CN114762977B - Six-axis assisting robot based on double-joint module - Google Patents
Six-axis assisting robot based on double-joint module Download PDFInfo
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- CN114762977B CN114762977B CN202210554823.3A CN202210554823A CN114762977B CN 114762977 B CN114762977 B CN 114762977B CN 202210554823 A CN202210554823 A CN 202210554823A CN 114762977 B CN114762977 B CN 114762977B
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Abstract
The invention provides a six-axis assisting robot based on a double-joint module, which comprises: the positioning module is used for positioning the target position information of the object to be grabbed based on the robot; the map acquisition module is used for generating a grabbing map based on the target position information and evaluating the six-axis rotation angle of the double-joint module of the robot based on the grabbing map; and the working module is used for generating a control command based on the grabbing map and the six-axis rotation angle of the double-joint module of the robot, and controlling the six-axis assistance robot of the double-joint module to grab the object to be grabbed based on the control command. Through the position information according to waiting to grab the thing generates the corresponding map of snatching to according to snatching the six angles of rotation of map determination double joint module, improved six-axis based on double joint module and helped the robot and snatch intelligence, accuracy and harmony.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a six-axis assisting robot based on a double-joint module.
Background
At present, with the more mature IT technology, more and more robots appear in the daily life of people, and great convenience is provided for the life of people;
however, the conventional robot can only execute simple moving tasks or carrying tasks, and an execution instruction or an execution route is set in advance, so that automatic obstacle avoidance cannot be realized, and meanwhile, when an object is grabbed, the grabbing scheme cannot be adjusted according to characteristics such as the shape of the object to be grabbed, so that the working efficiency is low;
therefore, the invention provides a six-axis assisting robot based on a double-joint module, which is used for generating a corresponding grabbing map according to the position information of an object to be grabbed and determining the six-axis rotation angle of the double-joint module according to the grabbing map, so that the intelligence, the accuracy and the coordination of grabbing by the six-axis assisting robot based on the double-joint module are improved.
Disclosure of Invention
The invention provides a six-axis assisting robot based on a double-joint module, which is used for generating a corresponding grabbing map according to position information of an object to be grabbed and determining a six-axis rotation angle of the double-joint module according to the grabbing map, so that the intelligence, the accuracy and the coordination of grabbing by the six-axis assisting robot based on the double-joint module are improved.
The invention provides a six-axis assisting robot based on a double-joint module, which comprises:
the positioning module is used for positioning the target position information of the object to be grabbed based on the robot;
the map acquisition module is used for generating a capture map based on the target position information and evaluating the six-axis rotation angle of the double-joint module of the robot based on the capture map;
and the working module is used for generating a control command based on the grabbing map and the six-axis rotation angle of the double-joint module of the robot, and controlling the six-axis assisting robot of the double-joint module to grab the object to be grabbed based on the control command.
Preferably, the six-axis assisting robot based on the double-joint modules has a degree of freedom of 6, the mechanical arm of the robot comprises six axes and three groups of double-joint modules, and the rotation range of each group of double-joint modules is (-360 degrees, +360 degrees).
Preferably, a six assist robot based on double joint module, among the orientation module, wait to grab the target location information of getting the thing based on the robot location, include:
the positioning device comprises a position positioning unit, a positioning unit and a control unit, wherein the position positioning unit is used for establishing a plane rectangular coordinate system in a target scene and determining first coordinate position data of the robot based on the plane rectangular coordinate system;
the position positioning unit is further used for determining second coordinate position data of the object to be grabbed in the plane rectangular coordinate system;
and the data fusion processing unit is used for carrying out fusion processing on the first coordinate position data and the second coordinate position data and determining target position information of the object to be grabbed based on a fusion processing result.
Preferably, in the map acquiring module, a capture map is generated based on the target position information, and the method includes:
the position information acquisition unit is used for acquiring first position information of the robot in a target scene and reading second position information of the object to be grabbed;
the target image acquisition unit is used for acquiring a target image containing the robot and the object to be grabbed in a target scene based on a preset image acquisition device;
the target image reading unit is used for reading the target image and determining whether a target obstacle exists in the target image, wherein the target obstacle is an article except the robot and the article to be grabbed;
the obstacle position information acquisition unit is used for positioning the position of a target obstacle and determining third position information of the target obstacle when the target obstacle exists in the target image;
an association relation obtaining unit, configured to obtain a first association relation between the first position information and the third position information, a second association relation between the second position information and the third position information, and a third association relation between the first position and the second position information, respectively;
the map acquisition unit is used for generating a first captured map based on the first association relation, the second association relation and the third association relation;
the map acquisition unit is further configured to generate a second capture map based on the first position information and the second position information when there is no obstacle in the target image.
