CN114055470B - Mechanical arm work task control method, device, equipment, system and storage medium - Google Patents
Mechanical arm work task control method, device, equipment, system and storage medium Download PDFInfo
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- CN114055470B CN114055470B CN202111374594.9A CN202111374594A CN114055470B CN 114055470 B CN114055470 B CN 114055470B CN 202111374594 A CN202111374594 A CN 202111374594A CN 114055470 B CN114055470 B CN 114055470B
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The disclosure provides a method, a device, equipment, a system and a storage medium for formulating a working task of a mechanical arm. The method for formulating the working task of the mechanical arm comprises the following steps: acquiring a task request in a task queue, wherein the task request comprises a machine station identifier and a task type; determining a target starting position corresponding to each task request based on the machine identification and the task type; determining the priority of each task request based on the current task end position of the mechanical arm working end and the target starting position corresponding to each task request, wherein the current task end position is the position of the mechanical arm working end when completing the current task; and formulating the next task of the mechanical arm based on the task request with the highest priority. By adopting the scheme provided by the embodiment of the disclosure, the next task of the mechanical arm is formulated by selecting the task request with the highest priority, so that the idle time of the test machine is reduced, and the production beat is further accelerated.
Description
Technical Field
The disclosure relates to the technical field of mechanical arm control, in particular to a mechanical arm work task control method, a device, equipment, a system and a storage medium.
Background
In order to realize the efficient use of the mechanical arm, an automatic production line can adopt one mechanical arm to execute the material loading and unloading tasks of a plurality of machine stations. In the related art, in order to avoid task conflict, a first-in first-out task queue is created and maintained by a computer device controlling the operation of a mechanical arm, and task requests sent to the computer device by each machine are cached in the task queue maintained by the computer device. After receiving a task completion signal of the mechanical arm for completing the current work task, the computer equipment acquires a task request with the longest waiting time from the task queue, and formulates a mechanical arm control instruction based on the task request to control the mechanical arm to execute the next work task. However, the foregoing method does not consider the travel time consumption of the mechanical arm, resulting in longer idle time of the machine.
Disclosure of Invention
In order to solve the above technical problems or at least partially solve the above technical problems, the disclosure provides a method, a device, equipment, a system and a storage medium for formulating a working task of a mechanical arm.
In one aspect, an embodiment of the present disclosure provides a method for formulating a working task of a mechanical arm, which is characterized by including:
acquiring a task request in a task queue, wherein the task request comprises a machine station identifier and a task type;
Determining a target starting position corresponding to each task request based on the machine identification and the task type;
determining the priority of each task request based on the current task end position of the mechanical arm working end and the target starting position corresponding to each task request, wherein the current task end position is the position of the mechanical arm working end when completing the current task;
and formulating the next task of the mechanical arm based on the task request with the highest priority.
Optionally, the determining the priority of each task request based on the current task end position of the working end of the mechanical arm and the target start position corresponding to each task request includes:
determining the travel distance or travel time of the working end of the mechanical arm moving to the target starting position corresponding to each task request based on the current task end position and the target starting position corresponding to each task request;
and determining the priority of each task request based on the travel distance or the travel time.
Optionally, the task request further includes generating a timestamp;
the determining the priority of each task request based on the current task end position of the working end of the mechanical arm and the target start position corresponding to each task request comprises the following steps:
And determining the priority of each task request based on the current task end position, the target start position corresponding to each task request and the generation timestamp.
Optionally, the determining the priority of each task request based on the current task end point position, the target start position corresponding to each task request, and the generating timestamp includes:
determining the travel distance from the working end of the mechanical arm to the target starting position based on the current task end position and the target starting position corresponding to each task request;
determining the journey characteristic weight of each task request based on the journey distance;
calculating the waiting time of each task request based on the time stamp, and determining the time feature weight of each task request based on the waiting time;
and determining the priority of each task request based on the journey characteristic weight and the time characteristic weight.
Optionally, the determining the time feature weight of each task request based on the waiting time includes: using a=e α×t/MWT Calculating the time feature weight of each task request, wherein a is the time feature weight, alpha is a time weighting coefficient, t is the waiting time, and MWT is the longest waiting time of the task request in the task queue;
The determining the travel characteristic weight of each task request based on the travel distance comprises the following steps: calculating the stroke characteristic weight of each task request by adopting b=beta× (D-D)/D, wherein b is the stroke characteristic weight, beta is a stroke weighting coefficient, D is the working diameter of the mechanical arm, and D is the stroke distance;
the determining the priority of each task request based on the journey feature weight and the time feature weight comprises the following steps: and adding the time characteristic weight a and the journey characteristic weight b to obtain a priority score, and determining the priority of each task request based on the priority score.
