CN104647377A - Cognition-system-based industrial robot and control method of industrial robot - Google Patents
Cognition-system-based industrial robot and control method of industrial robot Download PDFInfo
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- CN104647377A CN104647377A CN201410843324.1A CN201410843324A CN104647377A CN 104647377 A CN104647377 A CN 104647377A CN 201410843324 A CN201410843324 A CN 201410843324A CN 104647377 A CN104647377 A CN 104647377A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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Abstract
The invention relates to an industrial robot, particularly relates to a cognition-system-based industrial robot and a control method of the industrial robot and belongs to the field of control of intelligent robots. The industrial robot comprises a robot cognition system and a robot motion control system. The control method of the industrial robot comprises the following steps: building a cognition model, setting characteristics, carrying out image recognition and obtaining model location attribute, virtually simulating an on-site working environment, setting a task process, converting a cognition layer into an execution layer, finishing loading and unloading, adjusting local change of equipment and adjusting change of a target workpiece. According to the cognition-system-based industrial robot and the control method of the industrial robot, the intelligence level of the robot is further improved; the adaptive performance of the robot is improved.
Description
Technical field
The present invention relates to a kind of industrial robot, particularly relate to a kind of industrial robot based on cognitive system and control method thereof, belong to Study of Intelligent Robot Control field.
Background technology
Industrial robot is at the scene in application process, and because site environment is complicated and changeable, the field layout of equipment often changes.At this moment, due to the change of relative position, have to adjust the tutorial program of robot.This adjustment is caused by the change of coordinate, and other factors participating in whole task all do not change.In this case, can propose a kind of not by the industrial robot control method that spatial position change affects, to adapt to site environment complicated and changeable, shorten the R&D cycle.
Summary of the invention
The present invention mainly solves the deficiencies in the prior art, thering is provided can when the layout at commercial Application scene changes, upgrade the position attribution of each model in cognitive model, just can commence work without delay, remove a kind of industrial robot based on cognitive system and the control method thereof of the cumbersome process of teaching again from.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
Based on an industrial robot for cognitive system, comprise robot cognitive system and robot movement-control system;
Described robot cognitive system comprises cognitive model module, visual identity module, working space module and task control module, visual identity module is connected with cognitive model module, cognitive model module is connected with working space module, working space module is connected with task control module, and task control module is connected with robot movement-control system;
Described robot movement-control system comprises servo drive system, kinetic control system and motion planning system, servo drive system is connected with kinetic control system, kinetic control system is connected with motion planning system, and described motion planning system is connected with robot movement-control system;
Described robot movement-control system controls industrial robot and moves.
As preferably, described servo drive system is for driving servomotor;
Described kinetic control system is used for controlling the error in robot kinematics;
Described motion planning system is used for carrying out interpolation operation to the motion of robot.
As preferably, described cognitive model module is made up of some cognitive models, and cognitive model is made up of model attributes and model behavior;
The mode of described visual identity module Land use models identification extracts feature, contrasts with the aspect of model of a certain model concrete in model system, identifies related object;
Described working space module is a virtual three-dimensional space centered by robot, and the cognitive model recognized can be reconstructed by the coordinate position according to scene in this space;
Described task control module carries out dissection process to sending to the task of robot, generates flow of task.
As preferably, described model attributes is a kind of phenomenon that objective material object shows in one aspect, but in actual applications, only selects representative, can distinguish the attribute of this objective material object and other objective things as model attributes;
Described model behavior is a kind of specific implementation of contact existing between two interactional things; Described model behavior must comprise two models and an action.
The aspect of model is contained in model attributes; In the middle of the phenomenon that model attributes shows, the topical manifestations of some attributes is had to go out distinguished characteristic, can as the foundation distinguishing objective material object, these local characteristicses are exactly the aspect of model.
As preferably, the working space in described working space module is a virtual three-dimensional space, and its initial point is the initial point of basis coordinates system of robot, can describe with cartesian coordinate system, cylindrical coordinate and spherical coordinate system; The position that the cognitive model of current participation task can obtain according to visual identity is reconstructed, to obtain the mapping of an operation field in working space;
Described task control module is a kind of man-machine interaction language, take cognitive model as elementary cell, contacts each model by the behavior between model, describe whole task process; Meanwhile, the behavior of each participation task is realized by Motion trajectory by it, makes whole flow of task be transformed into the aspect of robot execution from cognitive aspect.