Preferably, the six-axis assist robot based on the double-joint module includes:
the image processing subunit is used for carrying out pixel graying processing on the target image and determining a target grayscale image;
the labeling subunit is used for performing image overlapping comparison on the target image and the target gray image, determining pixel point distribution of the robot and the object to be grabbed in the target gray image based on a comparison result, labeling the contour pixel point representing the robot and the contour pixel point to be grabbed, and obtaining a first label corresponding to the robot and a second label of the object to be grabbed in the target gray image;
the image processing subunit is further configured to acquire a sub-target grayscale image between the first annotation and the second annotation, where the target grayscale image includes the sub-target grayscale image;
the image analysis subunit is used for carrying out pixel analysis on the sub-target gray level image, determining pixel point color characteristic information of the sub-target gray level image, and determining the pixel distribution smoothness rate of the sub-target gray level image according to the pixel point color characteristic information of the sub-target gray level image;
the image analysis subunit is further configured to determine whether the target obstacle exists in the sub-target grayscale image based on the pixel distribution smoothing rate.
Preferably, the six-axis assisting robot based on the double-joint module further includes, after the map acquisition module generates the capture map based on the target position information:
the map reading unit is used for reading the grabbing map, determining the target distance between the robot and the object to be grabbed, carrying out equal-scale amplification according to a preset scale based on the target distance, and determining the actual distance between the robot and the object to be grabbed;
the arm length obtaining unit is used for determining the arm length of the robot according to six axes of a double-joint module of the robot and determining the maximum grabbing distance of the robot according to the arm length of the robot;
the judging unit is used for comparing the actual distance with the maximum grabbing distance and judging whether the robot needs to move or not;
when the actual distance is larger than the maximum grabbing distance, judging that the robot needs to move;
when the actual distance is smaller than or equal to the maximum grabbing distance, judging that the robot does not need to move;
and the robot moving unit is used for generating a target moving instruction when the robot needs to move, and controlling the robot to move to a target range based on the target moving instruction.
Preferably, the six-axis assisting robot based on the double-joint module, wherein the robot moving unit generates the target moving command, and the method includes:
the instruction data generation subunit is used for acquiring a target difference value between the actual distance and the maximum grabbing distance and generating first instruction data based on the target difference value;
the instruction data generating subunit is further configured to determine a target direction of the object to be grabbed relative to the robot, determine a moving direction of the robot based on the target direction, and generate second instruction data according to the moving direction;
the instruction data generation subunit is further configured to perform prediction based on the first instruction data and the second instruction data, determine a stop position point of the robot, and generate third instruction data based on the stop position point;
and the instruction generation subunit is used for generating the target movement instruction based on the first instruction data, the second instruction data and the third instruction data.
Preferably, in the map obtaining module, the evaluation of the six-axis rotation angle of the double-joint module of the robot based on the captured map includes:
the map reading unit is used for reading the grabbing map, determining the position of the object to be grabbed and determining the position of a target obstacle;
a grabbing route determining unit, configured to formulate a grabbing route for grabbing the object to be grabbed by the robot in the grabbing map based on the position of the object to be grabbed and the position of the target obstacle, where the grabbing route is equal to or greater than 1;
a shape feature determination unit configured to determine a first shape feature of the target obstacle and a second shape feature of the object to be grasped;
the working characteristic acquisition unit is used for acquiring the six-axis working characteristics of the double-joint module of the robot and determining the six-axis working range of the robot, wherein the six-axis working range of the double-joint module is as follows: the area of a minimum circle of six-axis rotation of the double-joint module and the area of a maximum circle of six-axis rotation of the double-shutdown module are determined;
a target range acquisition unit, configured to determine a target range that bypasses the target obstacle according to a first shape feature of the target obstacle;
the grabbing route executable judging unit is used for comparing the target range with the six-axis working range of the double-joint module when the grabbing route is larger than 1, and judging whether the grabbing route is executable or not;
when the target range is smaller than the six-axis working range of the double-joint module, judging that the grabbing route cannot be executed;
otherwise, judging that the grabbing route can be executed;
the route extracting unit is used for extracting executable grabbing routes from the grabbing routes, determining the route characteristics of each executable grabbing route, and determining the direction for grabbing the object to be grabbed based on the position of the object to be grabbed and the second shape characteristics of the object to be grabbed;
the route scoring unit is used for scoring the executable grabbing route based on the route characteristics of the executable grabbing route and the direction of grabbing the object to be grabbed and obtaining a route score;
the optimal grabbing route obtaining unit is used for taking the executable grabbing route corresponding to the maximum route score as the optimal grabbing route;
and the route reading unit is used for reading the optimal grabbing route, determining a route inflection point of the optimal grabbing route and a direction corresponding to the route inflection point, and determining the six-axis rotation angle of the double-joint module of the robot according to the route inflection point of the optimal grabbing route and the direction corresponding to the route inflection point.