Optionally, the determining the priority of each task request based on the current task end position of the working end of the mechanical arm and the target start position corresponding to each task request includes:
and determining the priority of each task request based on the current task end point position, the target starting position corresponding to each task request and the task type.
In another aspect, an embodiment of the present disclosure provides a device for making a working task of a mechanical arm, including:
the task request acquisition unit is used for acquiring task requests in the task queue, wherein the task requests comprise a machine station identifier and a task type;
The target starting position determining unit is used for determining a target starting position corresponding to each task request based on the machine identification and the task type;
the priority determining unit is used for determining the priority of each task request based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request, wherein the current task end position is the position when the working end of the mechanical arm completes the current task;
and the task formulating unit is used for formulating the next working task of the mechanical arm based on the task request with the highest priority.
In yet another aspect, embodiments of the present disclosure provide a computer device comprising: the system comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method for formulating the working task of the mechanical arm is realized.
In yet another aspect, an embodiment of the present disclosure provides an automated production system including a robotic arm, at least two stations for performing a primary production task, and a computer device; the machine generates a task request based on the state of executing the main production task and sends the task request to the computer equipment; the computer equipment caches the task request into a task queue, and executes a task formulated by the mechanical arm work task formulation method for controlling the action of the mechanical arm.
In yet another aspect, embodiments of the present disclosure provide a computer-readable storage medium, where the storage medium stores computer instructions for causing a computer to perform a robotic arm work task formulation method as previously described.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
according to the technical scheme, the target starting position corresponding to each task request is determined according to the type and the machine station identification of each task request in the task queue, then the priority of each task request is determined based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request, and the next task of the mechanical arm is formulated based on the task request with the highest priority. The priority of each task is determined based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request, which shows the travel time required by the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request, and the higher the priority, the shorter the corresponding travel time, and the smaller the corresponding machine idle time. By adopting the scheme provided by the embodiment of the disclosure, the next task of the mechanical arm is formulated by selecting the task request with the highest priority, so that the idle time of the test machine is reduced, and the production beat is further accelerated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described below. It will be obvious to those skilled in the art that other figures can be obtained from these figures without inventive effort, in which:
FIG. 1 is a schematic diagram of an automated production system provided by an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for formulating a work task of a robotic arm according to an embodiment of the disclosure;
fig. 3 is a schematic structural diagram of a mechanical arm task formulation device according to some embodiments of the present disclosure;
fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
The embodiment of the disclosure provides a method for formulating a work task of a mechanical arm, which is used for determining the priority of each task request based on the task request in a task queue and the current task end position of the work end of the mechanical arm, and selecting the task request with the highest priority to formulate the next work task of the mechanical arm.
The mechanical arm disclosed by the embodiment of the disclosure is a mechanical arm matched with a machine to complete auxiliary tasks, and the auxiliary tasks can be a feeding task, a discharging task or a material on a moving machine.
The method for formulating the working task of the mechanical arm provided by the embodiment of the disclosure is executed by computer equipment. The aforementioned computer device may be an upper computer for controlling the operation of the mechanical arm, or may be a remote server connected to the upper computer for controlling the mechanical arm in a communication manner, which is not limited in the embodiment of the disclosure.
In order to more clearly understand the method for preparing the working task of the mechanical arm provided by the embodiment of the present disclosure, before the method for preparing the working task of the mechanical arm provided by the embodiment of the present disclosure is described, an automated production system capable of using the method of the embodiment of the present disclosure is first described. The automated production system provided by the embodiment of the disclosure is an automated inspection system for realizing automated inspection of printed circuit boards. Of course, the automated generation system provided by the embodiments of the present disclosure may also be an automated system for the assembly and production of products such as printed circuit boards.
Fig. 1 is a schematic diagram of an automated production system provided by an embodiment of the present disclosure. As shown in fig. 1, an automated inspection system provided in an embodiment of the present disclosure includes an incoming material transmission line 11, a mechanical arm 12, and at least two inspection stations 13. In addition, the automated inspection system provided by the present disclosure further includes a reflow line and a computer device (the reflow line and the computer device are not shown in the figures).
The incoming material transfer line 11 is used to transfer the printed circuit board assembled upstream to the vicinity of the inspection station 13. In the embodiment of the present disclosure, a blocking device 14, an incoming material detecting device (not shown in fig. 1), and a turning device 15 may be provided on the incoming material transmission line 11.
