CN113927604B - Industrial robot control self-checking method, system and terminal based on 5G communication - Google Patents
Industrial robot control self-checking method, system and terminal based on 5G communication Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The invention discloses an industrial robot control self-checking method, a system and a terminal based on 5G communication, which relate to the technical field of robot control and have the technical scheme that: according to the invention, the gesture sensor is arranged on the mechanical main arm section, gesture measurement information measured by the gesture sensor is decomposed into gesture information variable quantities corresponding to different node driving components one by one, the gesture information variable quantities are secondarily decomposed with each sub-driving component in the node driving components, and finally, the actual conditions of each sub-driving component and the simulation conditions of driving feedback are subjected to matching analysis, so that the driving conditions can be obtained rapidly and accurately, the data analysis of each bottom sub-driving component can be realized by a small amount of sensor equipment, the application cost is low, and the realization difficulty is small.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an industrial robot control self-checking method, system and terminal based on 5G communication.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, and is a machine which realizes various functions by self power and control capability. It can be either in command of human or according to a pre-programmed program.
Currently, existing industrial robots are generally composed of a plurality of mechanical arms and joints, each of which is configured with one or more driving mechanisms to perform driving operations of joint nodes, such as a servo motor, a driving mechanism, a rotating structure, and the like. When one execution action is required to be completed, a control instruction is sent to different joint nodes, and the execution of the whole action is realized through the coordination operation of a plurality of joint nodes. The existing industrial robot realizes the purpose of replacing manual work to finish the work with stronger repeatability, and the industrial robot can reduce the execution precision after being continuously worn due to repeated operation of one or more actions, so that the industrial robot needs to be overhauled at regular time after a certain period of work.
However, the existing manual maintenance is long in time consumption and high in labor cost; and partial special abrasion conditions cannot be detected, for example, one driving abrasion and the other driving abrasion can be counteracted when the two are integrally executed, the abrasion is generally difficult to detect through manual maintenance, the abrasion-existing driving influences the integral precision when different actions are executed, and the precision of all the manual maintenance is relatively low. Therefore, how to research and design an industrial robot control self-checking method, system and terminal based on 5G communication, which can overcome the defects, is a problem that we need to solve at present.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide the industrial robot control self-checking method, the system and the terminal based on 5G communication.
The technical aim of the invention is realized by the following technical scheme:
in a first aspect, an industrial robot control self-checking method based on 5G communication is provided, comprising the steps of:
according to the matching of the action execution commands, obtaining node driving components required by completing corresponding actions, and decomposing the action execution commands into node driving commands corresponding to the node driving components one by one;
measuring the attitude measurement information of the mechanical main arm sections at the two sides of the node driving assembly through an attitude sensor, and calculating to obtain the attitude information variation of the corresponding node driving assembly according to the difference of the attitude measurement information of the adjacent mechanical main arm sections;
decomposing the attitude information variable quantity into sub-variable quantities corresponding to different driving directions according to different driving directions in each sub-driving piece in the node driving assembly;
the response time of the driving response information fed back by the sub-driving parts in different driving directions is matched with the corresponding sub-variable quantity, so that the matching degree is obtained;
and obtaining the execution degree of the node driving assembly after weight calculation is carried out according to each matching degree and the driving coefficient of the corresponding sub-driving piece, and outputting a node early warning signal when the execution degree is lower than a standard threshold value.
Furthermore, the mechanical main arm sections are divided by the fact that the self-morphology of the mechanical main arm sections is not changed when the node driving assemblies at the two sides are started, and an attitude sensor is arranged in the middle of each mechanical main arm section.
Further, the sub-variation is angular velocity and/or acceleration, and a corresponding actual variation curve is established by taking the response time sequence as the horizontal axis.
Further, the matching degree obtaining process specifically includes:
establishing a simulation change curve according to the driving response information;
obtaining an upper limit value of the analog change curve and an actual upper limit value of the actual change curve established according to the sub-change quantity, determining an error coefficient according to the ratio of the actual upper limit value to the upper limit value of the analog change, and determining an error parameter in unit time according to the ratio of the error coefficient to the response time sequence;
compensating and correcting the actual change curve according to the error parameters to obtain a corrected change curve;
calculating to obtain an offset coefficient according to the coincidence ratio of the correction change curve and the simulation change curve;
the product of the error coefficient and the offset coefficient is used to calculate the corresponding matching degree.
Further, the driving coefficient matches a corresponding coefficient matrix from a database according to the action execution command;
each column in the coefficient matrix corresponds to a node driving component;
different drive coefficients in each column correspond to different sub-drives in the same node drive assembly.
