CN102385386B - Line-heating intelligent robot path planning method - Google Patents
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- 238000010438 heat treatment Methods 0.000 title claims abstract description 12
- 238000000034 method Methods 0.000 title claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 238000005452 bending Methods 0.000 claims description 13
- 238000005457 optimization Methods 0.000 claims description 7
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
Description
技术领域 technical field
本发明涉及水火弯板技术领域，特别涉及一种水火弯板智能机器人路径规划方法。 The invention relates to the technical field of water and fire bending plates, in particular to a path planning method for an intelligent robot of water and fire bending plates.
背景技术 Background technique
水火弯板路径规划按照工作环境进行划分可以分为两种；其一、基于模型的全局路径规划，作业环境的全部信息已知，又称为静态或离线路径规划；其二、基于动态信息局部路径规划，作业环境信息全部未知或部分未知，又称为动态或在线路径规划。 Water and fire bending plate path planning can be divided into two types according to the working environment; first, model-based global path planning, where all information of the operating environment is known, also known as static or offline path planning; second, dynamic information-based local Path planning, all or part of the operating environment information is unknown, also known as dynamic or online path planning.
水火弯板智能机器人的路径规划为一种动态信息局部路径规划，其任务是在复杂的曲面上寻找机器人从始端运动到终端的路径，同时保证运动过程中速度均匀，并且使得机器人末端即火枪头与需要加热的加热点时刻保持垂直。水火弯板智能机器人路径规划主要解决三个问题：（1）寻找机器人的目标路径；（2）寻找机器人的终端位姿。（3）使机器人从始端运动到末端，并且保证加工路径上均匀速度，非加工路径上，采用加速运动，争取最小时间。（4）在完成以上任务的前提下尽量优化机器人的运动轨迹。 The path planning of the water-fire bending plate intelligent robot is a kind of dynamic information local path planning. Its task is to find the path of the robot from the beginning to the end on the complex surface, and at the same time ensure that the speed is uniform during the movement, and make the end of the robot the gun head. Keep perpendicular to the heating point that needs to be heated at all times. The path planning of the water-fire bending plate intelligent robot mainly solves three problems: (1) finding the target path of the robot; (2) finding the terminal pose of the robot. (3) Make the robot move from the beginning to the end, and ensure a uniform speed on the processing path, and use accelerated motion on the non-processing path to strive for the minimum time. (4) On the premise of completing the above tasks, optimize the trajectory of the robot as much as possible.
发明内容 Contents of the invention
本发明所要解决的技术问题是提供一种水火弯板智能机器人路径规划方法，通过此方法对水火弯板路径的优化，最大程度提高了该系统的工作效率。 The technical problem to be solved by the present invention is to provide a path planning method for the water-fire bending intelligent robot, through which the optimization of the path of the water-fire bending can maximize the working efficiency of the system.
为解决上述技术问题，本发明采用的技术方案为：一种水火弯板智能机器人路径规划方法，采用五轴联动机器人，包括如下步骤： In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is: a path planning method for a water-fire bending plate intelligent robot, using a five-axis linkage robot, including the following steps:
（1）确定机器人的运动空间和自由度； (1) Determine the movement space and degrees of freedom of the robot;
（2）确定机器人的目标路径； (2) Determine the target path of the robot;
（3）确定机器人的末端位姿； (3) Determine the end pose of the robot;
（4）确定各关节的运动量、运动速度； (4) Determine the movement amount and movement speed of each joint;
（5）机器人的随动控制； (5) Follow-up control of the robot;
（6）运动路径优化。 (6) Motion path optimization.
优选地，所述步骤（1）中的确定机器人的运动空间为：X轴：10-14米，Y轴：2.5-4.5米，Z轴：0.8-1.5米，C1轴：0～180°，C2轴：0～360°；自由度为4个。 Preferably, the movement space of the determined robot in the step (1) is: X-axis: 10-14 meters, Y-axis: 2.5-4.5 meters, Z-axis: 0.8-1.5 meters, C1 axis: 0-180°, C2 axis: 0～360°; 4 degrees of freedom.
