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Multi-robot cooperation working method and cooperation control system

A multi-robot, collaborative work technology, applied in the field of measurement and communication, can solve the problems of time synchronization, avoid delay and meet the needs of time synchronization

Inactive Publication Date: 2018-03-23
常州昊云工控科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to provide a multi-robot collaborative work method and system to solve the technical problem of time synchronization in the process of multi-robot parallel operation

Method used

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  • Multi-robot cooperation working method and cooperation control system

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Experimental program
Comparison scheme
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Embodiment 1

[0046] figure 1 It is a schematic diagram of sampling of alternating analog signals by the multi-robot cooperative control system of the present invention;

[0047] Such as figure 1 As shown, different sampling frequencies are set for different precision requirements.

[0048] In the application, the clock has certain precision requirements, and it cannot truly achieve zero error. The time synchronization of the present invention also satisfies the error requirement accordingly (generally it will be accurate to a higher order of magnitude); when the accuracy requires ±0.1s, the synchronization requirement is carried out by ±0.01s; if the requirement is ±1ms, then the synchronization is carried out by ±0.1s ms; correspondingly, the sampling period / frequency are 0.01s / 100Hz and 0.1ms / 10kHz respectively.

[0049]As mentioned above, the higher the sampling frequency, the greater the accuracy of time synchronization, but the corresponding calculation amount is also greater, and ...

Embodiment 2

[0070] On the basis of Embodiment 1, Embodiment 2 provides a multi-robot cooperative control system.

[0071] include:

[0072] A signal source, a server connected to the signal source and several robots; among them

[0073] Through the measurement and calculation of the signal source signal by the server and each robot, the time synchronization between each robot is realized.

[0074] The signal source is suitable for generating a long-period alternating analog signal to ensure that all robots complete the data acquisition of the alternating analog signal under the condition of maximum communication delay within one period, and the signal strength is suitable for simultaneous acquisition by each robot; And the same multi-robot collaborative control system is used in the server and several robots; the multi-robot collaborative control system includes: operational amplifier, AD converter, MCU computing unit and clock module; wherein the operational amplifier collects alternati...

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Abstract

The invention relates to a multi-robot cooperation working method and a cooperation control system; the method comprises the following steps: setting a signal source, and simultaneously connecting a server and a plurality of robots to the signal source; enabling the server and each robot to measure the signal from the signal source, thus realizing time synchronization between the robots. The multi-robot cooperation working method and the cooperation control system use a long term alternate simulation signal to realize time synchronization of the local robots, thus avoiding time synchronizationabnormity caused by communication signal delay and communication abnormity, and satisfying robot time synchronization demands.

Description

technical field [0001] The invention relates to a multi-robot cooperative working method and a cooperative control system, and relates to the technical fields of communication and measurement. Background technique [0002] With the advancement of science and technology, there are more and more opportunities for collaborative operations of multiple robots, that is, multiple robots complete the production line processing work. Coordination will become poor and cannot meet the needs of collaborative operations. [0003] At present, the existing time synchronization (time correction) function all uses a time server to send a time synchronization signal, and contains time data, and the robot that receives the signal performs time synchronization according to the time of receiving the information and the time in the data packet. [0004] However, any network has a delay time, which may be on the order of milliseconds or seconds, and the delay of different receivers receiving comm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04L29/08H04J3/06
CPCH04J3/0638H04J3/0644H04J3/0676H04L67/12H04L67/54
Inventor 庞浩周敬东成映华
Owner 常州昊云工控科技有限公司
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