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Task equilibrium assignment cooperative work control method for multi-robot system

A technology for balanced distribution of system tasks, applied in the field of artificial intelligence and robot control, to achieve the effect of concise method and strong practicability

Active Publication Date: 2020-03-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] The purpose of the present invention is to solve the technical problem of robot task assignment in the automatic operation process of multi-robot system, in order to realize the technical effect of efficient coordinated operation among robots, and propose a multi-robot system task balanced assignment collaborative work control method
[0006] A multi-robot system task balanced distribution cooperative work control method, for multi-robot system operation task points are discrete and fixed, in order to effectively solve the problem of task allocation among multiple robots, by improving the K-means algorithm, first of all task points Carry out clustering, model the clustered task points, and then use the adaptive scaling clustering space method to make the planned number of task points allocated by different robots as equal as possible

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  • Task equilibrium assignment cooperative work control method for multi-robot system

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Embodiment

[0029] The algorithm based on the improved K-means can efficiently complete the task balance assignment of multi-robots, and this method can be applied to the welding tasks of port machinery robots. In the operation of port machinery, typical large-scale components such as box girders and trusses are the links with the largest workload in port machinery manufacturing. However, my country's port machinery enterprises still rely entirely on manual work in the key processes of welding, grinding and painting, which is inefficient. , Quality cannot be guaranteed, and the operating environment is harsh. However, due to the extensive research and development and use of intelligent processing equipment such as robots by foreign companies, they have greater advantages in manufacturing costs and cycle times. Therefore, applying this algorithm to the welding, grinding and painting operations of the robots in the port machinery can effectively improve the work efficiency of the multi-robots...

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Abstract

The invention relates to a task equilibrium assignment cooperative work control method for a multi-robot system and belongs to the technical fields of artificial intelligence and robot control. Specific to the scattered fixed state of operation task points of the multi-robot system, in order to solve the problem of task assignment among a plurality of robots effectively, a K-means algorithm is improved, firstly, all the task points cluster, the clustered task points are modeled, then a self-adaptive scaling clustering space mode is used, the planned numbers of the task points assigned to the different robots are as equal as possible, the method is succinct, and practicability is high. The problem of robot task assignment in the automatic operation process of the multi-robot system can be solved effectively.

Description

technical field [0001] The invention relates to a multi-robot cooperative work control method, in particular to a K-means algorithm-based multi-robot system task balance distribution cooperative work control method, which belongs to the technical field of artificial intelligence and robot control. Background technique [0002] Robots are one of the most promising industrial fields in the future, and they are used more and more widely in the fields of industry, agriculture, and service industries. With the continuous development of robot technology, human needs for robots have shifted from a single robot system to a multi-robot system. In the multi-robot collaborative work control process, multi-robot task allocation is one of the important tasks. Multi-robot task allocation refers to assigning task points in the environment to each robot according to a reasonable allocation strategy in an environment with multiple robots and multiple task points. The robot with the least c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G05B19/418
CPCB25J9/1682G05B19/418G05B19/41865Y02P90/02
Inventor 赵清杰方凯仁张长春种领陈涌泉
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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