The blocking device 14 is used for blocking the printed circuit board conveyed upstream through the incoming material conveying line 11, so that the printed circuit board is slowed down and stays at the incoming material end side of the blocking device 14. In particular embodiments, the blocking device 14 may be a blocking rail.
The incoming material detecting means is provided on the upstream side of the blocking means 14 for detecting whether the incoming material transmission line 11 has a printed circuit board. After detecting that the incoming material transmission line 11 transmits the printed circuit board, the incoming material detection device generates a detection signal and sends the detection signal to the computer equipment so as to trigger the computer equipment to control the mechanical arm 12 to grasp the printed circuit board. In a specific implementation, the incoming material detection device can be an opposite-emitting photoelectric sensor, a proximity sensor and the like.
The turnover device 15 is used for turnover the printed circuit board placed thereon and detected by the detection machine 13 to the downstream side of the blocking device 14, so that the turned printed circuit board is transferred to the downstream via the incoming material transfer line 11.
The incoming material transmission line 11 in the embodiment of the present disclosure is provided with the aforementioned incoming material detection device, interception device, and turning device 15. In other embodiments of the present disclosure, the incoming material transmission line 11 may be provided without any one of the incoming material detecting means, the intercepting means, and the inverting means 15.
The reflow line is used to convey the printed circuit board (i.e., the faulty circuit board) that has not been detected by the detection machine 13 to the upstream so that the faulty circuit board is subjected to repair soldering or the like in the upstream production process.
The mechanical arm 12 is used for realizing the transfer of the printed circuit board between the incoming material transmission line 11 and the detection machine 13 or realizing the transfer of the printed circuit board between the detection machine 13 and the reflow transmission line. When the inspection station at the inspection station 13 has no printed circuit board and the inspection station 13 is in an inspection ready state, the robot arm 12 grips the printed circuit board from the material transfer line 11 and is placed on the inspection station of the inspection station 13 so that the inspection station 13 starts the inspection work of the printed circuit board. After the inspection of the printed circuit board is completed by the inspection machine 13, and the printed circuit board is determined to pass through the inspection, the printed circuit board is taken down from the inspection station by the mechanical arm 12 and placed on the turning device 15 of the incoming material production line. After the inspection station 13 completes inspection of the printed circuit board and determines that the printed circuit board fails inspection, the robotic arm 12 arm removes the printed circuit board from the inspection station and places it onto the return line.
In the disclosed embodiment, the working end of the mechanical arm 12 is provided with a clamping jaw in order to achieve grabbing and transferring of the printed circuit. In addition, in order to enable accurate positioning of the printed circuit board and thus accurate gripping and placement of the printed circuit board, the working end of the robot arm 12 is also provided with a photographing camera for photographing the printed circuit board located on the incoming material transmission line 11 or the inspection station. The photographing camera may be a depth camera or a plane camera, and the embodiments of the present disclosure are not particularly limited. After the photographing camera photographs the printed circuit board to form a photographed image, the photographed image is transmitted to the computer device so that the computer device determines the pose of the printed circuit board based on the photographed image and the pose of the robot arm 12, and formulates the control robot arm 12 according to the pose of the printed circuit board.
In the presently disclosed embodiment, a photographing camera is provided at the working end of the robot arm 12. In other embodiments, the photographing camera may be provided at other positions of the robot arm 12 or may be provided independently of the robot arm 12. For example, in other embodiments, a photographing camera may be provided on both the upper side of the incoming material transfer line 11 and the detection unit 13.
The inspection machine 13 is used for performing inspection tasks on the assembled printed circuit board, and is used for determining whether the printed circuit board passes inspection (in the embodiment of the present disclosure, the inspection task on the printed circuit board is a main task). In addition, the detecting machine 13 determines whether to generate a task request according to the detection signal generated by the state sensor on the detecting station. For example, when the state sensor on the inspection station determines that the inspection station is in a seated state and that there is no printed circuit board to be inspected on the inspection station, the inspection station 13 generates a task request requesting feeding; after the status sensor on the inspection station determines that the inspection station has a printed circuit board and completes inspection of the printed circuit board, the inspection station 13 generates a task request requesting blanking.
In the case where the detection station 13 generates a task request, the detection station 13 transmits the task request to the computer device, so that the computer device formulates a task of the robot arm 12 based on the task request.
As before, the computer device performs the grabbing and transferring operations of the printed circuit board in the control robot 12. In the embodiment of the disclosure, the computer device executes the method for making the working task of the mechanical arm provided by the embodiment of the disclosure, makes the working task of the mechanical arm 12, and determines the control instruction of the mechanical arm 12 according to the task.