Preferably, a six assist robot based on double joint module, the work module, based on control command control the six assist robot of double joint module is right wait to snatch when the thing snatchs, still include:
the monitoring unit is used for detecting six-axis rotation data of the double-joint module of the robot in real time based on a preset sensor and generating monitoring data;
a data range determination unit configured to determine the reference data range based on a six-axis rotation angle of a double joint module of the robot;
the monitoring unit is also used for reading the monitoring data in real time, judging whether the monitoring data is in the reference data range or not, and performing alarm operation when the monitoring data is not in the reference data range.
Preferably, a six assist robot based on double joint module, the work module still includes:
the power-down protection unit is used for calling a target encoder to carry out power-down protection encoding when the robot is powered off in the process of grabbing the object to be grabbed;
and the power failure protection unit is also used for controlling six shafts of the double-joint module of the robot to carry out power failure position memory based on the coding result.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a system structure diagram of a six-axis assisted robot based on a double-joint module according to an embodiment of the present invention;
fig. 2 is a hardware structure diagram of a six-axis assist robot based on a dual-joint module according to an embodiment of the present invention;
fig. 3 is a system diagram of a positioning module in a six-axis assisted robot based on a dual-joint module according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1:
the embodiment provides a six-axis assistance robot based on a double-joint module, as shown in fig. 1, including:
the positioning module is used for positioning the target position information of the object to be grabbed based on the robot;
the map acquisition module is used for generating a capture map based on the target position information and evaluating the six-axis rotation angle of the double-joint module of the robot based on the capture map;
and the working module is used for generating a control command based on the grabbing map and the six-axis rotation angle of the double-joint module of the robot, and controlling the six-axis assisting robot of the double-joint module to grab the object to be grabbed based on the control command.
In this embodiment, the degree of freedom of the robot is 6, the robot arm of the robot includes six axes, three sets of double-joint modules, and the rotation range of each set of double-joint modules is (-360 °, +360 °), as shown in fig. 2, where J1 and J2 are the first double-joint module, J3 and J4 are the second double-joint module, and J5 and J6 are the third double-joint module.
In this embodiment, the target position information may be an actual physical position where the object to be grabbed needs to be grabbed by the robot and a distance from the robot.
In this embodiment, the grab map may be map data that provides the robot with information of the specific location of the object to be grabbed.
In this embodiment, the rotation angle of the six axes may be a rotation angle of each of the rotation axes when grasping the object to be grasped.
In this embodiment, the control command may be for controlling each axis of the six-axis assist robot of the double joint module to rotate by a corresponding angle.
The beneficial effects of the above technical scheme are: through the position information according to waiting to grab the thing generates the corresponding map of snatching to according to snatching the six angles of rotation of map determination double joint module, improved six-axis based on double joint module and helped the robot and snatch intelligence, accuracy and harmony.
Example 2:
on the basis of embodiment 1, this embodiment provides a six-axis assisted robot based on a double-joint module, as shown in fig. 3, in the positioning module, the positioning of the target position information of the object to be grasped based on the robot includes:
the positioning device comprises a position positioning unit, a positioning unit and a control unit, wherein the position positioning unit is used for establishing a plane rectangular coordinate system in a target scene and determining first coordinate position data of the robot based on the plane rectangular coordinate system;
the position positioning unit is further used for determining second coordinate position data of the object to be grabbed in the plane rectangular coordinate system;
and the data fusion processing unit is used for carrying out fusion processing on the first coordinate position data and the second coordinate position data and determining target position information of the object to be grabbed based on a fusion processing result.
In this embodiment, the accuracy of positioning the robot and the object to be grasped is 0.01mm.
In this embodiment, the target scene may be a space where the six-axis assist robot and the object to be grabbed are located.
In this embodiment, the first coordinate position data may be a position where the robot is located in the target scene.
In this embodiment, the second coordinate position data may be a position where the object to be grabbed is located in the target scene.
The beneficial effects of the above technical scheme are: the positions of the object to be grabbed and the robot are accurately locked by constructing the plane rectangular coordinate system, so that the final target position information of the object to be grabbed is obtained by fusing the data of the object to be grabbed and the robot, the accuracy rate of determining the position of the object to be grabbed is improved, and convenience is provided for the robot to accurately grab.
Example 3:
on the basis of embodiment 1, this embodiment provides a six-axis assisting robot based on a double-joint module, in the map obtaining module, the generating a capture map based on the target position information includes:
the position information acquisition unit is used for acquiring first position information of the robot in a target scene and reading second position information of the object to be grabbed;
the target image acquisition unit is used for acquiring a target image containing the robot and the object to be grabbed in a target scene based on a preset image acquisition device;
the target image reading unit is used for reading the target image and determining whether a target obstacle exists in the target image, wherein the target obstacle is an article except the robot and the article to be grabbed;
the obstacle position information acquisition unit is used for positioning the position of a target obstacle and determining third position information of the target obstacle when the target obstacle exists in the target image;
an association relation obtaining unit, configured to obtain a first association relation between the first position information and the third position information, a second association relation between the second position information and the third position information, and a third association relation between the first position and the second position information, respectively;
the map acquisition unit is used for generating a first captured map based on the first association relation, the second association relation and the third association relation;
the map acquisition unit is further configured to generate a second capture map based on the first position information and the second position information when there is no obstacle in the target image.