Based on a control method for the industrial robot of cognitive system, carry out according to the following steps:
(1), cognitive model is set up:
The cognitive model of robot, lathe, fixture, target workpiece, feeding area and discharging area is set up respectively in the cognitive model storehouse of cognition module:
A, cognitive model title: robot; Model attributes: profile and position attribution; Model behavior: connection and end move;
B, cognitive model title: lathe; Model attributes: profile and position attribution; Model behavior: holding workpiece and processing;
C, cognitive model title: fixture; Model attributes: profile and position attribution; Model behavior: be connected and holding workpiece;
D, cognitive model title: target workpiece; Model attributes: profile and position attribution; Model behavior: processed, clamped and be placed;
E, cognitive model title: feeding area; Model attributes: profile and position attribution; Model behavior: place work piece;
F, cognitive model title: discharging area; Model attributes: profile and position attribution; Model behavior: place work piece;
(2), feature is set:
More than establishment after several cognitive model, according to the needs of visual identity module, for each model arranges rational feature, to identify; Due to the profile of each model in lathe loading and unloading, all difference is comparatively large, only with extracting its edge contour feature, just can effectively be identified;
(3), image recognition and modal position attribute:
Visual identity module utilizes industrial camera to carry out image information collecting to surrounding environment, extracts the feature defined, identify model from image information; Meanwhile, the position attribution of each model is obtained after calculating according to the information of multiple image;
(4), virtual field working environment:
Utilize the model attributes obtained, in working space, be reconstructed display according to relevant parameter:
A. be the coordinate system of working space with the basis coordinates of robot;
B. three-dimensional modeling is carried out according to the profile of each model;
C. position in working space according to the position attribution of each model again;
By above step, obtain a virtual work on the spot environment; Meanwhile, due to the definition of model behavior, between the model in working space, there is interactional relation; But concrete process needs a series of interaction relationship of determining and time sequencing;
(5), flow of task is set:
In task control module, the processing technology for this workpiece is arranged flow of task:
A. robot is connected with fixture;
B. robot end moves to feeding area;
C. holder target workpiece;
D. robot end moves to machine tooling district;
E. lathe clamping target workpiece, fixture unclamps target workpiece;
F. robot end moves to safety zone wait, and lathe starts processing;
G. machine tooling is complete, and robot end moves to machining area;
H. holder target workpiece, lathe unclamps target workpiece;
I. robot end moves to discharging area;
J. fixture unclamps target workpiece;
K. robot end moves to feeding area;
Be a circulation from step b to step k, the time sequencing that the determination contact between the model of robot acquisition participation task and model behavior occur;
(6), become to be transformed into execution aspect from cognitive layer:
The mobile behavior of robot is realized by Motion trajectory by kinetic control system, and the clamping of fixture, the clamping of lathe and processing behavior are then realized by PLC control signal, whole flow of task is transformed into the aspect of robot execution from cognitive aspect;
(7), loading and unloading are completed:
Kinetic control system control carries out work, completes lathe loading and unloading process;
(8), the adjustment that changes of device layout:
If according to the needs produced, the layout of equipment there occurs change, only again need identify the position attribution of model in visual identity module in this case, virtual work environment is regenerated in working space, just can carry out work immediately after correction position attribute, eliminate the time of a large amount of teaching;
(9), the adjustment that changes of target workpiece:
If according to the needs produced, target workpiece there occurs change, then only need upgrade the profile in the model attributes of target workpiece, and add corresponding fixture model, just energy rapid configuration robot application, improves efficiency of research and development.
Effect:
When any model attributes and model behavior change, by the mode of Renewal model attribute, the application of rapid configuration industrial robot can be carried out.
Thoroughly have changed the operator scheme that industrial robot is configured by artificial teaching, for the rapid configuration of industrial robot application provides a kind of new standard, will the utilization ratio of industrial robot be promoted, accelerate the construction cycle of robot application.
