Multi-mechanical-arm device and control method thereof

Abstract

The invention provides a control method used for sorting a plurality of mechanical arms, and the multiple mechanical arms are used for grabbing and sorting objects moving along a conveyor belt. The method includes the steps that a task list that includes tasks to be assigned and a mechanical arm list that includes mechanical arms in an idle state are provided, and each task to be assigned includesthe grab pose of the corresponding object on the conveyor belt; the tasks to be assigned are selected from the task list; whether the tasks to be assigned are within the grab range of the first mechanical arm in the mechanical arm list or not is determined; if the tasks to be assigned are within the grab range of the first mechanical arm, whether the first mechanical arm is in collision with theother mechanical arms or not is determined; if there is no collision, the tasks to be assigned are assigned to the first mechanical arm and the first mechanical arm is deleted from the mechanical armlist, if there is a collision, the next mechanical arm in the mechanical arm list is selected, and whether the next mechanical arm is in collision with the other mechanical arms or not is determined;and a trajectory file used for execution of the mechanical arms is generated according to the grab poses of the objects.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control method for a multi-robot device, a multi-robot device and a sorting system. Background technique [0002] The vigorous development of the e-commerce industry has brought pressure and challenges to logistics. In the logistics center, a large number of express packages move along the conveyor belt at high speed, waiting to be sorted, and the robotic arms located on both sides of the conveyor belt automatically and efficiently complete the sorting task. [0003] Existing sorting systems usually arrange several robotic arms along the conveyor belt, use cameras to collect images of the conveyor belt, identify objects to be sorted and generate sorting tasks, and assign these sorting tasks to available downstream robotic arms for sorting. Unfortunately, this kind of sorting system has the following problems: In order to avoid collisions between the robotic arms, the robotic ar...

AI Technical Summary

Problems solved by technology

Unfortunately, this kind of sorting system has the following problems: In order to avoid collisions between the robotic arms, the robotic arms can only be arranged separately, so the layout density of the robotic arms is limited and the system throughput is low; in addition, this kind of sorting system is fault-tolerant Poor ability, after the task is assigned, if the object is accidentally shifted or other reasons cause the robot arm to grasp the failure, it cannot be remedied

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