优选地，所述步骤（1）中的确定机器人的运动空间为：X轴：12米，Y轴：3.5米，Z轴：1.2米，C1轴：0～180°，C2轴：0～360°；自由度为4个。 Preferably, the movement space of the determined robot in the step (1) is: X axis: 12 meters, Y axis: 3.5 meters, Z axis: 1.2 meters, C1 axis: 0-180°, C2 axis: 0-360° °; 4 degrees of freedom.
优选地，所述步骤（2）中的确定机器人的目标路径，根据火路、加热强度、形变要求、钢板特性做出初步路径规划，并找出曲面上的加工曲线与曲线上的特殊点。 Preferably, in the step (2), determine the target path of the robot, make preliminary path planning according to the fire path, heating intensity, deformation requirements, and steel plate characteristics, and find out the processing curve on the curved surface and special points on the curve.
优选地，所述步骤（3）中的确定机器人的末端位姿，由安装成不同角度的两部相机对加工的钢板曲面进行拍摄，然后根据相机的内外部参数确定机器人火枪头的当前位置与钢板上需要加工的特殊点位置；再以特殊点为中心，取小片曲面；接着通过曲面拟合求得此小片曲面的曲面方程，过特殊点计算此小曲面的法向量方程；最后根据火枪头与加热点之间的最佳距离，计算可得机器人末端的位姿。具体地，特殊点为P点，以P点为中心取小片曲面，当这个小曲面充分小时，可以近似为一个平面，求取该平面特殊点的法向量L1。C2轴最终需要移动到法向量L1上，按照加热要求调整火枪头与钢板之间的距离D。最后根据P点坐标、空间直线L1方程，计算出与直线L1距离为D的P’点坐标。P’即为机器人末端位姿。 Preferably, in the determination of the end pose of the robot in the step (3), two cameras installed at different angles take pictures of the processed steel plate surface, and then determine the current position and position of the gun head of the robot according to the internal and external parameters of the camera. The position of the special point on the steel plate that needs to be processed; then take the small surface with the special point as the center; then obtain the surface equation of the small surface through surface fitting, and calculate the normal vector equation of the small surface through the special point; finally, according to the gun head The optimal distance from the heating point can be calculated to obtain the pose of the end of the robot. Specifically, the special point is point P, and a small surface is taken with point P as the center. When the small surface is sufficiently small, it can be approximated as a plane, and the normal vector L 1 of the special point on the plane is obtained. The C2 axis needs to move to the normal vector L 1 eventually, and adjust the distance D between the musket head and the steel plate according to the heating requirements. Finally, according to the coordinates of point P and the equation of the space straight line L1 , calculate the coordinates of point P' whose distance from the straight line L1 is D. P' is the end pose of the robot.
优选地，所述步骤（5）中的机器人的火枪头的随动控制，根据机器人的末端姿态和初始姿态，逆解出机器人各关节应有的运动量，然后求解出各关节的速度。 Preferably, in the follow-up control of the musket head of the robot in the step (5), according to the terminal posture and the initial posture of the robot, the amount of motion that each joint of the robot should have is calculated inversely, and then the speed of each joint is calculated.
优选地，所述步骤（6）中的运动路径优化主要为非加工路径的选择，根据需要加工曲线的两端点坐标以及机器人终端的当前坐标，寻找最优路径，先计算机器人终端的当前坐标点与需加工曲线的两端点s1、s2之间的距离d1、d2，再比较d1、d2的大小；如果d1＜d2，则机器人的非加工路径选择：采用直线运动由当前位置运动到端点s1，然后从s1端运动到s2端；若d1＞d2，则机器人的非加工路径选择：采用直线运动由当前位置运动到端点s2，然后从s2端运动到s1端。 Preferably, the motion path optimization in step (6) is mainly the selection of the non-processing path, according to the coordinates of the two ends of the processing curve and the current coordinates of the robot terminal, to find the optimal path, first calculate the current coordinate point of the robot terminal The distances d 1 and d 2 between the two ends s1 and s2 of the curve to be processed, and then compare the sizes of d 1 and d 2 ; if d 1 < d 2 , the non-processing path selection of the robot: use linear motion by the current The position moves to the end point s1, and then moves from the s1 end to the s2 end; if d 1 >d 2 , the non-processing path of the robot is selected: use the linear motion to move from the current position to the end point s2, and then move from the s2 end to the s1 end.