As before, the automated inspection system in the embodiments of the present disclosure includes an incoming material transfer line 11 and a return material transfer line. In other embodiments of the present disclosure, the automated inspection system may also have no incoming material transfer line 11 and no return line, but rather have a material placement station. The mechanical arm 12 transfers the printed circuit board between the material placing station and the detecting machine 13 to complete the tasks of feeding, discharging and the like.
Fig. 2 is a flowchart of a method for formulating a working task of a mechanical arm according to an embodiment of the disclosure. As shown in fig. 2, the method provided by the embodiment of the present disclosure includes steps S201 to S204.
Step S201: and acquiring a task request in a task queue, wherein the task request comprises a machine station identifier and a task type.
In the embodiment of the disclosure, after acquiring a task request sent by a detection machine, the computer device caches the task request in a task queue.
The task request includes a machine identification and a task type. The machine identification is used to identify which detection machine the task request is generated from and sent to the computer device. The task type is used for identifying the type of the task requested by the machine, and the task type can be a feeding task or a discharging task.
Step S202: and determining a target starting position corresponding to each task request based on the machine identification and the task type.
In the embodiment of the disclosure, the computer device may read the task request in the task queue according to the set rule, and determine the target starting position corresponding to the task request. The target home position is a position of the robot arm when gripping the printed circuit board or a preparation position of the robot arm when gripping the printed circuit board.
In the embodiment of the disclosure, the computer equipment determines a target starting position corresponding to the task request according to the machine identification and the task type in the task request. For example, when the task type is a feeding task, the target starting position is predetermined, and the starting position of the working end of the mechanical arm is hovered on the upper side of the incoming material production line. For another example, in the task type blanking task, the target starting position is the position of the detection station corresponding to the machine station identifier.
Step S203: and determining the priority of each task request based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request.
The current task end position is the position where the working end of the mechanical arm is positioned when finishing the current task. For example, when the current task is to transfer the printed circuit board on a certain machine to the turning device of the incoming material transmission line, the current task end position of the working end of the mechanical arm may be the position corresponding to the turning device. When the current task is to transfer the printed circuit board on a certain machine to the reflow transmission line, the current task end position of the working end of the mechanical arm can be the position corresponding to the reflow transmission line. When the current task is to feed a certain machine, the current task end position of the working end of the mechanical arm can be the position corresponding to the specific machine.
In some embodiments of the present disclosure, determining, by the computer device, the priority of each task request based on the current task end position of the working end of the robotic arm and the target start position corresponding to each task request may include steps S2031-S2032.
Step S2031; and determining the travel distance from the working end of the mechanical arm to the target starting position corresponding to each task request based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request.
In some embodiments of the present disclosure, the computer device may calculate a corresponding linear distance using the coordinates of the current task end position and the coordinates of the target start position corresponding to each task request, and use the corresponding linear distance as the travel distance corresponding to the task request.
In other embodiments of the present disclosure, the computer device may calculate a planned path in space when the working end of the mechanical arm moves from the current task end position to the target start position based on the coordinates of the current task end position and the coordinates of the target start position corresponding to each task request, and adopt the length of the planned path as the travel distance.
Step S2032: the priority of each task request is determined based on the travel distance.
In some embodiments of the present disclosure, the computer device determines the priority of each task request based on the travel distance, which may be sorting according to the travel distance corresponding to each task request, and determines the priority of each task request based on the sorted travel distance. Specifically, the computer device may assign the task request corresponding to the shortest travel distance to the highest priority, and assign the task request corresponding to the longest travel distance to the lowest priority.
According to the working characteristics of the mechanical arm, the longer the travel distance of the working end of the mechanical arm is, the longer the working end of the mechanical arm moves from the current task end position to the target start position, therefore, the sequencing of the travel time corresponding to each work task request can be determined according to the priority of the travel distance, wherein the travel time is the time required by the whole travel when the working end of the mechanical arm moves from the current task end position to the target start position
In some embodiments of the present disclosure, determining, by the computer device, the priority of each task request based on the current task end position of the working end of the robotic arm and the target start position corresponding to each task request may include steps S2033-S2034.
Step S2033; and determining the travel time of the working end of the mechanical arm to the target starting position corresponding to each task request based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request.
In the embodiment of the disclosure, the travel time is the time required for the whole travel when the working end of the mechanical arm moves from the current task end position to the target start position. The travel time is determined by the computer device based on the current task end position, the target start position, and the mechanical arm operating characteristics.
Step S2034: the priority of each task request is determined based on the travel distance.
