CN117284676A - Suction type double-arm transfer robot cluster system and control method - Google Patents

Abstract

The invention discloses an air-breathing double-arm transport robot cluster system and a control method, which include: a dispatching system and several transport robots. The dispatching system can communicate wirelessly with several handling robots. The dispatching system determines the operating mode according to user instructions, selects the required platform corresponding to the mode to establish communication, obtains distribution information through the required platform, and dynamically allocates it to several among the transport robots. Several handling robots can communicate with each other, and use information sharing among several handling robots to form a cluster system, which facilitates viewing of the specific information of each handling robot and unified management. The transport robot can identify and calculate the weight of the target item, and accordingly transport the target item to the required delivery location according to the weight of the target item. By sucking, it is not easy to cause damage to the target item and can protect it during the transportation process. The role of precision items.

Description

An air-breathing double-arm handling robot cluster system and control method

Technical field

The invention relates to the technical field of handling robots, and in particular to an air-breathing double-arm handling robot cluster system and a control method.

Background technique

With the continuous development of e-commerce, the logistics industry has developed rapidly. The work in the logistics industry is getting busier and busier. In scenarios where there are many items, manual delivery often cannot quickly and accurately deliver items to the corresponding places, and the delivery automation rate is low.

In the existing technology, most robots are used for picking up, sorting and delivering goods. However, robots mainly use mechanical hard clamping, or push items out, or pull items over through mechanisms, which can easily lead to deformation or even damage of items, increasing the risk of compensation. And most of the current handling robots are single robots. Each robot is relatively independent, which is not conducive to unified scheduling, difficult to overall control, and difficult to improve the overall operating efficiency. The number of robots required to transport items is often large.

Contents of the invention

The purpose of the present invention is to provide an air-breathing double-arm handling robot cluster system and a control method to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or creation condition.

The solution of the present invention to solve the technical problem is to provide an air-breathing double-arm handling robot cluster system and a control method.

In an embodiment of the first aspect of the present invention, an air-breathing dual-arm handling robot cluster system includes: a scheduling system and several handling robots;

The dispatching system communicates wirelessly with several handling robots, and the handling robots communicate wirelessly. The dispatching system is used to obtain user instructions, determine the operating mode according to the user instructions, and establish communication with the required platform to obtain distribution information and dynamically update the distribution information. Assigned to several handling robots;

The corresponding transport robot is used to obtain the current location information, move to the target item according to the current location information and the corresponding delivery information, identify the weight of the target item, and according to the weight of the target item, correspondingly pick up and transport the target item to the desired delivery location. reach location.

Further, the handling robot includes: a storage rack, a moving device, an air-inhaling handling device, an image recognition module and a positioning and navigation module;

The positioning and navigation module is used to obtain the current location information, and control the mobile device to move to the target item and the required delivery location according to the current location information and corresponding delivery information;

The image recognition module is installed on the air-breathing transport device and is used to identify the weight of the target item based on the corresponding distribution information;

The suction-type conveying device is located on one side of the storage rack and is used to suck and transport target items according to the weight and corresponding distribution information, and place them on the storage rack accordingly.

Further, the air-suction handling device includes: a lifting platform, a rib, a first mechanical arm, a second mechanical arm and a suction cup;

The ribs are installed on a lifting platform, the height of the lifting platform is consistent with the height of the storage rack, and the lifting platform controls the height of the ribs according to the corresponding distribution information;

The first robotic arm and the second robotic arm are both provided with suction cups, and the suction cups are used to adjust the suction force according to the weight and suck the target items;

The first robotic arm is installed on the top plate of the floor plate, and the second robotic arm is installed on the bottom plate of the floor plate. The first robotic arm and the second robotic arm are used to correspondingly transport the target items according to the corresponding distribution information, and correspondingly place them on the On the storage shelf.

Further, the moving device includes: Mecanum wheel, encoding counter and drive motor;

The driving motor is connected to the Mecanum wheel and the encoding counter respectively, and the encoding counter is connected to the positioning navigation module. The Mecanum wheel, the encoding counter and the driving motor are all arranged at the bottom of the shelf. The encoding counter is To obtain current speed information.

Further, the positioning and navigation module includes: ranging module, lidar module and IMU module;

The distance measurement module is arranged around the bottom of the shelf. The distance measurement module is connected to the drive motor and is used to detect the distance value from the obstacle to the shelf to drive the drive motor to avoid obstacles;

The lidar module and the IMU module are both installed on the top of the shelf. The lidar module is used to obtain radar scanning information, and the IMU module is used to obtain current movement information.