优选地，在加工路径中，机器人的火枪头与钢板曲面保持一定间距，进行匀速运动；在非加工路径中，机器人采用加速直线运动。 Preferably, in the processing path, the musket head of the robot keeps a certain distance from the curved surface of the steel plate and moves at a constant speed; in the non-processing path, the robot adopts accelerated linear motion.
本发明相对于现有技术，具有以下有益效果：本发明一种水火弯板智能机器人路径规划方法，通过此方法对水火弯板路径的优化，最大程度提高了该系统的工作效率。本发明机器人的火枪头实时定位，保证火枪头与钢板之间的距离恒定，从而保证加工路径上的每点加热强度均匀，同时对火枪头进行有效的保护。另外，在非加工路径上（不需要喷火的路径），根据需要加工曲线的起、始点坐标以及机器人的当前坐标，寻找最优路径，并在该路径上进行加速运动，缩短运动时间，即缩短非加工时间，提高生产效率。 Compared with the prior art, the present invention has the following beneficial effects: the present invention is a water-fire bending plate intelligent robot path planning method, through which the water-fire bending plate path is optimized, and the working efficiency of the system is improved to the greatest extent. The gun head of the robot of the present invention is positioned in real time to ensure a constant distance between the gun head and the steel plate, thereby ensuring uniform heating intensity at each point on the processing path and effectively protecting the gun head at the same time. In addition, on the non-processing path (the path that does not need to spray flames), according to the coordinates of the starting point and the starting point of the processing curve and the current coordinates of the robot, find the optimal path, and perform accelerated motion on this path to shorten the motion time, that is, Shorten non-processing time and improve production efficiency.
附图说明 Description of drawings
图1为本发明的机器人终端位姿。 Fig. 1 is the robot terminal pose of the present invention.
具体实施方式 Detailed ways
下面结合实施例及附图对本发明作进一步详细的描述，但本发明的实施方式不限于此。 The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
一种水火弯板智能机器人路径规划方法，采用五轴联动机器人，包括如下步骤： A path planning method for a water-fire bending plate intelligent robot, using a five-axis linkage robot, comprising the following steps:
（1）确定机器人的运动空间和自由度； (1) Determine the movement space and degrees of freedom of the robot;
（2）确定机器人的目标路径； (2) Determine the target path of the robot;
（3）确定机器人的末端位姿； (3) Determine the end pose of the robot;
（4）确定各关节的运动量、运动速度； (4) Determine the movement amount and movement speed of each joint;
（5）机器人的随动控制； (5) Follow-up control of the robot;
（6）运动路径优化。 (6) Motion path optimization.
步骤（1）中的确定机器人的运动空间为：X轴：12米，Y轴：3.5米，Z轴：1.2米，C1轴：0～180°，C2轴：0～360°；自由度为4个。 The movement space of the determined robot in step (1) is: X axis: 12 meters, Y axis: 3.5 meters, Z axis: 1.2 meters, C1 axis: 0~180°, C2 axis: 0~360°; the degrees of freedom are 4.
步骤（2）中的确定机器人的目标路径，根据火路、加热强度、形变要求、钢板1特性做出初步路径规划，找出钢板1曲面上的加工曲线与该曲线上的特殊点。 In step (2), determine the target path of the robot, make a preliminary path plan according to the fire path, heating intensity, deformation requirements, and the characteristics of the steel plate 1, and find out the processing curve on the curved surface of the steel plate 1 and the special points on the curve.