In some embodiments of the present disclosure, the computer device determines the priority of each task request based on the travel time, which may be sorting according to the travel time corresponding to each task request, and determines the priority of each task request based on the sorted travel time. Specifically, the task request corresponding to the shortest travel time may be given the highest priority, and the task request corresponding to the longest travel time may be given the lowest priority.
Step S204: and formulating the next task of the mechanical arm based on the task request with the highest priority.
In the embodiment of the disclosure, after determining the priorities corresponding to the task requests, the computer device selects the task request with the highest priority as the task request for the next response, and formulates the next task of the mechanical arm based on the task requests.
It should be noted that the computer device may perform the steps S201 to S204 to determine the next task when the working end of the mechanical arm has not moved to the current task end position, or may perform the steps S201 to S204 to determine the next task when the working end of the mechanical arm completes the current task and moves to the current task end position. Preferably, the computer device may determine the next task by adopting the foregoing steps S201 to S204 when the working end of the mechanical arm has not moved to the current task end position.
By adopting the method for formulating the work task of the mechanical arm, which is provided by the embodiment of the disclosure, the computer equipment determines the target starting position corresponding to each task request according to the type and the machine station identifier of each task request in the task queue, then determines the priority of each task request based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request, and formulates the next task of the mechanical arm based on the task request with the highest priority. The priority is determined based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request, and represents the travel time required by the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request, and the higher the priority is, the shorter the corresponding travel time is. By adopting the method for formulating the working task of the mechanical arm, which is provided by the embodiment of the disclosure, the task request with the highest priority is selected to formulate the next task of the mechanical arm by taking the travel time consumption of the mechanical arm into consideration by the priority, and the task request with the smallest travel time consumption of the mechanical arm is selected to formulate the next task with high probability, so that the idle time of a test machine is reduced, and the production beat is further accelerated.
In some embodiments of the present disclosure, the task requests sent by the various detection tools to the computer device may include generating a timestamp in addition to the tool identification and the task type. The generation timestamp characterizes the generation time of the task request.
In the case where the task request includes generating a timestamp, step S203 may include step S2035 in some embodiments of the disclosure.
Step S2035: and determining the priority of each task request based on the current task end position, the target start position corresponding to each task request and the generated timestamp.
In the disclosed embodiment, step S2035 may specifically include steps S20351-S20354.
Step S20351: and determining the travel distance from the working end of the mechanical arm to the target starting position based on the current task end position and the target starting position corresponding to each task request.
The method for determining the travel distance in the embodiments of the present disclosure is the same as that in the previous embodiments, and the corresponding content may be referred to in the previous description, and will not be repeated here.
Step 20352: a travel characteristic weight for each task request is determined based on the travel distance.
In some embodiments of the present disclosure, determining the trip feature weight of each task request based on the trip distance may be sorting the trip distance or the trip time of each task request, and determining the trip feature weight of each task request according to the sorting result.
In some embodiments of the present disclosure, b=β× (D-D)/D may be used to calculate the travel feature weight of each of the task requests, where b is the travel feature weight, β is a travel weighting coefficient, D is the working diameter of the robotic arm, and D is the travel distance.
Step S20353: and calculating the waiting time of each task request based on the time stamp, and determining the time characteristic weight of each task request based on the waiting time.
In some embodiments of the present disclosure, determining the time feature weight of each task request based on the waiting time may be to sort each waiting time, and determining the time feature weight based on the sorting result, where the time feature weight of the task request with the longest waiting time is the largest.
In other embodiments of the present disclosure, a=e is employed α×t/MWT And calculating the time feature weight of each task request, wherein a is the time feature weight, alpha is a time weighting coefficient, t is the waiting time, and MWT is the longest waiting time of the task request in the task queue.
Step S20354: and determining the priority of each task request based on the travel characteristic weight and the time characteristic weight.
In some embodiments of the present disclosure, after the trip feature weight and the time feature weight are obtained, the trip feature weight a and the time feature weight b may be added to obtain the priority score priority_score corresponding to each task request. Subsequently, the priority of each task request is determined based on the priority score priority_score of the task request.
For example, in some embodiments, the priority score priority_score=a=e α×t/MWT +b＝β×(D-d)/D。
In some embodiments of the present disclosure, in order for the work task formulated by the work task formulation method of the mechanical arm to achieve the optimal work efficiency of the machine, the foregoing time weighting coefficient α and trip weighting coefficient β need to be reasonably set.
