CN114536349A - Automatic detection obstacle avoidance control method for industrial robot - Google Patents
Automatic detection obstacle avoidance control method for industrial robot Download PDFInfo
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- CN114536349A CN114536349A CN202210380456.XA CN202210380456A CN114536349A CN 114536349 A CN114536349 A CN 114536349A CN 202210380456 A CN202210380456 A CN 202210380456A CN 114536349 A CN114536349 A CN 114536349A
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- 238000001514 detection method Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000007405 data analysis Methods 0.000 claims abstract description 4
- 238000011897 real-time detection Methods 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an industrial robot automatic detection obstacle avoidance control method, which comprises the following steps: setting distance response threshold values and response time through sensor modules arranged on the head, the trunk and the chassis of the industrial robot; in the process of moving of the industrial robot, any sensor module carries out real-time detection on the distance of the obstacle, and transmits the detected distance data of the obstacle to a controller in the industrial robot for data analysis and processing; and the part where the sensor is installed executes corresponding obstacle avoidance action according to the obstacle avoidance control signal. According to the invention, the sensor modules are arranged at different positions of the robot to form an upper detection plane, a middle detection plane and a lower detection plane, so that the three-dimensional detection of the obstacle is realized, and meanwhile, the obstacle avoidance scheme generated according to the detected obstacle distance is more diversified.
Description
Technical Field
The invention relates to the technical field of industrial robot control, in particular to an automatic detection obstacle avoidance control method for an industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, and have been widely used in various industrial fields such as electronics, logistics, and chemical industry.
For a mobile industrial robot, it is very important to keep away the barrier in its removal, navigation in-process, but in present mobile robot keeps away the barrier scheme, mostly only install the sensor in a certain department of robot, but the detection range of a sensor is extremely limited, only 1 detection plane, can't realize on a large scale, three-dimensional omnidirectional detection, and further, the produced barrier scheme of keeping away according to the barrier distance data of detecting is comparatively single, and intelligent degree is not high, for example can lead to the robot card can't take off in the corner, consequently need improve.
Disclosure of Invention
The invention aims to provide an automatic detection obstacle avoidance control method for an industrial robot, which is characterized in that sensor modules are arranged at different positions of the robot to form an upper detection plane, a middle detection plane and a lower detection plane so as to realize three-dimensional detection of an obstacle, and meanwhile, an obstacle avoidance scheme generated according to the detected obstacle distance is more diversified.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an industrial robot automatic detection obstacle avoidance control method, which comprises the following steps:
setting distance response threshold values and response time through sensor modules arranged on the head, the trunk and the chassis of the industrial robot; each sensor module consists of 8 sensors with the numbers of 1-8, and the detection ranges of the 8 sensors of each sensor module are sequentially connected to form a fan-shaped detection area;
in the process of moving of the industrial robot, any sensor module carries out real-time detection on the distance of the obstacle, and transmits the detected distance data of the obstacle to a controller in the industrial robot for data analysis and processing; if the detected distance of the obstacle is smaller than or equal to the set distance response threshold, determining a sensor for acquiring the distance of the obstacle by a controller in the industrial robot, and outputting an obstacle avoidance control signal of the part where the sensor is installed;
and the part where the sensor is installed executes corresponding obstacle avoidance action according to the obstacle avoidance control signal.
Preferably, the sensor infrared sensor module and the microwave sensor in the sensor module.
Preferably, the sensor module structures of the head, the trunk and the chassis of the industrial robot are arranged identically, and the detection angle of each sensor is 20-30 degrees.
Preferably, when the sensor is a microwave sensor, the time point when the microwave sensor detects the emission of the wave is recorded as T0After the detection wave of the microwave sensor is transmitted, the detection wave meets an obstacle and is reflected back to the sensor, and the time point when the sensor receives the detection wave is T1；
Obtaining the distance X between the industrial robot and the obstacle through a calculation formula (1)0：
Wherein, the movement speed of the industrial robot is V when the microwave sensor detects the emission of the wave0；
And acquiring the traveling speed V of the current industrial robot in real time1And through the distance X between the industrial robot and the obstacle0Velocity V with current industrial robot1Obtaining the pre-collision time T ═ X0/V1。
Preferably, step S3 includes:
when the sensors numbered 1 and 8 simultaneously detect that the obstacle distance is less than or equal to the set distance response threshold, the industrial robot continues to move forward.
Preferably, step S3 includes:
when 2 or 3 of the 3 sensors numbered 1-3 simultaneously detect that the obstacle distance is less than or equal to the set distance response threshold, the industrial robot moves to the right front.