A control method for a cluster system of air-breathing double-arm transport robots according to an embodiment of the second aspect of the present invention, applying the cluster system for a cluster system of air-breathing double-arm transport robots according to the embodiment of the first aspect of the present invention, the control method includes: :

The dispatching system obtains user instructions, determines the operating mode according to the user instructions, and establishes communication with the required platform according to the operating mode;

The dispatching system obtains distribution information through the required platform and dynamically distributes the distribution information to several handling robots. The distribution information includes: the target location and type of the target item and the map information of the warehouse where it is located;

The corresponding handling robot obtains the current location information, plans a first path based on the current location information, map information and target location, and moves to the target item according to the first path;

Collect the image information of the target item, identify and process the image information, obtain the size information of the target item, and determine the weight of the target item based on the size information and type;

According to the weight, the corresponding transport robot absorbs and transports the target item, obtains the current location information, plans a second path according to the required delivery location, and moves to the required delivery location according to the second path.

Further, before collecting the image information of the target item, it also includes:

The image recognition module is used to perform hand-eye calibration on the first robotic arm and the second robotic arm respectively.

Further, the acquisition process of the current location information specifically includes:

Obtain the current movement information, current speed information and radar scanning information, and construct a point cloud map to obtain the current pose;

Using the current movement information as the prediction value, the radar scanning information and the current pose as the observation value, and using the Kalman filter algorithm to fuse the current movement information, current speed information and radar scanning information to obtain the current pose;

The LAMA positioning algorithm is used to obtain the positioning information of the corresponding handling robot, and the current position information is obtained based on the current posture and positioning information.

Furthermore, it also includes:

The scheduling system obtains the verification instructions and encapsulates the corresponding operating adjustable parameters of the handling robot;

The scheduling system obtains the cluster verification algorithm, initializes the current position information of the corresponding handling robot, adjusts the operation adjustable parameters according to the cluster verification algorithm, and schedules several handling robots.

Further, the dynamic allocation of delivery information specifically includes:

The scheduling system obtains the current running time and the corresponding running status of several handling robots;

According to the operating mode, current operating time and corresponding operating status, the number of operating handling robots and the number of standby handling robots are determined, and distribution information is dynamically allocated to the operating handling robots.

The beneficial effects of the present invention are: the dispatching system can communicate wirelessly with several handling robots. The dispatching system determines the operating mode according to user instructions, selects the required platform corresponding to the mode to establish communication, and obtains distribution information through the required platform. And dynamically distribute it to several handling robots. Several handling robots can communicate with each other, and use information sharing among several handling robots to form a cluster system, which facilitates viewing of the specific information of each handling robot and unified management. The transport robot can identify and calculate the weight of the target item, and accordingly transport the target item to the required delivery location according to the weight of the target item. By sucking, it is not easy to cause damage to the target item and can protect it during the transportation process. The role of precision items.

Description of drawings

Figure 1 is a schematic front view of a partial structure of an air-breathing double-arm handling robot provided by an embodiment of the present invention;

Figure 2 is a schematic top view of a partial structure of an air-breathing double-arm handling robot provided by another embodiment of the present invention;

Figure 3 is a schematic bottom view of a partial structure of an air-breathing double-arm handling robot provided by another embodiment of the present invention;

Figure 4 is a schematic flow chart of a control method of an air-breathing dual-arm handling robot cluster system provided by an embodiment of the present invention;

Figure 5 is a schematic diagram of a positioning simulation of a control method for an air-breathing dual-arm handling robot cluster system provided by an embodiment of the present invention.

Reference signs: 100. Storage rack, 110. Storage layer, 120. Vehicle-mounted display, 130. Speaker, 140. Wireless charging module, 200. Air-suction transport device, 210. Rib plate, 220. Suction cup, 221. Electric control Air pump, 230, lifting platform, 240, first robotic arm, 250, second robotic arm, 300, image recognition module, 400, mobile device, 410, drive motor, 420, Mecanum wheel, 430, encoding counter, 500, ranging module, 510, lidar module, 520, IMU module.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

In the description of the present invention, it should be noted that unless otherwise clearly defined, words such as setting, installation, connection, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the use of the above words in this application based on the specific content of the technical solution. The specific meaning of the invention.

It should be noted that although the functional modules are divided in the system schematic diagram, in some cases, the module divisions can be different from those in the system. The terms "first", "second", etc. in the description, claims, and above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific sequence or sequence.

In some embodiments of the first aspect of the present invention, with reference to Figures 1 and 3, an air-breathing dual-arm handling robot cluster system includes: a scheduling system and several handling robots.

