Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Multi-robot collaborative transportation method

A collaborative transportation and multi-robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as insufficient PL energy, excessive energy redundancy, and inability to complete tasks, so as to reduce special space requirements and increase storage density. , The effect of reducing the difficulty of Pa collaborative work

Inactive Publication Date: 2017-05-31
HANGZHOU JIMU TECH CO LTD
View PDF12 Cites 10 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the robot PL transports the small object Ca, the energy redundancy is too much, and when the object exceeds the design index, the PL energy is insufficient to complete the task.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-robot collaborative transportation method
  • Multi-robot collaborative transportation method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] Example 1: No host case

[0052] 1. When there is no central control system Ma. The work of Ma is undertaken by Pa with computing power. Pa can be one or more. Let Pa who undertakes the task of Ma be Pama. When only one bearer Ma is selected, the Pa with the best robustness is selected. When more than one can be selected, the operation method can be one of the following two forms: A: multiple Pa operations with the same data and content. B: Multiple Pas perform distributed operations.

[0053] 2. The robot Pa or Se detects the target Ca parameters, and Pama judges the type and quantity of robot Pa needed to transport Ca.

[0054] The criteria for judging are as follows: (all must be met).

[0055] 1) Quantity judgment: Assume that there are n types of robots Pa, and the number of different types of robots is represented by Pa1, Pa2...Pan. Assume that the mass of the target object Ca is Mca, and the payloads of the robots Pa1...Pan are Mpa1...Mpan respectively. T...

Embodiment 2

[0069] Example 2: Parking scene

[0070] 1. The whole includes the central control system Ma, multiple robots Pa, and the data acquisition system Se in the working area.

[0071] 2. The robot Pa or Se detects the Ca parameters of the target vehicle, and the central control system Ma judges the type and quantity of robots Pa needed to transport Ca.

[0072] The criteria for judging are as follows: (all must be met).

[0073] 1) Quantity judgment: Assume that there are n types of robots Pa, and the number of different types of robots is represented by Pa1, Pa2...Pan. Assume that the mass of the target object Ca is Mca, and the payloads of the robots Pa1...Pan are Mpa1...Mpan respectively. Then the number of multiple robots Pa used should satisfy the formula:

[0074] Pa1*Mpa1+Pa2*Mpa2+...Pan*Mpan≥Mca.

[0075] When n is 1, that is, only one kind of robot is selected, the number Pax of the robot and the payload Mpax of the robot satisfy the condition that Pax≥Mca÷Mpax.

[00...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a multi-robot collaborative transportation method. Multiple robots collaboratively drive a target object to a target position; and the types and the quantity of the robots are determined through a central control system or a robot with calculation capacity via a judgment algorithm. According to the multi-robot collaborative transportation method, multiple low-power robots can be used for collaboratively transporting the target object which has the weight higher than the load capacity of the single robot. After the power is reduced, the robots can realize space minimization, thus realizing the advantage that the robots can enter a gap between the object and the ground or enter a gap between the object and another object; and therefore, the storage density of the object is increased, and the special space requirement for a storage device is reduced.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to a multi-robot cooperative transportation method. Background technique [0002] With the development of technology, AGV technology, drone technology, and carrier robot technology are developing rapidly. When the traditional single robot PL is used to carry the object Ca, the output energy of the single robot PL is required to be greater than or equal to the energy required for the movement of the object Ca, which requires the robot to be designed to meet the maximum demand for the object Ca to be transported. However, when the robot PL transports the small object Ca, the energy redundancy is too much, and when the object exceeds the design index, the PL energy is insufficient to complete the task. Contents of the invention [0003] The purpose of the present invention is to improve a multi-robot cooperative transportation method for the above-mentioned deficiencies in t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16
Inventor 祁卫陈阳昕郭雨
Owner HANGZHOU JIMU TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com