Preferably, step S3 includes:
when 2 or more than 3 of the 3 sensors numbered 6-8 simultaneously detect that the distance of the obstacle is smaller than or equal to the set distance response threshold, the industrial robot moves to the left front.
Preferably, step S3 includes:
when the sensor No. 4 or 5 detects for the first time that the obstacle distance is less than or equal to the set distance response threshold, the industrial robot moves backward by a first predetermined distance and turns 45 ° to the left front.
Preferably, if the sensor numbered 4 or 5 detects the obstacle distance less than or equal to the set distance response threshold value for the second time during the movement, the industrial robot moves backwards again for the second predetermined distance and turns to the right and the front for 45 degrees of movement.
Preferably, if the obstacle avoidance sensor numbered 4 or 5 detects that the distance of the obstacle is less than or equal to the set distance response threshold for the third time during the moving process, the industrial robot rotates 180 degrees and moves in the opposite direction.
Compared with the prior art, the invention has the beneficial effects that: the sensor modules are arranged above, in and below the industrial robot to detect the obstacles so as to realize the three-dimensional detection of the obstacles, and each sensor module can realize the obstacle detection in each direction on a 180-degree plane. Meanwhile, the industrial robot can select the most reasonable avoidance scheme by combining with the obstacle distance data so as to improve the intelligence and the autonomy of the industrial robot in obstacle avoidance.
Drawings
Fig. 1 is an overall structural view of an industrial robot in the present invention.
Fig. 2 is a schematic view of a sector-shaped detection area formed by sensors in the sensor module of the industrial robot according to the present invention.
Fig. 3 is a structural diagram of logic control signals of a sensor module of three parts of a head, a trunk and a chassis of the industrial robot.
Fig. 4 is a schematic structural diagram of an infrared obstacle avoidance device of an industrial robot in the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
as shown in fig. 1, the main components of the industrial robot in this embodiment are a head 100, a trunk 200 and a chassis 300, and the head 100, the trunk 200 and the chassis 300 are all provided with sensor modules, thereby realizing the detection of obstacles with different heights to increase the obstacle avoidance detection accuracy, and the sensor modules of the head 100, the trunk 200 and the chassis 300 are arranged in the same structure, as shown in fig. 2, each sensor module is composed of 8 sensors numbered 1-8, and the detection angle of each sensor is 20-30 ° (preferably 25 °), and the detection ranges of the 8 sensors of each sensor module are sequentially connected to form a sector detection area; in this embodiment, the sensor is an infrared sensor;
meanwhile, the sensor module signals of the three positions of the head 100, the trunk 200 and the chassis 300 share the same priority, and a single trigger circuit is formed by logic gates, as shown in fig. 3, 2 or gates are included, A, B, C respectively represent the sensor signals obtained by the sensor modules of the head 100, the trunk 200 and the chassis 300, and D is a signal output; when any one of the A and the B is triggered, a signal is output to a second OR gate through a first OR gate, and when the C is triggered alone, a signal is output to a second OR gate, so that the threshold of any one of the three sensor modules is triggered, namely, the threshold is judged to be successful.
Further, the embodiment provides an automatic detection obstacle avoidance control method for an industrial robot, as shown in fig. 4, which specifically includes the following steps:
s1, setting distance response threshold and response time by sensor modules mounted on the head 100, the trunk 200, and the chassis 300 of the industrial robot;
wherein the distance response threshold is a triggered safety distance between the industrial robot and the obstacle, for example, 0.5m, and the response time is a time from the triggering of the industrial robot distance response threshold to the obstacle avoidance action of the industrial robot;
s2, in the process of moving of the industrial robot, any sensor module carries out real-time detection on the distance of the obstacle at intervals less than or equal to 0.1 second, and transmits the detected distance data of the obstacle to a controller in the industrial robot for data analysis and processing;
if the detected distance of the obstacle is larger than the set distance response threshold, no obstacle avoidance control signal is output, and the industrial robot continues to move according to the preset route;
if the detected distance of the obstacle is smaller than or equal to the set distance response threshold, determining a sensor for acquiring the distance of the obstacle by a controller in the industrial robot, and outputting an obstacle avoidance control signal of a part (namely the head 100 or the trunk 200 or the chassis 300 of the industrial robot) where the sensor is installed;
and S3, executing corresponding obstacle avoidance actions such as rotation, detour, retreat, continuous advance and the like by the installation part of the sensor according to the obstacle avoidance control signal.