Each handling robot communicates wirelessly with the dispatching system, and each handling robot can communicate wirelessly with each other. A cluster system is formed by using the communication method of one master and multiple slaves and utilizing the mutual communication between each handling robot. Compared with the existing technology, most of the handling robots are single robots, each robot is relatively independent, and it is inconvenient for scheduling and overall control. In this embodiment, information is shared between each handling robot, which is convenient for viewing. The specific information of each handling robot is managed in a unified manner to improve overall operational efficiency.

The user selects the operating mode through the dispatching system. The dispatching system responds to the user's instructions and determines the operating mode. Through the operating mode, it determines the required platform that needs to establish a connection. The dispatching system communicates wirelessly with the required platform.

The dispatching system obtains the distribution information from the required platform and dynamically distributes the distribution information so that the handling robot receives the corresponding distribution information.

After receiving the corresponding delivery information, the corresponding handling robot obtains its current location information. Using the current location information and corresponding delivery information, the corresponding handling robot moves to the target item, performs image recognition and detection on the target item, and obtains the weight of the target item.

According to the weight of the target item, the corresponding handling robot will pick up the target item and carry the target item accordingly, so as to transport the target item to the required delivery location. Compared with the existing technology that uses mechanical hard clamping and other methods to pick up objects, the handling robot can identify and calculate the weight of the target item, and accordingly transport the target item to the required delivery location according to the weight of the target item. In this way, it is not easy to cause damage to the target items, and can play a role in protecting delicate items during transportation.

Referring to Figures 1 to 3, in some embodiments of the present invention, the handling robot includes: a storage rack 100, a mobile device 400, a control module, an image recognition module 300, a positioning navigation module, and an air-suction handling device 200;

The storage rack 100 is provided with a plurality of storage layers 110 , and the moving device 400 is disposed at the bottom of the storage rack 100 for driving the storage rack 100 to move. The control module communicates wirelessly with the dispatching system.

The positioning and navigation module is connected to the mobile device 400 and the control module respectively, and is used to detect the current position, obtain the current position information, and drive the mobile device 400 to move through the current position information and corresponding delivery information, and drive the storage rack 100 to move to the target item. and driving the moving device 400 to move, driving the storage rack 100 to transport the target items to the required delivery location.

The image recognition module 300 is connected to the control module. The image recognition module 300 is installed on the suction conveying device 200. The image recognition module 300 collects the image information of the target item, uses the corresponding distribution information to identify the image information, and obtains the image information of the target item. weight.

Among them, the image recognition module 300 includes: an RGB camera.

The air-breathing conveying device 200 is located on one side of the storage rack 100. The air-breathing conveying device 200 is connected to the control module. The air-breathing conveying device 200 correspondingly sucks the target items according to the weight and the corresponding distribution information, and conveys the target items to the corresponding place. The corresponding storage layer 110 on the storage rack 100 is used to transport the target items to the required delivery location.

Each storage layer 110 is provided with a pressure sensor. The pressure sensor is used to obtain the pressure value on each storage layer 110. The pressure sensor is connected to the control module to determine whether the pickup is successful or whether the placement is successful.

Referring to FIGS. 1 to 3 , in some embodiments of the present invention, the handling robot further includes: a battery compartment, a wireless charging module 140 , a vehicle-mounted display 120 and a speaker 130 .

The battery compartment is connected to the control module and the wireless charging module 140 respectively, and is arranged at the bottom of the shelf 100. The battery compartment is provided with a heat-insulating and shock-proof soft silicone material and a temperature sensor. The temperature sensor detects the temperature of the battery compartment. When the temperature of the battery compartment is abnormal, the control module controls the speaker 130 to broadcast and controls the positioning and navigation module to upload the current location information to the dispatch system so that the user can take reaction measures.

Among them, when the power of the handling robot is reduced to the set threshold, an optimal route to the nearest ground charging pile is planned through the positioning and navigation module.

The vehicle-mounted display 120 is connected to the control module. The vehicle-mounted display 120 is used to display the delivery tasks performed by the corresponding handling robot, operating status, power information of the battery compartment, whether each component is connected, etc., so that the user can understand the vehicle situation more intuitively.

The speaker 130 is connected to the control module, and the speaker 130 is used for the delivery task being performed by the corresponding handling robot to remind the user to avoid or retrieve objects.

Referring to FIGS. 1 to 3 , in some embodiments of the present invention, the suction handling device 200 includes: a rib 210 , a suction cup 220 , a lifting platform 230 , a first robotic arm 240 and a second robotic arm 250 .