In this embodiment, the target obstacle may be the object to be grabbed and the robot, and the remaining redundant objects are all referred to as target obstacles.
In this embodiment, the preset image capture device may be a camera.
In this embodiment, the first position information may be position information of the robot, the second position information may be position information of the object to be grasped, and the third position information may be position information of the target obstacle.
In this embodiment, the first association relationship may be association information (including information of orientation, distance, and the like) between the robot and the target obstacle position, the second association relationship may be association information (including information of orientation, distance, and the like) between the object to be grasped and the target obstacle position, and the third association relationship may be association relationship (including information of orientation, distance, and the like) between the robot and the object to be grasped.
In this embodiment, the first captured map may be a captured map determined based on the first association relationship, the second association relationship, and the third association relationship when the target obstacle is present.
In this embodiment, the second capture map may be a capture map generated based on the first position information and the second position information when there is no target obstacle.
The beneficial effects of the above technical scheme are: whether the target barrier exists or not is determined, the robot, the object to be grabbed and the relation between the target barriers are analyzed, then different first grabbing maps or second grabbing maps can be accurately generated, the grabbing maps are generated through actual analysis, the accuracy of grabbing the object to be grabbed by the six-axis assisting robot based on the double-joint module and the intelligence of robot work are improved, and the efficiency of robot work is improved.
Example 4:
on the basis of embodiment 3, this embodiment provides a six-axis assisting robot based on a double-joint module, and the target image reading unit includes:
the image processing subunit is used for carrying out pixel graying processing on the target image and determining a target grayscale image;
the labeling subunit is used for performing image overlapping comparison on the target image and the target gray image, determining pixel point distribution of the robot and the object to be grabbed in the target gray image based on a comparison result, labeling the contour pixel point representing the robot and the contour pixel point to be grabbed, and obtaining a first label corresponding to the robot and a second label of the object to be grabbed in the target gray image;
the image processing subunit is further configured to acquire a sub-target grayscale image between the first annotation and the second annotation, where the target grayscale image includes the sub-target grayscale image;
the image analysis subunit is used for carrying out pixel analysis on the sub-target gray level image, determining pixel point color characteristic information of the sub-target gray level image, and determining the pixel distribution smoothness rate of the sub-target gray level image according to the pixel point color characteristic information of the sub-target gray level image;
the image analysis subunit is further configured to determine whether the target obstacle exists in the sub-target grayscale image based on the pixel distribution smoothing rate.
In this embodiment, the target grayscale image is an image obtained by performing a graying process on the target image.
In this embodiment, the first label may be a label of a contour pixel point of the robot, and the second label may be a label of a contour pixel point of the object to be grasped.
In this embodiment, the sub-grayscale image between the first annotation and the second annotation refers to a grayscale image between (but not including) the robot and the object to be grabbed in the target grayscale image.
In this embodiment, the pixel color feature information may be the distribution features of the pixel colors, such as the distribution positions of black pixels, white pixels, and gray pixels.
In this embodiment, the pixel distribution smoothness rate may be determined based on the color characteristics of the pixel points, and the more single the color of the pixel point is, the higher the pixel distribution smoothness rate is, for example, when all the pixel point color distributions are in the sub-target gray scale image, it may be determined that the pixel distribution smoothness rate is 100%.
In this embodiment, the pixel distribution smoothness rate determines whether the sub-target grayscale image has the target obstacle, for example, when the pixel distribution smoothness rate is 100%, and no redundant object exists in the sub-target grayscale image, it is determined that the target obstacle does not exist.
The beneficial effects of the above technical scheme are: the target image is processed, the robot and the image of the object to be grabbed are marked (first mark and second mark), so that the sub-target gray level image is accurately extracted, pixel color feature analysis is performed on the sub-target gray level image, whether a target barrier exists or not is accurately analyzed according to the pixel distribution smoothness, the working accuracy of the robot is improved, and the working efficiency of the robot is improved.
Example 5:
on the basis of embodiment 1, this embodiment provides a six-axis assistance robot based on a dual-joint module, and the map obtaining module, after generating a capture map based on the target position information, further includes:
the map reading unit is used for reading the grabbing map, determining the target distance between the robot and the object to be grabbed, carrying out equal-scale amplification according to a preset scale based on the target distance, and determining the actual distance between the robot and the object to be grabbed;
the arm length acquisition unit is used for determining the arm length of the robot according to six axes of a double-joint module of the robot and determining the maximum grabbing distance of the robot according to the arm length of the robot;
the judging unit is used for comparing the actual distance with the maximum grabbing distance and judging whether the robot needs to move or not;
when the actual distance is larger than the maximum grabbing distance, judging that the robot needs to move;
when the actual distance is smaller than or equal to the maximum grabbing distance, judging that the robot does not need to move;
and the robot moving unit is used for generating a target moving instruction when the robot needs to move, and controlling the robot to move to a target range based on the target moving instruction.
