initial running speed of the target industrial robot at each moment when the target industrial robot executes a task; Inputting the position information of each moment when the target industrial robot executes the task and the redundant safety space of each industrial robot in the plurality of industrial robots into a preset geometric collision detection model to obtain the minimum distance between each moment when the target industrial robot executes the task and the redundant safety space of each industrial robot; taking the moment when the corresponding minimum distance is smaller than 0 as the target moment; and adjusting the initial task control information of the target industrial robot according to the minimum distance corresponding to the target industrial robot at the target moment to obtain and execute the adjusted task control information.
8. The method for collaborative control of multi-task operations of an industrial robot according to claim 7, wherein adjusting initial task control information of a target industrial robot according to a minimum distance corresponding to the target industrial robot at a target time to obtain and execute the adjusted task control information includes: judging whether the absolute value of the minimum distance corresponding to the target moment is smaller than a first distance threshold value or not; and when the absolute value of the minimum distance corresponding to the target moment is smaller than a first distance threshold, translating the initial position information of the target industrial robot at the target moment along the target direction by the absolute value of the minimum distance to obtain and execute the adjusted task control information, wherein the target direction is the direction of the pre-collision industrial robot pointing to the target robot, and the pre-collision industrial robot is the industrial robot with the minimum distance between the redundant safety space at the target moment and the target industrial robot being smaller than or equal to 0.
9. The method for collaborative control of multi-task operations of an industrial robot according to claim 8, wherein adjusting initial task control information of a target industrial robot to obtain and execute adjusted task control information when an absolute value of a minimum distance corresponding to a target moment is greater than or equal to a first distance threshold, comprises: reducing the planned running speed of the pre-collision industrial robot by a preset speed step length within a preset time before the target moment; and reducing the running speed of the target industrial robot within a preset time before the target moment by a preset speed step length to obtain the task control information after initial adjustment.
10. The industrial robot multitasking cooperative control system is characterized by comprising an acquisition device and a processing device; The system comprises an acquisition device, a control device and a control device, wherein the acquisition device is used for acquiring theoretical position information of each industrial robot in a plurality of industrial robots on a production line after the current moment, wherein the theoretical position information is the position information of the geometric center of the industrial robot; The processing device is used for determining a redundant safety space of each industrial robot according to the theoretical position information of the industrial robot; And the processing device is used for responding to the task instruction information of the target industrial robot in the plurality of industrial robots and determining the task control information of the target industrial robot according to the task instruction information and the redundant safety space of each industrial robot in the plurality of industrial robots.

Description

Industrial robot multitasking cooperative control method and system Technical Field The application relates to the technical field of robot control, in particular to a method and a system for cooperatively controlling multi-task operation of an industrial robot. Background On a modern intelligent manufacturing production line, a plurality of industrial robots cooperatively complete complex tasks such as welding, carrying, assembling and the like so as to ensure the smoothness and high efficiency of a production flow. However, in practical applications, since the actual operation time of a single industrial robot may generate unpredictable minor fluctuations due to physical environment factors, these fluctuations may accumulate to cause a temporal asynchronization between the actual state of the industrial robot and a flow model preset by the central system. For example, on an automotive chassis automation line, a plurality of industrial robots cooperate to complete an assembly process. The central control system generates a detailed action instruction sequence and a conflict-free motion path for each industrial robot according to a preset process flow model. However, when the welding industrial robot D is performing a task, the actual time consumption of the welding operation is not constant, and the factors such as welding rod consumption, tiny oil stains or oxide layers on the surface of a workpiece, voltage fluctuation of a power grid and the like may cause the single-point welding time to be prolonged. These minor delays accumulate continuously in continuous operations, so that the actual completion time of the industrial robot D is slower than planned. The central control system plans the whole production beat based on the idealized welding time, when the actual operation of the industrial robot D is delayed, the industrial robot E in the subsequent process can wait in an idle mode because the industrial robot D is not away from the field, so that the beat of the whole production line is disturbed, and the efficiency is reduced. In the background that the production beat has small deviation, when the production line needs to conduct global situation-based reprofiling for responding to the temporary task with high priority, the central control system generates new motion instructions and paths for the industrial robot based on the state model of which the interior is lagged. For example, when the system instructs industrial robot a to grasp a suspension bracket of a particular model and plan for a quick pass from the edge of the industrial robot D's work area, the industrial robot D in the system model should have completed welding and returned to the safe position. In practice, however, the industrial robot D is still performing the ending work of the last weld spot, with its welding gun and robot arm still staying in the working area, due to the previous accumulated delays. This lack of synchronization in information causes industrial robot a to collide with the gun of industrial robot D when executing new instructions, causing equipment damage and production interruption. Disclosure of Invention The application provides a method and a system for cooperatively controlling multi-task operation of an industrial robot, which aim to solve the technical problems that on a modern intelligent manufacturing production line, the industrial robot is asynchronous with a preset flow model due to time-consuming fluctuation of actual operation, so that production beats are disturbed, efficiency is reduced, and even when a temporary task is re-planned, collision among the industrial robots occurs due to the asynchronous information, so that equipment is damaged and production is interrupted. In order to achieve the above purpose, the application adopts the following technical scheme: According to the first aspect, the industrial robot multi-task operation cooperative control method comprises the steps of obtaining theoretical position information of each industrial robot in a plurality of industrial robots on a production line after the current moment, determining redundant safety spaces of the industrial robots according to the theoretical position information of the industrial robots for each industrial robot, wherein the industrial robots are located in the redundant safety spaces in the operation process, responding to task instruction information of the industrial robots, and determining task control information of the target industrial robot according to the task instruction information and the redundant safety spaces of the industrial robots. Further, the redundant safety space of the industrial robot is determined according to the theoretical position information of the industrial robot, and the redundant safety space of the industrial robot is determined according to the spatial redundancy distance of the industrial robot and the theoretical position information of the industrial robot. On the basis, the sp