The height of the lifting platform 230 is the same as the height of the storage rack 100. The rib 210 is installed on the lifting platform 230 and is located in the middle of the lifting platform 230. The lifting platform 230 is connected to the control module. When the lifting platform 230 moves up and down, it can drive the rib 210. rise or fall.

Among them, the lifting platform 230 includes: a stepper motor and a screw rod. The stepper motor is connected to the control module, one end of the fixing part of the screw rod is connected to the top of the shelf 100 , the other end of the fixing part of the screw rod is connected to the bottom of the shelf 100 , and the sliding part of the screw rod is connected to the rib 210 .

The first mechanical arm 240 is provided with a suction cup 220. The first mechanical arm 240 is disposed on the top plate of the rib 210 and is connected to the control module. The first mechanical arm 240 sucks the target item through the suction cup 220 and places the target item on the shelf. 100 on the storage layer 110.

The second mechanical arm 250 is provided with a suction cup 220. The second mechanical arm 250 is disposed on the bottom plate of the rib 210 and is connected to the control module. The second mechanical arm 250 sucks the target item through the suction cup 220 and places the target item on the shelf. 100 on the storage layer 110.

Among them, the first robotic arm 240 and the second robotic arm 250 are both five-degree-of-freedom robotic arms. The double mechanical arms are arranged oppositely on the rib plate 210. The height of the rib plate 210 can be adjusted through the lifting platform 230, thereby adjusting the height of the two mechanical arms, which can realize a variety of different ways of sucking and reduce the need for multiple machines to the greatest extent. While reducing the complexity of arm scheduling, it can also easily divide the picking space to improve the efficiency of robotic arm picking.

The suction cup 220 is connected to the control module, and the suction volume is adjusted based on the weight of the target item to control the suction force of the suction cup 220. The target item can be adsorbed on the suction cup 220 and then transported to the corresponding storage layer 110 of the storage rack 100 by the corresponding mechanical arm. superior.

Among them, the suction cup 220 includes an electronically controlled air pump 221, and the electronically controlled air pump 221 is connected to the control module. The electronically controlled air pump 221 is used to suck out the air in the suction cup 220 to adjust the air suction volume and control the suction force of the suction cup 220 .

In this embodiment, the location and quantity of the target items are determined through the corresponding distribution information, and it is judged whether there are several target items on the current shelf in the warehouse. If so, select the target item within the optimal distance range based on the target location. According to the target item within the optimal distance range, the optimal height reached by the lifting platform 230 to adjust the rib 210 is determined, and the corresponding robotic arm is determined to be called. Among them, the optimal height enables the dual robotic arms to quickly obtain the corresponding target items.

For one of the robot arms, the current posture and target position of the robot arm are obtained, the target item is selected, and the target item is selected according to the pressure value of the storage layer 110 corresponding to the storage rack 100 and the position of the current robot arm. posture, select the optimal storage layer 110 for placing the target item, and plan the optimal path for taking the object. Among them, the selection of the taken target items and the optimal storage layer 110 can make it easy for the dual robot arms to quickly obtain the corresponding target items, improve the efficiency of picking up objects, and use several storage layers 110 provided on the storage rack 100 to facilitate The robot arm places the target item on the nearest storage layer 110 .

Referring to FIGS. 1 to 3 , in some embodiments of the present invention, the mobile device 400 includes: a driving motor 410 , a Mecanum wheel 420 and an encoding counter 430 .

The drive motor 410, the Mecanum wheel 420 and the code counter 430 are all installed at the bottom of the shelf 100. The drive motor 410 is connected to the code counter 430. The drive motor 410 is connected to the Mecanum wheel 420. The code counter 430 obtains the current data of the handling robot. speed information.

The mecanum wheel 420 can rotate 360° in situ and translate up, down, left and right; compared with the existing technology of handling robots that use four-wheel differential steering or Ackerman steering structures, steering is inconvenient and requires a large steering space. Compared with this application, the mecanum wheel 420 does not have any requirements on the warehouse where the items are located, which is beneficial to improving the space utilization rate of the warehouse area. Using a high-torque drive motor 410 can carry heavier goods and use an encoder counter 430 to detect speed.

Referring to Figures 1 to 3, in some embodiments of the present invention, the positioning and navigation module includes: a ranging module 500, a lidar module 510 and an IMU module 520.

Ranging modules 500 are installed around the bottom of the shelf 100. The ranging module 500 is connected to the control module and is used to sense obstacles, obtain the distance value from the obstacle to the shelf 100, and send it to the control module. According to the distance value , using the dynamic window method to control the driving motor 410 to avoid obstacles.