In this embodiment, the target range may be the maximum grabbing distance range, which is a circle based on the position of the robot as the center of a circle and the arm length of the robot as the radius.
In this embodiment, the preset ratio may be a ratio of a target distance between the robot and the object to be grabbed in the grabbing map to a distance (actual distance) between the robot and the object to be grabbed in reality, and is set in advance, for example, 1:100.
the beneficial effects of the above technical scheme are: through confirming the robot and waiting to snatch the actual distance of thing to with actual distance and the biggest snatch the distance and compare, judge whether six axis based on double joint module help the robot can snatch waiting to snatch the thing (promptly the robot need move), thereby it can not can snatch waiting to snatch the thing (promptly when the robot needs to move) to generate the target and move the instruction control robot and move to the target scope to assist the robot when six axis of double joint module help the robot, thereby the intelligence of robot work has been improved.
Example 6:
on the basis of embodiment 5, this embodiment provides a six-axis assisting robot based on a dual-joint module, in the robot moving unit, generating a target moving instruction, including:
the instruction data generation subunit is used for acquiring a target difference value between the actual distance and the maximum grabbing distance and generating first instruction data based on the target difference value;
the instruction data generating subunit is further configured to determine a target direction of the object to be grabbed relative to the robot, determine a moving direction of the robot based on the target direction, and generate second instruction data according to the moving direction;
the instruction data generation subunit is further configured to perform prediction based on the first instruction data and the second instruction data, determine a stop position point of the robot, and generate third instruction data based on the stop position point;
and the instruction generation subunit is used for generating the target movement instruction based on the first instruction data, the second instruction data and the third instruction data.
In this embodiment, the first instruction data may be determined based on a target difference between the actual distance and the maximum grip distance, which facilitates determination of the movement length distance of the robot.
In this embodiment, the second instruction data may be determined based on the moving direction, which is advantageous for determining that the moving direction of the robot is accurate.
In this embodiment, the third instruction data may be data corresponding to the final robot position stop point determined based on the first instruction data (movement length) and the second instruction data (movement direction).
In this embodiment, the target movement instruction may control the moving direction, the moving distance, and the distance of the stop position point of the robot.
The beneficial effects of the above technical scheme are: the target moving instruction is accurately generated by determining the first instruction data, the second instruction data and the third instruction data of the robot, and then the moving direction, the moving distance and the stopping position point of the robot are accurately controlled.
Example 7:
on the basis of embodiment 1, this embodiment provides a six-axis assisting robot based on a double-joint module, in the map obtaining module, the six-axis rotation angle of the double-joint module of the robot is estimated based on the captured map, including:
the map reading unit is used for reading the grabbing map, determining the position of the object to be grabbed and determining the position of a target obstacle;
a grabbing route determining unit, configured to formulate, in the grabbing map, a grabbing route for the robot to grab the object to be grabbed based on the position of the object to be grabbed and the position of the target obstacle, where the grabbing route is equal to or greater than 1;
a shape feature determination unit configured to determine a first shape feature of the target obstacle and a second shape feature of the object to be grasped;
the working characteristic acquisition unit is used for acquiring the six-axis working characteristics of the double-joint module of the robot and determining the six-axis working range of the robot, wherein the six-axis working range of the double-joint module is as follows: the area of a minimum circle of six-axis rotation of the double-joint module and the area of a maximum circle of six-axis rotation of the double-shutdown module are determined;
a target range acquisition unit, configured to determine a target range that bypasses the target obstacle according to a first shape feature of the target obstacle;
the grabbing route executable judging unit is used for comparing the target range with the six-axis working range of the double-joint module when the grabbing route is larger than 1, and judging whether the grabbing route is executable or not;
when the target range is smaller than the six-axis working range of the double-joint module, judging that the grabbing route cannot be executed;
otherwise, judging the executable of the grabbing route;
the route extracting unit is used for extracting executable grabbing routes from the grabbing routes, determining the route characteristics of each executable grabbing route, and determining the direction for grabbing the object to be grabbed based on the position of the object to be grabbed and the second shape characteristics of the object to be grabbed;
the route scoring unit is used for scoring the executable grabbing route based on the route characteristics of the executable grabbing route and the direction of grabbing the object to be grabbed and obtaining a route score;
the optimal grabbing route acquiring unit is used for taking the executable grabbing route corresponding to the maximum route score as an optimal grabbing route;
and the route reading unit is used for reading the optimal grabbing route, determining a route inflection point of the optimal grabbing route and a direction corresponding to the route inflection point, and determining the six-axis rotation angle of the double-joint module of the robot according to the route inflection point of the optimal grabbing route and the direction corresponding to the route inflection point.