In order to obtain reasonable time weighting coefficient alpha and travel weighting coefficient beta, multiple test data sets can be set according to experience in the embodiment of the disclosure, and each data set comprises test time weighting coefficient alpha Testing And test the travel weighting coefficient beta Testing And based on the multiple test data sets, carrying out production test to determine the working yield N of the workbench when each test data set is adopted Testing . Finally, according to each test data set and corresponding work output N Testing And performing parameter fitting, and determining a time weighting coefficient and a travel weighting coefficient corresponding to the maximum work output as a time weighting coefficient alpha and a travel weighting coefficient beta which are actually used. In particular embodiments, a multi-layer perceptron network may be employed, based on multiple sets of test data sets and corresponding work yields N Testing And performing parameter fitting to obtain an optimal time weighting coefficient alpha and a travel weighting coefficient beta.
By adopting the method provided by the embodiment of the disclosure, the priority of each task request is determined based on the corresponding target starting position of each task request and the generated timestamp, and task requests with earlier generated timestamps may have a higher priority such that task requests that are relatively earlier generated are processed first.
In further embodiments of the present disclosure, step S203 in the method for formulating a robotic work task may include step S2036.
Step S2036: based on the current task end position, the target start position, the task type and the machine identification corresponding to each task request, the priority of each task request is determined.
In some embodiments of the present disclosure, different task types cause the detection station to be idle for different lengths of time. In order to reduce the idle time length of the detection machine as much as possible, in the embodiment of the disclosure, the priority of each task request is determined based on the task type of each task request in addition to determining the priority of each task request based on the current task end position and the target start position corresponding to each task request.
In some embodiments of the present disclosure, step S2036 may specifically include steps S20361-S20364.
Step S20361: and determining the travel distance or travel time of the working end of the mechanical arm to the target starting position based on the current task end position and each target starting position.
Step (a) S is S20362: and calculating the travel characteristic weight corresponding to each task request based on the travel distance or the travel time.
In a specific embodiment, the foregoing steps S20361 and S20362 are the same as the foregoing embodiments, and will not be repeated here.
Step S20363: based on the task type, a type weight for each task request is determined.
In the embodiment of the disclosure, the type weight of each task request is determined based on the task type, which may be that a preset type weight lookup table is searched based on the task type, and the type weight of each task request is determined.
Step S20364: and determining the priority of each task request based on the travel characteristic weight and the type weight.
In some embodiments of the present disclosure, after the trip feature weight and the type weight are obtained, the trip feature weight and the type weight may be added to obtain a weight sum corresponding to each task request. Then, the priority of each task request is determined based on the weight sum corresponding to each task weight. In a particular embodiment, the priority of the task request with the greatest weight sum is set to be highest, while the priority of the task request with the smallest weight sum is set to be smallest.
In some embodiments of the present disclosure, the inspection process rates of the printed circuit boards by the different inspection stations are different. In order to accelerate the production takt and improve the production efficiency, the task request generated by the detection machine with higher detection processing rate should be processed as preferentially as possible. In order to achieve the foregoing object, the foregoing step S203 may further include a step S2037.
Step S2037: and determining the priority of each task request based on the current task end position, the target start position corresponding to each task request and the identification of the machine.
In some embodiments of the present disclosure, step S2037 may specifically include steps S20371-S20374.
Step S20371: and determining the travel distance or travel time of the working end of the mechanical arm to the target starting position based on the current task end position and each target starting position.
Step S20372: and calculating the travel characteristic weight corresponding to each task request based on the travel distance or the travel time.
In a specific embodiment, the foregoing steps S20371 and S20372 are the same as those of the foregoing embodiments, and will not be repeated here.
Step S20373: and determining the machine weight of each task request based on the machine identification.
In the embodiment of the disclosure, the machine weight of each task request is determined based on the machine identifier, which may be that a preset machine weight lookup table is searched based on the collective love identifier, so as to determine the collective love weight of each task request.
Step S20374: and determining the priority of each task request based on the travel characteristic weight and the machine weight.
In some embodiments of the present disclosure, after the trip feature weight and the machine weight are obtained, the trip feature weight and the machine weight may be added to obtain a weight sum corresponding to each task request. Then, the priority of each task request is determined based on the weight sum corresponding to each task weight. In a particular embodiment, the priority of the task request with the greatest weight sum is set to be highest, while the priority of the task request with the smallest weight sum is set to be smallest.
In addition to determining the priority of each task request by using the foregoing method, in some embodiments of the present disclosure, the priority of each task request may also be determined based on the current task end position, the target start position corresponding to each task request, the generation timestamp, the machine identifier, and the task type. Specifically, the corresponding travel feature weight may be calculated based on the current task end position and the target start position, the time weight may be calculated based on the generated time stamp, the machine identification machine weight may be calculated based on the machine identification machine weight, and the type weight may be calculated based on the task type. And adding the travel characteristic weight, the time weight, the machine weight and the type weight to obtain a weight sum. And finally, determining the priority of each task request according to the weight.