The lidar module 510 is installed on the top of the shelf 100. The lidar module 510 is connected to the control module and is used to obtain radar scanning information to facilitate obtaining the current position information of the robot and planning the path.

The IMU module 520 is installed on the top of the shelf 100. The IMU module 520 is connected to the control module and is used to obtain current movement information, so as to facilitate obtaining the current position information of the robot and planning the path. Among them, the current movement information includes: vehicle speed, yaw angle and other information.

Referring to Figure 4, in some embodiments of the second aspect of the present invention, a control method for an air-inhaled dual-arm handling robot cluster system is applied to the air-absorbing dual-arm handling robot cluster system of the first aspect of the present invention, The control method includes the following steps:

S100, the scheduling system obtains user instructions, determines the operating mode according to the user instructions, and establishes communication with the required platform according to the operating mode.

S200, the dispatching system obtains distribution information through the required platform and dynamically distributes the distribution information to several handling robots.

S300: The corresponding handling robot obtains the current location information, plans a first path based on the current location information, map information and target location, and moves to the target item according to the first path.

S400: Collect image information of the target item, perform recognition processing on the image information, obtain size information of the target item, and determine the weight of the target item based on the size information and type.

S500, according to the weight, the corresponding handling robot picks up the target item, obtains the current location information, plans a second path according to the required delivery location, and moves to the required delivery location according to the second path.

In this embodiment, the scheduling system is initialized, the user issues user instructions, selects an operating mode, and determines the operating mode of the robot cluster system according to the user instructions.

According to the operation module, the dispatching system is connected to the required platform, obtains delivery information from it, and dynamically assigns corresponding delivery information to each handling robot to form a handling robot cluster.

Referring to Figure 5, in this embodiment, the operation modes include: express station sorting and storage mode and hospital drug delivery mode. When the sorting and storage mode is determined to be the express station, the dispatching system is connected to the express delivery information inbound and outbound platform, and corresponding delivery information is assigned to each transport robot; when the hospital drug delivery mode is determined, the dispatching system is linked to the hospital's drug delivery information platform , assign corresponding delivery information to the handling robot.

The distribution information includes: the target location of the target item, the type of the target item, and the map information of the warehouse where the target item is located.

For any transport robot: receive the corresponding delivery information, obtain the current location information, and plan the first path to the target item based on the current location information, map information and target location, so that the transport robot can move from the current location to The target item reaches the corresponding shelf in the warehouse, and the target item is placed on the shelf.

After the handling robot arrives at the target item, the image acquisition module obtains the image information of the target item, identifies the image information, obtains the size information of the item, and calculates the weight based on the size information and type.

According to the weight, adjust the suction cup, and the robot arm will correspondingly pick up and carry the target items to the storage layer on the storage rack. After completing the pickup, the current location information is obtained again. Through the second current location information and the required delivery location, a second path to the required delivery location is planned to realize the movement of the handling robot from the current location to the desired delivery location. Delivery location.

Among them, the planning of the first path and the second path adopts the global navigation algorithm.

Several handling robots use the above method to carry out target items in an orderly manner, forming a robot cluster, which can complete heavy and repetitive transportation of important materials. It ensures the safety of transportation work, and can also realize full-process monitoring of logistics transportation and closed-loop distribution information, effectively reducing logistics transportation costs and improving operating efficiency.

In some embodiments of the second aspect of the present invention, in S200, the dynamic allocation of the scheduling system specifically includes:

S210: The scheduling system obtains the current running time and the corresponding running status uploaded by each handling robot.

S220: Determine the number of standby handling robots based on the operating mode, current operating time and corresponding operating status. The remaining handling robots run and the distribution information is dynamically allocated to the running handling robots.

In this embodiment, each operating mode has a certain regularity and has less fluctuations. Through the operating mode and the current running time, it is determined whether the cluster system is in the peak working period. If not, according to the corresponding operating status of each handling robot, some handling robots are controlled to standby for charging and maintenance, and the remaining handling robots receive scheduling. The distribution information dynamically allocated by the system continues to operate to meet the hospital's special drug distribution needs.

For example: during hospital working hours, the medicines that need to be delivered in the morning account for about 60% of the whole day. When the operating mode is hospital drug delivery mode and the current operating time is in the afternoon time period, it is determined that the cluster system is in non-working peak. Expect. According to the corresponding operating status of each handling robot, some handling robots that require charging and maintenance enter the standby state, while the remaining handling robots enter the working state, receive the delivery information dynamically allocated by the dispatching system, and continue to operate.