Further, the method also carries out square root calculation according to the execution degrees of different node driving components in the same action execution command to obtain a comprehensive value; and outputting an overhaul early warning signal when the comprehensive value exceeds a preset threshold value.
Further, the calculation formula of the integrated value specifically includes:
wherein Z is i Representing a comprehensive value corresponding to an ith action execution command, wherein the ith action execution command is matched with n node driving components; x is x n Indicating the degree of execution of the nth node driving assembly.
In a second aspect, there is provided an industrial robot control self-test system based on 5G communication, comprising:
the command decomposition module is used for obtaining node driving components required by completing corresponding actions according to the matching of the action execution commands and decomposing the action execution commands into node driving commands corresponding to the node driving components one by one;
the gesture calculation module is used for measuring gesture measurement information of the mechanical main arm sections at two sides of the node driving assembly through a gesture sensor, and calculating to obtain gesture information variation of the corresponding node driving assembly according to the difference of the gesture measurement information of the adjacent mechanical main arm sections;
the gesture decomposition module is used for decomposing the gesture information variable quantity into sub-variable quantities corresponding to different driving directions according to different driving directions in each sub-driving piece in the node driving assembly;
the matching calculation module is used for matching the response time of the driving response information fed back by the sub-driving parts in different driving directions with the corresponding sub-variation to obtain matching degree;
and the execution early warning module is used for obtaining the execution degree of the node driving assembly after the weight calculation is carried out according to each matching degree and the driving coefficient of the corresponding sub-driving piece, and outputting a node early warning signal when the execution degree is lower than a standard threshold value.
In a third aspect, a computer terminal is provided, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the industrial robot control self-checking method based on 5G communication according to any one of the first aspects when executing the program.
In a fourth aspect, a computer readable medium is provided, on which a computer program is stored, wherein the computer program is executed by a processor to implement the industrial robot control self-test method for 5G communication according to any one of the first aspects.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the industrial robot control self-checking method based on 5G communication, the gesture sensor is arranged on the mechanical main arm section, gesture measurement information measured by the gesture sensor is decomposed into gesture information variable quantities corresponding to different node driving components one by one, the gesture information variable quantities are decomposed with all sub-driving components in the node driving components for the second time, and finally matching analysis is carried out on actual conditions of all the sub-driving components and simulation conditions of driving feedback, so that driving conditions can be obtained quickly and accurately, data analysis of all the bottom sub-driving components can be realized by a small amount of sensor equipment, and the application cost and the implementation difficulty are low;
2. according to the invention, the error performance between the driving response information and the sub-variable quantity is analyzed on the whole, meanwhile, the partial deviation condition is analyzed after compensation and correction, and finally, the driving condition of the industrial robot can be accurately quantized by combining the overall error and the partial deviation comprehensive analysis, so that reliable data is provided for judging the output node signals;
3. the invention also carries out square root calculation according to the execution degrees of different node driving components in the same action execution command, realizes the integral coordination when the industrial robot completes a certain action execution command, and effectively overcomes the influence of slight error superposition of each node driving component on the integral execution accuracy.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a flow chart in an embodiment of the invention;
fig. 2 is a system block diagram in an embodiment of the invention.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Example 1: the industrial robot control self-checking method based on 5G communication, as shown in FIG. 1, comprises the following steps:
s1: according to the matching of the action execution commands, obtaining node driving components required by completing corresponding actions, and decomposing the action execution commands into node driving commands corresponding to the node driving components one by one;
s2: measuring the attitude measurement information of the mechanical main arm sections at the two sides of the node driving assembly through an attitude sensor, and calculating to obtain the attitude information variation of the corresponding node driving assembly according to the difference of the attitude measurement information of the adjacent mechanical main arm sections;
s3: decomposing the attitude information variable quantity into sub-variable quantities corresponding to different driving directions according to different driving directions in each sub-driving piece in the node driving assembly; the node driving component can be one or more of rotation driving, three-dimensional coordinate rotation, three-dimensional coordinate movement and the like;
s4: the response time of the driving response information fed back by the sub-driving parts in different driving directions is matched with the corresponding sub-variable quantity, so that the matching degree is obtained;
s5: and obtaining the execution degree of the node driving assembly after weight calculation is carried out according to each matching degree and the driving coefficient of the corresponding sub-driving piece, and outputting a node early warning signal when the execution degree is lower than a standard threshold value.
According to the invention, the gesture sensor is arranged on the mechanical main arm section, gesture measurement information measured by the gesture sensor is decomposed into gesture information variable quantities corresponding to different node driving components one by one, the gesture information variable quantities are secondarily decomposed with each sub-driving component in the node driving components, and finally, the actual conditions of each sub-driving component and the simulation conditions of driving feedback are subjected to matching analysis, so that the driving conditions can be obtained rapidly and accurately, the data analysis of each bottom sub-driving component can be realized by a small amount of sensor equipment, the application cost is low, and the realization difficulty is small.
