Multi-robot data interaction system and multi-robot control method

The invention discloses a multi-robot data interaction system and a multi-robot control method. A master control server adopts a multi-knapsack problem to solve and realize an optimization algorithm for multi-robot welding task balanced distribution, welding and grinding tasks are issued to a host P...

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Bibliographic Details
Main Authors XU LIANYONG, XUE LONG, HAO KANGDA, HUANG JIQIANG
Format Patent
LanguageChinese
English
Published 02.11.2021
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
COMBINED OPERATIONS
HAND TOOLS
MACHINE TOOLS
MANIPULATORS
METAL-WORKING NOT OTHERWISE PROVIDED FOR
OTHER WORKING OF METAL
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
UNIVERSAL MACHINE TOOLS
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Summary:The invention discloses a multi-robot data interaction system and a multi-robot control method. A master control server adopts a multi-knapsack problem to solve and realize an optimization algorithm for multi-robot welding task balanced distribution, welding and grinding tasks are issued to a host PC1 and a host PC2 through a TCP protocol according to workpiece types, and an optimal collision-free path is planned. Then, welding robots are matched with a weld seam tracker and a molten pool monitoring camera to execute the welding task. After welding is completed, the master control server transmits position coordinates to grinding robots through a switch according to weld seam defect information obtained by a CCD camera, and the point-by-point grinding task is executed. In the whole operation process, interaction of the position coordinates of all the robots is achieved through the switch, the space distance between the robots is calculated, obstacle avoidance measures are executed, and welding/grinding multi-
Bibliography:Application Number: CN202110946141