In some embodiments of the second aspect of the present invention, the acquisition process of current location information specifically includes:

S600, obtains the current movement information through the IMU module, the current speed information through the encoding counter, and the radar scanning information through the lidar module. Based on the radar scanning information, a point cloud map is constructed. The radar scanning information is matched with the point cloud map to obtain the initial pose. .

S610, use the current movement information as the prediction value, use the radar scanning information and the current pose as the observation value, use the Kalman filter algorithm to fuse the current movement information, the current speed information and the radar scanning information to obtain the current pose;

S620: Use the LAMA positioning algorithm to obtain the positioning information corresponding to the handling robot, and obtain the current position information based on the current position and positioning information.

In this embodiment, S610 specifically includes:

S611, implement initial positioning on the point cloud map and assign values to the following variables: Initial time position;/> Initial speed;/> Initial position and posture.

S612, initialize Kalman filter algorithm, state quantity but

,in, is the variance, Q is the process noise, R ₀ is the observation noise, and the process noise Q and the observation noise R ₀ remain unchanged during the iteration process.

S613, perform inertial calculation, which includes: attitude calculation, speed calculation and position calculation.

Attitude solution: in,

Speed calculation: in,

Position calculation:

S614, update the predicted value and execute the first two steps of Kalman's five steps, namely

Among them, F is the state transition matrix and B is the control matrix.

S615, when there is no observation value, the posterior is updated. When there is no observation value, there is no need to perform the remaining three steps of ka lman. The posterior is equal to the prior, that is

S616, when there is an observation value, the measurement is updated, and the posterior state quantity is:

S617, when there is an observation value, calculate the posterior pose, and update the posterior pose according to the posterior state quantity:

S618, the status quantity is cleared. The status quantity has been used for compensation, so it needs to be cleared.

, so that the posterior variance remains unchanged.

S617, output the pose, and convert the posterior pose as the current pose.

Compared with the existing single sensor technology, the use of multi-sensor information fusion technology can enhance system survivability, improve the reliability and robustness of the entire system, and enhance the credibility of data in solving problems such as detection, tracking, and target identification. Improve accuracy, expand the time and space coverage of the system, increase the real-time nature and information utilization of the system, etc.

In some embodiments of the second aspect of the present invention, in S400, the determination process of the weight of the target item specifically includes:

S410: Grayscale the image information to obtain a first image, and perform bilateral filtering on the first image to obtain a second image.

S420: Use the Canny operator to perform edge detection on the second image, and use the AprilTag visual reference system to determine the relative position of the target item, thereby obtaining the size information of the target item.

S430: Determine the volume of the target item based on the size information, and calculate the weight of the target item based on the volume and type.

In this embodiment, an RGB camera is used to collect images of the target object. The image information is in RGB format. The grayscale image has only one color channel, which only reflects the brightness of the pixel. The larger the value, the whiter the pixel, and the smaller the value. The darker the image, grayscale the image to reduce the amount of calculations.

On the premise that the details of the target image can be preserved, bilateral filtering can be used to suppress the noise signal of the first image and improve the speed and accuracy of image processing. Bilateral filtering is used for image filtering, and the numerical difference between pixels is calculated based on Gaussian filtering. Consideration was made to replace the gray value in the pixel with the weighted average of the gray value of the surrounding pixels. Bilateral filtering centered on q can be expressed as:

Among them, y(p) is the noise pixel; F is the area of size (2r+1)*(2r+1) centered on q; W _σs is the spatial kernel, and W _σr is the value domain kernel. The spatial kernel and range kernel are: |pq| ² is the distance in the space field, and σ _s is the weighted value of the intensity of the space field. /> |y(p)-y(q)| ² is the difference intensity of the pixel, and σ _r is the weighted value of the numerical difference intensity.

Through the edge detection algorithm, it is easy to obtain the side length of the target item, thereby making it easy to determine the volume of the target item. The control module adjusts the suction volume according to the obtained weight and the set weight range, thereby changing the suction power.

In some embodiments of the second aspect of the present invention, S400 further includes:

S440, before the image recognition module collects image information, use the image recognition module to perform hand-eye calibration on the first robotic arm and the second robotic arm.

In this embodiment, the specific process of hand-eye calibration includes:

S441, assuming G end effector, B is the calibration coordinate system, C is the camera coordinate system, W is the robot coordinate system, the transformation relationship is: Among them,/> is the position and orientation of the calibration plate relative to the robot,/> is the pose relationship of the end effector relative to the robot,/> is the pose relationship of the RGB camera relative to the end effector, which is the quantity required for hand-eye calibration,/> is the position relationship of the calibration plate relative to the RGB camera, that is, the external parameters obtained by the RGB camera calibration.