Wherein, step S3 includes:
when the sensors numbered 1 and 8 simultaneously detect that the distance between the obstacles is less than or equal to the set distance response threshold value, the industrial robot continues to move forwards;
when 2 or 3 of the 3 sensors with the numbers 1-3 simultaneously detect that the distance of the obstacle is smaller than or equal to the set distance response threshold value, the industrial robot moves to the right front;
when 2 or more than 3 sensors in 3 sensors with numbers 6-8 simultaneously detect that the distance of the obstacle is smaller than or equal to the set distance response threshold value, the industrial robot moves towards the left front;
when the sensor numbered 4 or 5 detects that the distance of the obstacle is smaller than or equal to the set distance response threshold for the first time, the industrial robot moves backwards by a first preset distance (such as 1m) and turns towards the left front by 45 degrees;
if the sensor numbered 4 or 5 detects that the distance of the obstacle is smaller than or equal to the set distance response threshold value for the second time in the moving process, the industrial robot moves backwards again for a second preset distance (such as 1m) and turns to move 45 degrees to the right and the front;
if the obstacle avoidance sensor with the number 4 or 5 detects that the distance of the obstacle is smaller than or equal to the set distance response threshold value for the third time in the moving process, it indicates that the number of the obstacles in front is large/large, and the industrial robot rotates 180 degrees to move in the opposite direction.
Further, in this embodiment, the controller is implemented by using an FPGA (Field-Programmable Gate Array), a DSP (Digital Signal Processing), a GPU (Graphics Processing Unit), or a single chip.
Further, the motion device includes devices such as motor, pivot and the gyro wheel that is used for driving industrial robot motion (like rotation, removal etc.), just industrial robot is last to install the warning light, and when arbitrary sensor detected the barrier apart from being less than or equal to the distance response threshold value of settlement, the warning light was lighted.
The maximum rotation angle of the chassis 300 of the industrial robot is 180 °, so that the industrial robot can directly complete the in-situ turning motion.
Therefore, sensor modules are arranged on the head, the trunk and the chassis of the industrial robot in the embodiment, so that the detection of the obstacles in all directions on the plane of 180 degrees can be realized, the industrial robot can execute different actions according to different obstacle distances, and the most intelligent obstacle avoidance scheme is formed.
Example 2:
the present embodiment is different from embodiment 1 in that the sensor in the present embodiment is a microwave sensor, and when the microwave sensor is used, the time point when the microwave sensor detects the emission of the wave is denoted as T0After the detection wave of the microwave sensor is transmitted, the detection wave meets an obstacle and is reflected back to the sensor, and the time point when the sensor receives the detection wave is T1；
Obtaining the distance X between the industrial robot and the obstacle through a calculation formula (1)0：
Wherein, the microwaveThe motion speed of the industrial robot is V when the sensor detects the emission of the wave0；
Acquiring the traveling speed V of the current industrial robot in real time1Then by the distance X of the industrial robot from the obstacle0Velocity V with current industrial robot1Obtaining the pre-collision time T ═ X0/V1。
Example 3:
the difference between this embodiment and embodiment 1 or 2 is that the controller is internally further provided with a state detection unit for monitoring operating parameters of the industrial robot, where the operating parameters include temperature, feedback time length, maintenance records, and the like, the temperature is an internal temperature when the industrial robot works, the feedback time length is a time interval from when the industrial robot receives an obstacle avoidance control signal to when the obstacle avoidance action is executed, and the maintenance records are total maintenance times of the industrial robot in a predetermined time (for example, within one month), so that the service life of the industrial robot is prolonged through monitoring of the operating parameters of the industrial robot.
In summary, the head, the trunk and the chassis of the industrial robot are provided with the sensor modules, and the sensors in each sensor module form a sector detection area, so that the obstacle detection in each direction on a 180-degree plane can be realized, and meanwhile, the industrial robot can execute different actions according to different obstacle distances by combining an intelligent logic judgment method, thereby forming the most intelligent obstacle avoidance scheme.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. An industrial robot automatic detection obstacle avoidance control method is characterized by comprising the following steps:
setting distance response threshold values and response time through sensor modules arranged on the head, the trunk and the chassis of the industrial robot; each sensor module consists of 8 sensors with the numbers of 1-8, and the detection ranges of the 8 sensors of each sensor module are sequentially connected to form a sector detection area;
in the process of moving of the industrial robot, any sensor module carries out real-time detection on the distance of the obstacle, and transmits the detected distance data of the obstacle to a controller in the industrial robot for data analysis and processing; if the detected distance of the obstacle is smaller than or equal to the set distance response threshold, determining a sensor for acquiring the distance of the obstacle by a controller in the industrial robot, and outputting an obstacle avoidance control signal of the part where the sensor is installed;
and the part where the sensor is installed executes corresponding obstacle avoidance action according to the obstacle avoidance control signal.