In a specific application of the embodiment of the disclosure, in order to implement the method for making a working task of a mechanical arm, the mechanical arm is controlled to execute a corresponding working task, and an instantiated application program may be deployed in the computer device. The application may include a task listening thread and a main thread. The task monitoring thread is used for monitoring task requests sent by each detection machine and writing the task requests into the task queue. The main thread is used for executing the mechanical arm work task making method; in specific implementation, the task monitoring thread and the main thread can both read the memory space where the task queue is located, so as to add a task request into the task queue or take the task request out of the task request. In practical application, in order to avoid that the task monitoring thread and the main thread operate the memory space where the task queue is located at the same time, when any one of the task monitoring thread and the main thread operates the memory space where the task queue is located, a mutual exclusion lock is added for the memory space, so that the other thread is prevented from operating the task queue at the same time.
In addition to providing the aforementioned method for formulating a working task of a robotic arm, embodiments of the disclosure further provide a device 300 for formulating a working task of a control robotic arm. Fig. 3 is a schematic structural diagram of a robotic arm task formulation device 300 according to some embodiments of the present disclosure. The mechanical arm work task formulation device 300 provided in the embodiments of the present disclosure may be a functional module of the foregoing computer device.
As shown in fig. 3, the mechanical arm work task formulation apparatus 300 provided by the embodiment of the present disclosure includes a task request acquisition unit 301, a target start position determination unit 302, a priority determination unit 303, and a task formulation unit 304.
The task request acquiring unit 301 is configured to acquire a task request in a task queue, where the task request includes a machine identifier and a task type. The target starting position determining unit 302 is configured to determine a target starting position corresponding to each task request based on the machine identifier and the task type. The priority determining unit 303 is configured to determine the priority of each task request based on the current task end position of the working end of the mechanical arm and the target start position corresponding to each task request, where the current task end position is a position when the working end of the mechanical arm completes the current task. The task formulation unit 304 is configured to formulate a next task of the mechanical arm based on the task request with the highest priority.
In some embodiments of the present disclosure, the priority determining unit 303 first determines a travel distance or a travel time for the robot arm working end to move to the target start position corresponding to each task request based on the current task end position of the robot arm working end and the target start position corresponding to each task request, and then determines the priority of each task request based on the travel distance or the travel time.
In some embodiments of the present disclosure, the task request further includes generating a timestamp. Correspondingly, the priority determining unit 303 determines the priority of each task request based on the current task end position, the target start position corresponding to each task request, and the generation timestamp.
In some embodiments of the present disclosure, the priority determining unit 303 determines the priority of each task request based on the current task end position, the target start position corresponding to each task request, and the generation timestamp.
In some embodiments of the present disclosure, the priority determining unit 303 determines the priority of each task request based on the current task end position, and the target start position and the task type corresponding to each task request.
The disclosed embodiments also provide a computer device comprising a processor and a memory, wherein the memory stores a computer program, the method for formulating a work task of a robotic arm of any of the above embodiments may be implemented when the computer program is executed by a processor.
Referring now in particular to FIG. 4, a schematic diagram of a computer device 400 suitable for use in implementing embodiments of the present disclosure is shown. The computer device illustrated in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of the disclosed embodiments.
As shown in fig. 4, the computer apparatus 400 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 401, which may perform various appropriate actions and processes according to programs stored in a read-only memory ROM402 or programs loaded from a storage device 408 into a random access memory RAM 403. In the RAM403, various programs and data required for the operation of the computer device 400 are also stored. The processing device 401, the ROM402, and the RAM403 are connected to each other by a bus 404. An input/output I/O interface 405 is also connected to bus 404.
In general, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, magnetic tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the computer device 400 to communicate with other devices wirelessly or by wire to exchange data. While fig. 4 shows a computer apparatus 400 having various devices, it is to be understood that not all illustrated devices are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via communications device 409, or from storage 408, or from ROM 402. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 401.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the client, computer device, and the like may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be embodied in the computer device; or may exist alone without being assembled into the computer device.