S442, keep the calibration plate stationary, capture the calibration plate and collect images from three different positions. The three positions are named respectively: initial position, first calibration position and second calibration position;

S443, obtain the corresponding pose matrices H ₀ , H ₁ , H ₂ obtained by transforming the end pose. According to the above pose matrix, obtain the transformation matrix corresponding to the two movements of the robotic arm. Among them, A ₁ is the first transformation matrix of the mechanical arm from the initial position to the first calibration position, and A ₂ is the second transformation matrix of the mechanical arm from the initial position to the second calibration position;

S444, use RGB camera calibration to obtain the external parameter matrix M ₀ corresponding to the initial position, the external parameter matrix M ₁ corresponding to the first calibration position, and the external parameter matrix M ₂ corresponding to the second calibration position. According to the above external parameter matrix, obtain the RGB The transformation matrix corresponding to the two movements of the camera Among them, B ₁ is the first transformation matrix of the RGB camera from the initial position to the first calibration position, and B ₂ is the second transformation matrix of the RGB camera from the initial position to the second calibration position;

S445, calculate the hand-eye relationship matrix based on the first transformation matrix A ₁ of the robot arm, the second transformation matrix A ₁ of the robot arm, the first transformation matrix B ₁ of the RGB camera, and the second transformation matrix B ₂ of the RGB camera. To control the robotic arm.

In some embodiments of the second aspect of the present invention, the control method further includes:

S700, the dispatching system obtains the verification instructions and encapsulates the corresponding operating adjustable parameters of the handling robot;

S710, the scheduling system obtains the cluster verification algorithm, initializes the current position information of the corresponding handling robot, and adjusts the encapsulated operating adjustable parameters according to the cluster verification algorithm to realize the scheduling of several handling robots.

In this embodiment, the scheduling system obtains the verification instructions issued by the user, enters the robot cluster experimental verification mode, and encapsulates the operating adjustable parameters of each handling robot into a class attribute. Operation adjustable parameters such as: robot x, y axis linear speed, robot angular velocity around z axis, robot linear acceleration in x, y direction, angular acceleration around z axis, maximum angular velocity, maximum linear velocity, frequency of radar information release, radar Maximum and minimum sampling distance, minimum distance to obstacles, global map expansion radius, cost map expansion radius, obstacle expansion distance, etc.

The scheduling system obtains the cluster verification algorithm according to the verification instructions. Initialize each handling robot and initialize the current position of the robot. Among them, the cluster verification algorithms include: round-up algorithm verification and cluster formation marching algorithm verification. According to the cluster verification algorithm, the class object is called to modify the parameters in the class attributes, so that the user can find the appropriate parameters for adjustment to realize the scheduling of several handling robots, thereby realizing the verification of using the handling robot cluster system as a cluster algorithm. To verify the feasibility of the cluster verification algorithm, it is convenient to later deploy the control algorithm to the handling robot cluster system to realize object handling.

Among them, users can observe the position information of several handling robots in real time through the RVIZ visualization software in the Ubuntu system.

The preferred embodiments of the present invention have been specifically described above, but the present invention is not limited to the embodiments. Those skilled in the art can also make various equivalent modifications or substitutions without violating the spirit of the present invention. , these equivalent modifications or substitutions are included in the scope defined by the claims of this application.

Claims (10)

1. An aspiration type dual-arm transfer robot cluster system, comprising: a dispatching system and a plurality of carrying robots;

the dispatching system is in wireless communication with a plurality of carrying robots, the carrying robots are in wireless communication, the dispatching system is used for acquiring user instructions, determining an operation mode according to the user instructions, establishing communication with a required platform, acquiring distribution information, and dynamically distributing the distribution information to the carrying robots;

the corresponding carrying robot is used for acquiring current position information, moving to the target object according to the current position information and the corresponding delivery information, identifying the weight of the target object, and correspondingly sucking the carrying target object to the required delivery position according to the weight of the target object.

2. A suction type dual arm transfer robot cluster system as claimed in claim 1, wherein said transfer robot comprises: the device comprises a commodity shelf, a mobile device, an air suction type carrying device, an image recognition module and a positioning navigation module;

the positioning navigation module is used for acquiring current position information and controlling the mobile device to move to the target object and the position to be delivered according to the current position information and the corresponding delivery information;

the image recognition module is arranged on the suction type conveying device and is used for recognizing the weight of the target object according to the corresponding delivery information;

the suction type conveying device is positioned on one side of the storage rack, is used for sucking the conveying target object according to the weight and the corresponding distribution information, and is correspondingly placed on the storage rack.