In this embodiment, the target obstacle may be the object to be grabbed and the robot, and the remaining redundant objects are all referred to as target obstacles.
In this embodiment, the first shape characteristic may be a parameter for characterizing the appearance, posture, etc. of the target obstacle.
In this embodiment, the second shape feature may be a parameter for characterizing the appearance, volume, etc. of the object to be grasped.
In this embodiment, the operating characteristic may be a maximum rotation angle of the six axes, an extension distance of the six axes, or the like.
In this embodiment, the target range may be a distance that the robot needs to avoid when avoiding the target obstacle.
In this embodiment, scoring the executable grasping route based on the route length of the executable grasping route and the direction of grasping the object to be grasped may be scoring the grasping route according to the route length of the grasping route and the grasping direction, where the shorter the route length of the grasping route and the closer the grasping direction is to the object to be grasped, the higher the final scoring result is, and otherwise, the lower the final scoring result is determined.
In this embodiment, the optimal grabbing route may be the grabbing route with the highest score after comprehensively evaluating the obstacle avoiding capability, grabbing efficiency, grabbing accuracy and the like of the robot when the robot grabs the object to be grabbed.
In this embodiment, the route inflection point may be a point at which the direction of the route changes in the grabbed route.
In this embodiment, the route feature of the executable grab route may be a route feature including: the length of the route, the power consumption of the route when the robot works in the executable route, the smoothness of the route and other characteristics.
The beneficial effects of the above technical scheme are: according to the position of the target barrier, the shape characteristics of the barrier and the shape characteristics of the object to be grabbed are determined at the same time, the grabbing route of the robot for grabbing the object to be grabbed is effectively planned, the determined grabbing route is scored at the same time, the optimal grabbing route is selected finally, the six-axis rotation angle is effectively analyzed according to the optimal grabbing route, the robot is guaranteed to accurately grab the object to be grabbed, and meanwhile grabbing efficiency is guaranteed.
Example 8:
on the basis of embodiment 1, this embodiment provides a six-axis assistance robot based on double joint module, the work module, based on control instruction control the six-axis assistance robot of double joint module is to wait to snatch when snatching the thing, still include:
the monitoring unit is used for detecting six-axis rotation data of the double-joint module of the robot in real time based on a preset sensor and generating monitoring data;
a data range determination unit configured to determine the reference data range based on a six-axis rotation angle of a double joint module of the robot;
and the monitoring unit is also used for reading the monitoring data in real time, judging whether the monitoring data is in the reference data range or not, and performing alarm operation when the monitoring data is not in the reference data range.
In this embodiment, the default sensor may be a six-axis torque/tip sensor.
In this embodiment, the monitoring data may be data obtained by monitoring the six-axis rotation of the robot double-joint module based on a preset sensor.
In this embodiment, the reference range may be determined by the six-axis rotation angle of the robot double-joint module, and the six-axis rotation angle of the robot double-joint module is a joint range in which the robot operates, and is (-360 °, +360 °).
In this embodiment, the alarm operation may be one or more of a voice prompt and a light alarm.
The beneficial effects of the above technical scheme are: six-axis rotation data of the double-joint module of the robot are monitored based on the preset sensor, so that reasonable operation of the robot in the working process can be reasonably controlled, and the robot is protected from being damaged.
Example 9:
on the basis of embodiment 1, this embodiment provides a six axis assistance robot based on two joint modules, and the work module still includes:
the power-down protection unit is used for calling a target encoder to carry out power-down protection encoding when the robot is powered off in the process of grabbing the object to be grabbed;
and the power failure protection unit is also used for controlling six axes of the double-joint module of the robot to carry out power failure position memory based on the coding result.
In this embodiment, the target encoder may be a coaxial distributed dual encoder.
The beneficial effects of the above technical scheme are: through setting up power down protection to make the work of robot have the memory, thereby be favorable to helping the six-axis based on double joint module to assist the robot to carry out the work efficiency of work.