In order to improve the command execution efficiency and the data transmission speed, the invention adopts a 5G communication mode.
In this embodiment, the mechanical main arm segments are divided by the node driving components at two sides without changing their own forms, and a gesture sensor is configured in the middle of each mechanical main arm segment.
In this embodiment, the sub-variation amounts may be angular velocity and acceleration, or may be angular velocity or acceleration alone, and a corresponding actual variation curve is established with the response time sequence as the horizontal axis. The ordinate of the actual change curve may be the response amount per unit time or the time accumulation amount.
The matching degree obtaining process specifically comprises the following steps: establishing a simulation change curve according to the driving response information; obtaining an upper limit value of the analog change curve and an actual upper limit value of the actual change curve established according to the sub-change quantity, determining an error coefficient according to the ratio of the actual upper limit value to the upper limit value of the analog change, and determining an error parameter in unit time according to the ratio of the error coefficient to the response time sequence; compensating and correcting the actual change curve according to the error parameters to obtain a corrected change curve; calculating to obtain an offset coefficient according to the coincidence ratio of the correction change curve and the simulation change curve; the product of the error coefficient and the offset coefficient is used to calculate the corresponding matching degree. The upper limit value and the actual upper limit value of the analog change are the maximum value of the time accumulation, and for example, 15 ° rotated within 50ms, 15 ° is the maximum value of the time accumulation.
According to the invention, the error performance between the driving response information and the sub-variation is analyzed on the whole, meanwhile, the partial deviation condition is analyzed after compensation and correction, and finally, the driving condition of the industrial robot can be accurately quantized by combining the overall error and the partial deviation comprehensive analysis, so that reliable data is provided for judging the output node signals.
The driving coefficient matches the corresponding coefficient matrix from the database according to the action execution command; each column in the coefficient matrix corresponds to a node driving component; different drive coefficients in each column correspond to different sub-drives in the same node drive assembly.
In addition, the method also carries out square root calculation according to the execution degrees of different node driving components in the same action execution command to obtain a comprehensive value; and outputting an overhaul early warning signal when the comprehensive value exceeds a preset threshold value.
The calculation formula of the comprehensive value is specifically as follows:
wherein Z is i Representing a comprehensive value corresponding to an ith action execution command, wherein the ith action execution command is matched with n node driving components; x is x n Indicating the degree of execution of the nth node driving assembly.
The method carries out square root calculation according to the execution degrees of different node driving components in the same action execution command, realizes the integral coordination when the industrial robot completes a certain action execution command, and effectively overcomes the influence of slight error superposition of each node driving component on the integral execution accuracy.
Example 2: the industrial robot control self-checking system based on 5G communication comprises a command decomposition module, a gesture calculation module, a gesture decomposition module, a matching calculation module and an execution early warning module as shown in fig. 2.
The command decomposition module is used for obtaining the node driving components required by the corresponding actions according to the matching of the action execution commands, and decomposing the action execution commands into the node driving commands corresponding to the node driving components one by one. The gesture calculation module is used for measuring gesture measurement information of the mechanical main arm sections at two sides of the node driving assembly through the gesture sensor, and calculating to obtain gesture information variation of the corresponding node driving assembly according to the difference of the gesture measurement information of the adjacent mechanical main arm sections. And the gesture decomposition module is used for decomposing the gesture information variable quantity into sub-variable quantities corresponding to different driving directions according to different driving directions in each sub-driving piece in the node driving assembly. And the matching calculation module is used for matching the response time of the driving response information fed back by the sub-driving parts in different driving directions with the corresponding sub-variation to obtain the matching degree. And the execution early warning module is used for obtaining the execution degree of the node driving assembly after the weight calculation is carried out according to each matching degree and the driving coefficient of the corresponding sub-driving piece, and outputting a node early warning signal when the execution degree is lower than a standard threshold value.