3. The suction type double arm transfer robot cluster system according to claim 2, wherein the suction type transfer device comprises: the lifting platform, the rib plate, the first mechanical arm, the second mechanical arm and the sucker;

the rib plate is arranged on the lifting platform, the height of the lifting platform is consistent with that of the commodity shelf, and the lifting platform controls the height of the rib plate according to the corresponding distribution information;

the first mechanical arm and the second mechanical arm are respectively provided with a sucker, and the suckers are used for adjusting suction force according to the weight and sucking target objects;

the first mechanical arm is installed on the top plate of the rib plate, the second mechanical arm is installed on the bottom plate of the rib plate, and the first mechanical arm and the second mechanical arm are used for correspondingly carrying target objects according to corresponding distribution information and correspondingly placed on the storage rack.

4. A suction type dual arm transfer robot cluster system according to claim 2, wherein the moving means comprises: mecanum wheel, coding counter and driving motor;

the driving motor is connected with the Mecanum wheel and the coding counter respectively, the coding counter is connected with the positioning navigation module, the Mecanum wheel, the coding counter and the driving motor are all arranged at the bottom of the storage rack, and the coding counter is used for acquiring current speed information.

5. The system of claim 4, wherein the positioning navigation module comprises: the system comprises a ranging module, a laser radar module and an IMU module;

the distance measuring module is arranged around the bottom of the commodity shelf and connected with the driving motor and used for detecting the distance value from the obstacle to the commodity shelf so as to drive the driving motor to avoid the obstacle;

the laser radar module and the IMU module are both arranged at the top of the commodity shelf, the laser radar module is used for acquiring radar scanning information, and the IMU module is used for acquiring current movement information.

6. A control method of a suction type double-arm transfer robot cluster system, characterized by being applied to a suction type double-arm transfer robot cluster system according to any one of claims 1 to 5, the control method comprising:

the scheduling system acquires a user instruction, determines an operation mode according to the user instruction, and establishes communication with a required platform according to the operation mode;

the dispatching system obtains distribution information through a required platform and dynamically distributes the distribution information to a plurality of carrying robots, wherein the distribution information comprises: map information of a target position, a type and a warehouse where the target object is located;

the corresponding transfer robot obtains current position information, plans a first path according to the current position information, map information and a target position, and moves to a target object according to the first path;

acquiring image information of a target object, identifying the image information to obtain size information of the target object, and determining the weight of the target object according to the size information and the type of the target object;

and according to the weight, the corresponding carrying robot correspondingly absorbs the carrying target object, acquires the current position information, plans a second path according to the required delivery position, and moves to the required delivery position according to the second path.

7. The method for controlling a cluster system of suction type dual-arm transfer robots according to claim 6, wherein before collecting the image information of the target object, further comprises:

and respectively calibrating the hand and the eye of the first mechanical arm and the second mechanical arm by utilizing an image recognition module.

8. The method for controlling a cluster system of suction type dual-arm transfer robots according to claim 6, wherein the process of obtaining the current position information specifically comprises:

acquiring current movement information, current speed information and radar scanning information, and constructing a point cloud map to acquire a current pose;

taking the current movement information as a predicted value, taking radar scanning information and the current pose as observation values, and fusing the current movement information, the current speed information and the radar scanning information by using a Kalman filtering algorithm to obtain the current pose;

and acquiring positioning information of the corresponding transfer robot by using a LAMA positioning algorithm, and acquiring the current position information according to the current pose and the positioning information.

9. The method for controlling a cluster system of suction type double-arm transfer robots according to claim 6, further comprising:

the dispatching system acquires a verification instruction and encapsulates the operation adjustable parameters of the corresponding transfer robot;

the dispatching system acquires a cluster verification algorithm, initializes the current position information of the corresponding transfer robots, adjusts the operation adjustable parameters according to the cluster verification algorithm, and dispatches a plurality of transfer robots.

10. The method for controlling a cluster system of suction type dual-arm transfer robots according to claim 6, wherein the dynamic distribution of the distribution information specifically comprises:

the scheduling system obtains the current running time and running states corresponding to a plurality of transfer robots;

and determining the number of the operating transfer robots and the number of the standby transfer robots according to the operating mode, the current operating time and the corresponding operating state, and dynamically distributing the distribution information to the operating transfer robots.