Example 10:
on the basis of embodiment 1, the working module further includes:
the speed planning unit is used for acquiring the target position of the object to be grabbed and planning the speed of the robot reaching the target position through six axes of the double-joint module based on the target position of the object to be grabbed, and the specific process is as follows:
acquiring a planning period delta T of the robot controlled by the controller, and simultaneously determining a target time T of the six-axis assisted robot to reach the target position based on the double-joint module n ；
Based on the planning period DeltaT and the target time T n Calculating the previous time T of the robot at the target time n-1 The distance from the robot to the target position, wherein T n The specific time corresponding to the nth time point is represented; t is n-1 Representing the specific time corresponding to the (n-1) th time point, wherein n represents the time point;
ΔL＝L target -{p 0 +(n-1)*v 0 *ΔT+2(n-1)a 0 *ΔT2}；
wherein Δ L represents the robot at T n-1 The distance from the moment to the target position; l is a radical of an alcohol target Representing the target position of the object to be grabbed; p is a radical of 0 The initial position of the robot for controlling the six axes of the double-joint module to move at the current moment is shown; v. of 0 Representing the initial speed of the robot for controlling the six axes of the double-joint module to move at the current moment; Δ T represents the planning period; a is 0 Representing the initial acceleration of the robot for controlling the six axes of the double-joint module to move at the current moment; n represents a time point;
according to the robot being at T n-1 The distance from the robot to the target position at any moment is calculated, and the minimum speed of the six-axis assisting robot to reach the target position based on the double-joint module is calculated;
wherein, V target A minimum speed for assisting the robot to reach the target position based on six axes of the double-joint module; v. of max Representing a maximum speed at which the robot is operating; v. of n-1 Representing the working speed of the robot at n-1 time points; a is max Representing the maximum value of the acceleration of the robot in work; d max Representing a maximum deceleration of the robot while in operation;
and generating a speed regulation and control instruction for the robot to work in the controller based on the minimum speed, and controlling the robot to carry out speed change planning based on the speed regulation and control instruction.
In this embodiment, the planning cycle includes: the controller inputs a planned position to the actuator every drawing cycle.
In this embodiment, the controller may be configured to control the operating speed of the robot.
The beneficial effects of the above technical scheme are: when the six-axis assistance robot based on the double-joint module works, the robot performs speed change planning, so that smooth continuous change of the speed of the robot is realized, and the working efficiency of the robot is increased.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. The utility model provides a six assist robot based on double joint module which characterized in that includes:
the positioning module is used for positioning the target position information of the object to be grabbed based on the robot;
the map acquisition module is used for generating a capture map based on the target position information and evaluating the six-axis rotation angle of the double-joint module of the robot based on the capture map;
the working module is used for generating a control instruction based on the grabbing map and six-axis rotation angles of the double-joint module of the robot, and controlling the six-axis assistance robot of the double-joint module to grab the object to be grabbed based on the control instruction;
the map reading unit is used for reading the grabbing map, determining the position of the object to be grabbed and determining the position of a target obstacle;
a grabbing route determining unit, configured to formulate a grabbing route for the robot to grab the object to be grabbed in the grabbing map based on the position of the object to be grabbed and the position of the target obstacle, where the grabbing route is equal to or greater than 1;
a shape feature determination unit configured to determine a first shape feature of the target obstacle and a second shape feature of the object to be grasped;
the working characteristic acquisition unit is used for acquiring the six-axis working characteristics of the double-joint module of the robot and determining the six-axis working range of the robot, wherein the six-axis working range of the double-joint module is as follows: the area of a minimum circle of six-axis rotation of the double-joint module and the area of a maximum circle of six-axis rotation of the double-joint module are determined;
a target range acquisition unit, configured to determine a target range that bypasses the target obstacle according to a first shape feature of the target obstacle;
the grabbing route executable judging unit is used for comparing the target range with the six-axis working range of the double-joint module when the grabbing route is larger than 1, and judging whether the grabbing route is executable or not;
when the target range is smaller than the six-axis working range of the double-joint module, judging that the grabbing route cannot be executed;
otherwise, judging the executable of the grabbing route;
the route extracting unit is used for extracting executable grabbing routes from the grabbing routes, determining the route characteristics of each executable grabbing route, and determining the direction for grabbing the object to be grabbed based on the position of the object to be grabbed and the second shape characteristics of the object to be grabbed;
the route scoring unit is used for scoring the executable grabbing route based on the route characteristics of the executable grabbing route and the direction of grabbing the object to be grabbed and obtaining a route score;
the optimal grabbing route obtaining unit is used for taking the executable grabbing route corresponding to the maximum route score as the optimal grabbing route;
and the route reading unit is used for reading the optimal grabbing route, determining a route inflection point of the optimal grabbing route and a direction corresponding to the route inflection point, and determining the six-axis rotation angle of the double-joint module of the robot according to the route inflection point of the optimal grabbing route and the direction corresponding to the route inflection point.
2. The six-axis assisting robot based on the double-joint modules as claimed in claim 1, wherein the degree of freedom of the robot is 6, the mechanical arm of the robot comprises six axes and three groups of double-joint modules, and the rotation range of each group of double-joint modules is (-360 °, +360 °).
3. The six-axis assisting robot based on the double-joint module as claimed in claim 1, wherein the positioning module is configured to position the target position information of the object to be grasped based on the robot, and comprises:
the positioning device comprises a position positioning unit, a positioning unit and a control unit, wherein the position positioning unit is used for establishing a plane rectangular coordinate system in a target scene and determining first coordinate position data of the robot based on the plane rectangular coordinate system;
the position positioning unit is further used for determining second coordinate position data of the object to be grabbed in the plane rectangular coordinate system;
and the data fusion processing unit is used for carrying out fusion processing on the first coordinate position data and the second coordinate position data and determining target position information of the object to be grabbed based on a fusion processing result.