Working principle: according to the invention, the gesture sensor is arranged on the mechanical main arm section, gesture measurement information measured by the gesture sensor is decomposed into gesture information variable quantities corresponding to different node driving components one by one, the gesture information variable quantities are secondarily decomposed with each sub-driving component in the node driving components, and finally, the actual conditions of each sub-driving component and the simulation conditions of driving feedback are subjected to matching analysis, so that the driving conditions can be obtained rapidly and accurately, the data analysis of each bottom sub-driving component can be realized by a small amount of sensor equipment, the application cost is low, and the realization difficulty is small.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (9)
1. The industrial robot control self-checking method based on 5G communication is characterized by comprising the following steps of:
according to the matching of the action execution commands, obtaining node driving components required by completing corresponding actions, and decomposing the action execution commands into node driving commands corresponding to the node driving components one by one;
measuring the attitude measurement information of the mechanical main arm sections at the two sides of the node driving assembly through an attitude sensor, and calculating to obtain the attitude information variation of the corresponding node driving assembly according to the difference of the attitude measurement information of the adjacent mechanical main arm sections;
decomposing the attitude information variable quantity into sub-variable quantities corresponding to different driving directions according to different driving directions in each sub-driving piece in the node driving assembly;
the response time of the driving response information fed back by the sub-driving parts in different driving directions is matched with the corresponding sub-variable quantity, so that the matching degree is obtained;
the execution degree of the node driving assembly is obtained after weight calculation is carried out according to each matching degree and the driving coefficient of the corresponding sub driving piece, and a node early warning signal is output when the execution degree is lower than a standard threshold value;
the driving coefficient matches a corresponding coefficient matrix from a database according to the action execution command;
each column in the coefficient matrix corresponds to a node driving component;
different drive coefficients in each column correspond to different sub-drives in the same node drive assembly.
2. The industrial robot control self-checking method based on 5G communication according to claim 1, wherein the mechanical main arm sections are divided by the fact that the self-morphology of the mechanical main arm sections is not changed when the two-side node driving assemblies are started, and an attitude sensor is configured in the middle of each mechanical main arm section.
3. The industrial robot control self-checking method based on 5G communication according to claim 1, wherein the sub-variation is angular velocity and/or acceleration, and the corresponding actual variation curve is established with the response time sequence as the horizontal axis.
4. The industrial robot control self-checking method based on 5G communication according to claim 1, wherein the matching degree obtaining process specifically comprises:
establishing a simulation change curve according to the driving response information;
obtaining an upper limit value of the analog change curve and an actual upper limit value of the actual change curve established according to the sub-change quantity, determining an error coefficient according to the ratio of the actual upper limit value to the upper limit value of the analog change, and determining an error parameter in unit time according to the ratio of the error coefficient to the response time sequence;
compensating and correcting the actual change curve according to the error parameters to obtain a corrected change curve;
calculating to obtain an offset coefficient according to the coincidence ratio of the correction change curve and the simulation change curve;
the product of the error coefficient and the offset coefficient is used to calculate the corresponding matching degree.
5. The industrial robot control self-checking method based on 5G communication according to any one of claims 1-4, wherein the method further performs square root calculation according to the execution degrees of different node driving components in the same action execution command to obtain a comprehensive value; and outputting an overhaul early warning signal when the comprehensive value exceeds a preset threshold value.
6. The industrial robot control self-checking method based on 5G communication according to claim 5, wherein the calculation formula of the integrated value is specifically:
wherein Z is i Representing a comprehensive value corresponding to an ith action execution command, wherein the ith action execution command is matched with n node driving components; x is x n Indicating the degree of execution of the nth node driving assembly.
7. Industrial robot control self-checking system based on 5G communication, characterized by including:
the command decomposition module is used for obtaining node driving components required by completing corresponding actions according to the matching of the action execution commands and decomposing the action execution commands into node driving commands corresponding to the node driving components one by one;
the gesture calculation module is used for measuring gesture measurement information of the mechanical main arm sections at two sides of the node driving assembly through a gesture sensor, and calculating to obtain gesture information variation of the corresponding node driving assembly according to the difference of the gesture measurement information of the adjacent mechanical main arm sections;
the gesture decomposition module is used for decomposing the gesture information variable quantity into sub-variable quantities corresponding to different driving directions according to different driving directions in each sub-driving piece in the node driving assembly;
the matching calculation module is used for matching the response time of the driving response information fed back by the sub-driving parts in different driving directions with the corresponding sub-variation to obtain matching degree;
the execution early warning module is used for obtaining the execution degree of the node driving assembly after weight calculation is carried out according to each matching degree and the driving coefficient of the corresponding sub driving piece, and outputting a node early warning signal when the execution degree is lower than a standard threshold value;
the driving coefficient matches a corresponding coefficient matrix from a database according to the action execution command;
each column in the coefficient matrix corresponds to a node driving component;
different drive coefficients in each column correspond to different sub-drives in the same node drive assembly.
8. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the industrial robot control self-test method based on 5G communication according to any one of claims 1-6 when executing the program.
9. A computer readable medium having stored thereon a computer program, wherein the computer program is executed by a processor to implement the industrial robot control self-test method based on 5G communication according to any of claims 1-6.
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