2. The automatic detection obstacle avoidance control method for the industrial robot according to claim 1, wherein a sensor infrared sensor module and a microwave sensor in the sensor module are provided.
3. The automatic detection obstacle avoidance control method for the industrial robot according to claim 1, wherein sensor module structures of the head, the trunk and the chassis of the industrial robot are arranged identically, and a detection angle of each sensor is 20-30 °.
4. The automatic detection obstacle avoidance control method for the industrial robot according to claim 2, wherein when the sensor is a microwave sensor, the time point when the microwave sensor detects the emission of the wave is T0After the detection wave of the microwave sensor is transmitted, the detection wave meets an obstacle and is reflected back to the sensor, and the time point when the sensor receives the detection wave is T1；
Obtaining the distance X between the industrial robot and the obstacle through a calculation formula (1)0：
Wherein, the movement speed of the industrial robot is V when the microwave sensor detects the emission of the wave0；
And acquiring the traveling speed V of the current industrial robot in real time1And through the distance X between the industrial robot and the obstacle0Velocity V with current industrial robot1Obtaining the pre-collision time T ═ X0/V1。
5. The automatic detection obstacle avoidance control method for the industrial robot according to claim 1, wherein the step S3 includes:
when the sensors numbered 1 and 8 simultaneously detect that the obstacle distance is less than or equal to the set distance response threshold, the industrial robot continues to move forward.
6. The automatic detection obstacle avoidance control method for the industrial robot according to claim 1, wherein the step S3 includes:
when 2 or 3 of the 3 sensors numbered 1-3 simultaneously detect that the obstacle distance is less than or equal to the set distance response threshold, the industrial robot moves to the right front.
7. The industrial robot automatic detection obstacle avoidance control method according to claim 1, wherein the step S3 includes:
when 2 or more than 3 of the 3 sensors numbered 6-8 simultaneously detect that the distance of the obstacle is less than or equal to the set distance response threshold, the industrial robot moves to the left front.
8. The automatic detection obstacle avoidance control method for the industrial robot according to claim 1, wherein the step S3 includes:
when the sensor No. 4 or 5 detects for the first time that the obstacle distance is less than or equal to the set distance response threshold, the industrial robot moves backward by a first predetermined distance and turns 45 ° to the left front.
9. The automatic detection obstacle avoidance control method for the industrial robot according to claim 8, wherein if the sensor numbered 4 or 5 detects the obstacle for the second time during the moving process that the distance is less than or equal to the set distance response threshold value, the industrial robot moves backward again for a second predetermined distance and turns to the right and forward for 45 degrees.
10. The automatic detection obstacle avoidance control method for the industrial robot according to claim 9, wherein if the obstacle avoidance sensor numbered 4 or 5 detects an obstacle for the third time during the moving process, the distance is smaller than or equal to the set distance response threshold, the industrial robot rotates 180 degrees and moves in the opposite direction.
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| US20120185095A1 (en) * | 2010-05-20 | 2012-07-19 | Irobot Corporation | Mobile Human Interface Robot |
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| CN109816933A (en) * | 2019-03-20 | 2019-05-28 | 潍坊医学院 | The anti-tumble intelligent monitor system of old man and monitoring method based on compound transducer |
| CN110286675A (en) * | 2019-06-10 | 2019-09-27 | 旗瀚科技有限公司 | A kind of infrared obstacle avoidance method for disabled aiding robot of helping the elderly |
| CN111273658A (en) * | 2020-01-13 | 2020-06-12 | 北京理工大学 | Mobile robot and obstacle detection method |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120185095A1 (en) * | 2010-05-20 | 2012-07-19 | Irobot Corporation | Mobile Human Interface Robot |
| CN107073711A (en) * | 2015-09-08 | 2017-08-18 | 深圳市赛亿科技开发有限公司 | A kind of robot follower method |
| CN109816933A (en) * | 2019-03-20 | 2019-05-28 | 潍坊医学院 | The anti-tumble intelligent monitor system of old man and monitoring method based on compound transducer |
| CN110286675A (en) * | 2019-06-10 | 2019-09-27 | 旗瀚科技有限公司 | A kind of infrared obstacle avoidance method for disabled aiding robot of helping the elderly |
| CN111273658A (en) * | 2020-01-13 | 2020-06-12 | 北京理工大学 | Mobile robot and obstacle detection method |
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