步骤（3）中的确定机器人的末端位姿，由安装成不同角度的两部相机对加工的钢板曲面进行拍摄，然后根据相机的内外部参数确定机器人火枪头2的当前位置与钢板1上需要加工的特殊点位置；再以特殊点为中心，取小片曲面；接着通过曲面拟合求得此小片曲面的曲面方程，过特殊点计算此小曲面的法向量方程；最后根据火枪头2与加热点之间的最佳距离，计算可得机器人末端的位姿。具体地，特殊点为P点，以P点为中心取小片曲面，当这个小曲面充分小时，可以近似为一个平面，求取该平面特殊点的法向量L13。C2轴最终需要移动到法向量L13上，按照加热要求调整火枪头与钢板之间的距离D。最后根据P点坐标、空间直线L13方程，计算出与直线L1距离为D的P’点坐标。P’即为机器人末端位姿，如图1所示。 To determine the end pose of the robot in step (3), two cameras installed at different angles take pictures of the processed steel plate surface, and then determine the current position of the gun head 2 of the robot and the required position on the steel plate 1 according to the internal and external parameters of the camera. The location of the special point to be processed; then take the special point as the center, take a small piece of surface; then obtain the surface equation of this small piece of surface through surface fitting, calculate the normal vector equation of this small surface through the special point; finally according to the gun head 2 and add The optimal distance between hotspots is calculated to obtain the pose of the end of the robot. Specifically, the special point is point P, and a small surface is taken with point P as the center. When the small surface is sufficiently small, it can be approximated as a plane, and the normal vector L 1 3 of the special point on the plane is calculated. The C2 axis needs to move to the normal vector L 1 3 in the end, and adjust the distance D between the musket head and the steel plate according to the heating requirements. Finally, according to the coordinates of point P and the equation of the space straight line L 1 3 , calculate the coordinates of point P' whose distance from the straight line L 1 is D. P' is the end pose of the robot, as shown in Figure 1.
步骤（5）中的机器人的火枪头的随动控制，根据机器人的末端姿态和初始姿态，逆解出机器人各关节应有的运动量，然后求解出各关节的速度。 In the follow-up control of the musket head of the robot in step (5), according to the terminal posture and initial posture of the robot, the amount of movement that each joint of the robot should have is calculated inversely, and then the speed of each joint is calculated.
步骤（6）中的运动路径优化主要为非加工路径的选择，根据需要加工曲线的两端点坐标以及机器人终端的当前坐标，寻找最优路径，先计算机器人终端的当前坐标点与需加工曲线的两端点s1、s2之间的距离d1、d2，再比较d1、d2的大小；如果d1＜d2，则机器人的非加工路径选择：采用直线运动由当前位置运动到端点s1，然后从s1端运动到s2端；若d1＞d2，则机器人的非加工路径选择：采用直线运动由当前位置运动到端点s2，然后从s2端运动到s1端。且，在加工路径中，机器人的火枪头2与钢板1曲面保持相应间距，进行匀速运动；在非加工路径中，机器人采用加速直线运动。 The motion path optimization in step (6) is mainly the selection of non-processing paths. According to the coordinates of the two ends of the curve to be processed and the current coordinates of the robot terminal, the optimal path is found. First, calculate the current coordinate point of the robot terminal and the curve to be processed. The distance d 1 , d 2 between the two ends s1, s2, and then compare the size of d 1 , d 2 ; if d 1 < d 2 , the non-processing path selection of the robot: use linear motion to move from the current position to the end point s1 , and then move from end s1 to end s2; if d 1 >d 2 , the non-processing path of the robot is selected: use linear motion to move from the current position to end point s2, and then move from end s2 to end s1. Moreover, in the processing path, the musket head 2 of the robot maintains a corresponding distance from the curved surface of the steel plate 1 and moves at a constant speed; in the non-processing path, the robot adopts accelerated linear motion.
上述实施例仅为本发明的较佳实施例，并非用来限定本发明的实施范围。即凡依本发明内容所作的均等变化与修饰，都为本发明权利要求所要求保护的范围所涵盖。 The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the implementation scope of the present invention. That is, all equivalent changes and modifications made according to the content of the present invention are covered by the protection scope of the claims of the present invention.
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