The computer readable medium carries one or more programs which, when executed by the computer device, cause the computer device to: acquiring a task request in a task queue, wherein the task request comprises a machine station identifier and a task type; determining a target starting position corresponding to each task request based on the machine identification and the task type; determining the priority of each task request based on the current task end position of the mechanical arm working end and the target starting position corresponding to each task request, wherein the current task end position is the position of the mechanical arm working end when completing the current task; and formulating the next task of the mechanical arm based on the task request with the highest priority.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or computer device. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection according to one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The embodiments of the present disclosure further provide a computer readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, may implement a method according to any one of the foregoing method embodiments, and the implementation manner and beneficial effects of the method are similar, and are not described herein again.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The method for formulating the working task of the mechanical arm is characterized by comprising the following steps of:
acquiring a task request in a task queue, wherein the task request comprises a machine station identifier and a task type;
determining a target starting position corresponding to each task request based on the machine identification and the task type;
determining the priority of each task request based on the current task end position of the mechanical arm working end and the target starting position corresponding to each task request, wherein the current task end position is the position of the mechanical arm working end when completing the current task;
based on the task request with the highest priority, formulating a next task of the mechanical arm;
The determining the priority of each task request based on the current task end position of the working end of the mechanical arm and the target start position corresponding to each task request comprises the following steps:
determining the travel distance or travel time of the working end of the mechanical arm moving to the target starting position corresponding to each task request based on the current task end position and the target starting position corresponding to each task request;
and determining the priority of each task request based on the travel distance or the travel time.
2. The method of claim 1, wherein the task request further comprises generating a timestamp;
the determining the priority of each task request based on the current task end position of the working end of the mechanical arm and the target start position corresponding to each task request comprises the following steps:
and determining the priority of each task request based on the current task end position, the target start position corresponding to each task request and the generation timestamp.
3. The method of claim 2, wherein said determining the priority of each of said task requests based on said current task end location, said target start location corresponding to each of said task requests, and said generation time stamp comprises:
Determining the travel distance from the working end of the mechanical arm to the target starting position based on the current task end position and the target starting position corresponding to each task request;
determining the journey characteristic weight of each task request based on the journey distance;
calculating the waiting time of each task request based on the time stamp, and determining the time feature weight of each task request based on the waiting time;
and determining the priority of each task request based on the journey characteristic weight and the time characteristic weight.
4. The method of claim 3, wherein the step of,
the determining the time feature weight of each task request based on the waiting time comprises the following steps: using a=e α×t/MWT Calculating the time feature weight of each task request, wherein a is the time feature weight, alpha is a time weighting coefficient, t is the waiting time, and MWT is the longest waiting time of the task request in the task queue;
the determining the travel characteristic weight of each task request based on the travel distance comprises the following steps: calculating the stroke characteristic weight of each task request by adopting b=beta× (D-D)/D, wherein b is the stroke characteristic weight, beta is a stroke weighting coefficient, D is the working diameter of the mechanical arm, and D is the stroke distance;
The determining the priority of each task request based on the journey feature weight and the time feature weight comprises the following steps: and adding the time feature weight a and the journey feature weight b to obtain a priority score priority_score, and determining the priority of each task request based on the priority score.
5. The method of claim 1, wherein determining the priority of each task request based on the current task end position of the robot arm working end and the target start position corresponding to each task request comprises:
and determining the priority of each task request based on the current task end point position, the target starting position corresponding to each task request and the task type.
6. The utility model provides a mechanical arm work task formulating device which characterized in that includes:
the task request acquisition unit is used for acquiring task requests in the task queue, wherein the task requests comprise a machine station identifier and a task type;
the target starting position determining unit is used for determining a target starting position corresponding to each task request based on the machine identification and the task type;
The priority determining unit is used for determining the priority of each task request based on the current task end position of the working end of the mechanical arm and the target starting position corresponding to each task request, wherein the current task end position is the position when the working end of the mechanical arm completes the current task;
the task making unit is used for making a next work task of the mechanical arm based on the task request with the highest priority;
the priority determining unit is further configured to determine a travel distance or travel time for the working end of the mechanical arm to move to the target starting position corresponding to each task request based on the current task end position and the target starting position corresponding to each task request;
and determining the priority of each task request based on the travel distance or the travel time.
7. A computer device, comprising: a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, implements the robotic arm work task formulation method of any one of claims 1-5.
8. An automatic production system is characterized by comprising a mechanical arm, at least two machine stations for executing main tasks and computer equipment;
The machine generates a task request based on the state of executing the main task and sends the task request to the computer equipment;
the computer device caches the task request into a task queue and performs the task formulation for controlling the motion of the robotic arm according to the robotic arm work task formulation method of any one of claims 1-5.
9. A computer-readable storage medium, wherein the storage medium stores computer instructions for causing the computer to perform the robotic arm work task formulation method according to any one of claims 1-5.
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| CN106514653B (en) * | 2016-11-07 | 2019-01-22 | 南京邮电大学 | A kind of apery Soccer robot based on Bezier interpolation is played football method |
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