4. The six-axis assisting robot based on the double-joint module according to claim 1, wherein the map obtaining module generates a capture map based on the target position information, and the capture map comprises:
the position information acquisition unit is used for acquiring first position information of the robot in a target scene and reading second position information of the object to be grabbed;
the target image acquisition unit is used for acquiring a target image containing the robot and the object to be grabbed in a target scene based on a preset image acquisition device;
the target image reading unit is used for reading the target image and determining whether a target obstacle exists in the target image, wherein the target obstacle is an article except the robot and the article to be grabbed;
the obstacle position information acquisition unit is used for positioning the position of a target obstacle and determining third position information of the target obstacle when the target obstacle exists in the target image;
an association relation obtaining unit, configured to obtain a first association relation between the first position information and the third position information, a second association relation between the second position information and the third position information, and a third association relation between the first position and the second position information, respectively;
the map acquisition unit is used for generating a first capture map based on the first association relation, the second association relation and the third association relation;
the map acquisition unit is further configured to generate a second capture map based on the first position information and the second position information when there is no obstacle in the target image.
5. The six-axis-assisted robot based on the double-joint module according to claim 4, wherein the target image reading unit comprises:
the image processing subunit is used for carrying out pixel graying processing on the target image and determining a target grayscale image;
the labeling subunit is used for performing image overlapping comparison on the target image and the target gray image, determining pixel point distribution of the robot and the object to be grabbed in the target gray image based on a comparison result, labeling the contour pixel point representing the robot and the contour pixel point to be grabbed, and obtaining a first label corresponding to the robot and a second label of the object to be grabbed in the target gray image;
the image processing subunit is further configured to acquire a sub-target grayscale image between the first annotation and the second annotation, where the target grayscale image includes the sub-target grayscale image;
the image analysis subunit is used for carrying out pixel analysis on the sub-target gray level image, determining the color characteristic information of the pixel points of the sub-target gray level image, and determining the pixel distribution smoothness of the sub-target gray level image according to the color characteristic information of the pixel points of the sub-target gray level image;
the image analysis subunit is further configured to determine whether the target obstacle exists in the sub-target grayscale image based on the pixel distribution smoothing rate.
6. The six-axis assisting robot based on the double-joint module according to claim 1, wherein the map obtaining module, after generating the capture map based on the target position information, further comprises:
the map reading unit is used for reading the grabbing map, determining a target distance between the robot and the object to be grabbed, carrying out equal-scale amplification according to a preset proportion based on the target distance, and determining an actual distance between the robot and the object to be grabbed;
the arm length obtaining unit is used for determining the arm length of the robot according to six axes of a double-joint module of the robot and determining the maximum grabbing distance of the robot according to the arm length of the robot;
the judging unit is used for comparing the actual distance with the maximum grabbing distance and judging whether the robot needs to move or not;
when the actual distance is larger than the maximum grabbing distance, judging that the robot needs to move;
when the actual distance is smaller than or equal to the maximum grabbing distance, judging that the robot does not need to move;
and the robot moving unit is used for generating a target moving instruction when the robot needs to move, and controlling the robot to move to a target range based on the target moving instruction.
7. The six-axis-assisted robot based on the double-joint module as claimed in claim 6, wherein the robot moving unit generates the target moving command, and the target moving command comprises:
the instruction data generation subunit is used for acquiring a target difference value between the actual distance and the maximum grabbing distance and generating first instruction data based on the target difference value;
the instruction data generating subunit is further configured to determine a target direction of the object to be grabbed relative to the robot, determine a moving direction of the robot based on the target direction, and generate second instruction data according to the moving direction;
the instruction data generation subunit is further configured to perform prediction based on the first instruction data and the second instruction data, determine a stop position point of the robot, and generate third instruction data based on the stop position point;
and the instruction generation subunit is used for generating the target movement instruction based on the first instruction data, the second instruction data and the third instruction data.
8. The six-axis assisting robot based on the double-joint module according to claim 1, wherein the working module, when controlling the six-axis assisting robot based on the control command to grasp the object to be grasped, further comprises:
the monitoring unit is used for detecting six-axis rotation data of the double-joint module of the robot in real time based on a preset sensor and generating monitoring data;
a data range determination unit for determining a reference data range based on six-axis rotation angles of a double-joint module of the robot;
the monitoring unit is also used for reading the monitoring data in real time, judging whether the monitoring data is in the reference data range or not, and performing alarm operation when the monitoring data is not in the reference data range.
9. The six-axis assisting robot based on the double-joint module according to claim 1, wherein the working module further comprises:
the power-down protection unit is used for calling a target encoder to carry out power-down protection encoding when the robot is powered off in the process of grabbing the object to be grabbed;
and the power failure protection unit is also used for controlling six axes of the double-joint module of the robot to carry out power failure position memory based on the coding result.
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