多机器人智能协同作业M2M2A系统设计与实验研究

发布时间：2018-08-25 20:30

【摘要】：针对社会发展需求和当前技术现状,提出了一个在工业上能实现自适应环境、人机共融组织和智能决策的多机器人协同作业的M2M2A(man-or machine-to-machine to actuation)解决方案.首先设计了人、智能中心、机器人和传感器等所构成的多机器人作业系统的结构体系及其组织形式.设计了C/S(client/server)和P2P(peer-to-peer)混合式的M2M通信模型,由C/S模型实现人-机控制类和状态类信息的远程传输,由P2P模型实现机-机状态类信息的共享.研发了机器人自定位、作业环境感知、避障路径优化、轨迹规划和运动控制等智能模块,实现机器人自主作业的执行操作.数据流将通讯模块、智能决策及控制等各个模块有机融合在一起,构建了一个开放式、模块化的M2M2A系统.设计了一个典型的协同装配作业多机器人实验系统,通讯模块实现了作业环境信息、机器人位姿或位置信息的实时传输和共享,机器人智能模块可以根据作业环境的变化,自我协调各机器人的作业时序,自适应地重新规划各自的路径或作业轨迹,最优地完成下达的作业任务.
[Abstract]:In order to meet the needs of social development and the current technological situation, a M2M2A (man-or machine-to-machine to actuation) solution for multi-robot collaborative operation with adaptive environment, human-computer inclusive organization and intelligent decision making in industry is proposed. Firstly, the structure and organization of multi-robot operating system composed of human, intelligent center, robot and sensor are designed. A hybrid M2m communication model of C / S (client/server) and P2P (peer-to-peer) is designed. The remote transmission of human-machine control class and state class information is realized by C / S model, and the sharing of machine-machine state information is realized by P2P model. Intelligent modules such as robot self-localization, environment perception, obstacle avoidance path optimization, trajectory planning and motion control are developed to implement autonomous operation of robot. The data stream combines the modules of communication, intelligent decision and control, and constructs an open and modular M2M2A system. A typical cooperative assembly multi-robot experiment system is designed. The communication module realizes the real-time transmission and sharing of the information of the working environment, the robot position, posture or position information. The robot intelligent module can be changed according to the working environment. Self-coordination of each robot's job sequence, adaptive re-planning of the respective path or job trajectory, the optimal completion of the task assigned to the task.
【作者单位】：华南理工大学机械与汽车工程学院;
【基金】：广东省科技计划(2014B090920001)
【分类号】：TP242

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