Also can be applicable to service robot field, improve the intelligent level of service robot.
The invention provides a kind of industrial robot based on cognitive system and control method thereof, improve robot automtion level further, improve robot conformability.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present invention.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment 1: as shown in Figure 1, a kind of industrial robot based on cognitive system, comprises robot cognitive system and robot movement-control system;
Described robot cognitive system comprises cognitive model module, visual identity module, working space module and task control module, visual identity module is connected with cognitive model module, cognitive model module is connected with working space module, working space module is connected with task control module, and task control module is connected with robot movement-control system;
Described robot movement-control system comprises servo drive system, kinetic control system and motion planning system, servo drive system is connected with kinetic control system, kinetic control system is connected with motion planning system, and described motion planning system is connected with robot movement-control system;
Described robot movement-control system controls industrial robot and moves.
Described servo drive system is for driving servomotor;
Described kinetic control system is used for controlling the error in robot kinematics;
Described motion planning system is used for carrying out interpolation operation to the motion of robot.
Described cognitive model module is made up of some cognitive models, and cognitive model is made up of model attributes and model behavior;
The mode of described visual identity module Land use models identification extracts feature, contrasts with the aspect of model of a certain model concrete in model system, identifies related object;
Described working space module is a virtual three-dimensional space centered by robot, and the cognitive model recognized can be reconstructed by the coordinate position according to scene in this space;
Described task control module carries out dissection process to sending to the task of robot, generates flow of task.
Described model attributes is a kind of phenomenon that objective material object shows in one aspect, but in actual applications, only selects representative, can distinguish the attribute of this objective material object and other objective things as model attributes;
Described model behavior is a kind of specific implementation of contact existing between two interactional things; Described model behavior must comprise two models and an action.
The aspect of model is contained in model attributes; In the middle of the phenomenon that model attributes shows, the topical manifestations of some attributes is had to go out distinguished characteristic, can as the foundation distinguishing objective material object, these local characteristicses are exactly the aspect of model.
Working space in described working space module is a virtual three-dimensional space, and its initial point is the initial point of basis coordinates system of robot, can describe with cartesian coordinate system, cylindrical coordinate and spherical coordinate system; The position that the cognitive model of current participation task can obtain according to visual identity is reconstructed, to obtain the mapping of an operation field in working space;
Described task control module is a kind of man-machine interaction language, take cognitive model as elementary cell, contacts each model by the behavior between model, describe whole task process; Meanwhile, the behavior of each participation task is realized by Motion trajectory by it, makes whole flow of task be transformed into the aspect of robot execution from cognitive aspect.
Based on a control method for the industrial robot of cognitive system, carry out according to the following steps:
(2), cognitive model is set up:
The cognitive model of robot, lathe, fixture, target workpiece, feeding area and discharging area is set up respectively in the cognitive model storehouse of cognition module:
A, cognitive model title: robot; Model attributes: profile and position attribution; Model behavior: connection and end move;
B, cognitive model title: lathe; Model attributes: profile and position attribution; Model behavior: holding workpiece and processing;
C, cognitive model title: fixture; Model attributes: profile and position attribution; Model behavior: be connected and holding workpiece;
D, cognitive model title: target workpiece; Model attributes: profile and position attribution; Model behavior: processed, clamped and be placed;
E, cognitive model title: feeding area; Model attributes: profile and position attribution; Model behavior: place work piece;
F, cognitive model title: discharging area; Model attributes: profile and position attribution; Model behavior: place work piece;
(2), feature is set:
More than establishment after several cognitive model, according to the needs of visual identity module, for each model arranges rational feature, to identify; Due to the profile of each model in lathe loading and unloading, all difference is comparatively large, only with extracting its edge contour feature, just can effectively be identified;
(3), image recognition and modal position attribute:
Visual identity module utilizes industrial camera to carry out image information collecting to surrounding environment, extracts the feature defined, identify model from image information; Meanwhile, the position attribution of each model is obtained after calculating according to the information of multiple image;
(5), virtual field working environment:
Utilize the model attributes obtained, in working space, be reconstructed display according to relevant parameter:
D. be the coordinate system of working space with the basis coordinates of robot;
E. three-dimensional modeling is carried out according to the profile of each model;
F. position in working space according to the position attribution of each model again;
By above step, obtain a virtual work on the spot environment; Meanwhile, due to the definition of model behavior, between the model in working space, there is interactional relation; But concrete process needs a series of interaction relationship of determining and time sequencing;
(5), flow of task is set:
In task control module, the processing technology for this workpiece is arranged flow of task:
L. robot is connected with fixture;
M. robot end moves to feeding area;
N. holder target workpiece;
O. robot end moves to machine tooling district;
P. lathe clamping target workpiece, fixture unclamps target workpiece;
Q. robot end moves to safety zone wait, and lathe starts processing;
R. machine tooling is complete, and robot end moves to machining area;
S. holder target workpiece, lathe unclamps target workpiece;
T. robot end moves to discharging area;
U. fixture unclamps target workpiece;
V. robot end moves to feeding area;
Be a circulation from step b to step k, the time sequencing that the determination contact between the model of robot acquisition participation task and model behavior occur;
(6), become to be transformed into execution aspect from cognitive layer:
The mobile behavior of robot is realized by Motion trajectory by kinetic control system, and the clamping of fixture, the clamping of lathe and processing behavior are then realized by PLC control signal, whole flow of task is transformed into the aspect of robot execution from cognitive aspect;
(7), loading and unloading are completed:
Kinetic control system control carries out work, completes lathe loading and unloading process;
(8), the adjustment that changes of device layout:
If according to the needs produced, the layout of equipment there occurs change, only again need identify the position attribution of model in visual identity module in this case, virtual work environment is regenerated in working space, just can carry out work immediately after correction position attribute, eliminate the time of a large amount of teaching;
(9), the adjustment that changes of target workpiece:
If according to the needs produced, target workpiece there occurs change, then only need upgrade the profile in the model attributes of target workpiece, and add corresponding fixture model, just energy rapid configuration robot application, improves efficiency of research and development.
Claims (6)
1. based on an industrial robot for cognitive system, it is characterized in that: comprise robot cognitive system and robot movement-control system;
Described robot cognitive system comprises cognitive model module, visual identity module, working space module and task control module, visual identity module is connected with cognitive model module, cognitive model module is connected with working space module, working space module is connected with task control module, and task control module is connected with robot movement-control system;
Described robot movement-control system comprises servo drive system, kinetic control system and motion planning system, servo drive system is connected with kinetic control system, kinetic control system is connected with motion planning system, and described motion planning system is connected with robot movement-control system;
Described robot movement-control system controls industrial robot and moves.
2. a kind of industrial robot based on cognitive system according to claim 1, is characterized in that: described servo drive system is for driving servomotor;
Described kinetic control system is used for controlling the error in robot kinematics;
Described motion planning system is used for carrying out interpolation operation to the motion of robot.
3. a kind of industrial robot based on cognitive system according to claim 1, is characterized in that:
Described cognitive model module is made up of some cognitive models, and cognitive model is made up of model attributes and model behavior;
The mode of described visual identity module Land use models identification extracts feature, contrasts with the aspect of model of a certain model concrete in model system, identifies related object;
Described working space module is a virtual three-dimensional space centered by robot, and the cognitive model recognized can be reconstructed by the coordinate position according to scene in this space;
Described task control module carries out dissection process to sending to the task of robot, generates flow of task.
4. a kind of industrial robot based on cognitive system according to claim 3, is characterized in that:
Described model attributes is a kind of phenomenon that objective material object shows in one aspect, but in actual applications, only selects representative, can distinguish the attribute of this objective material object and other objective things as model attributes;
Described model behavior is a kind of specific implementation of contact existing between two interactional things; Described model behavior must comprise two models and an action.
The aspect of model is contained in model attributes; In the middle of the phenomenon that model attributes shows, the topical manifestations of some attributes is had to go out distinguished characteristic, can as the foundation distinguishing objective material object, these local characteristicses are exactly the aspect of model.
5. a kind of industrial robot based on cognitive system according to claim 3, is characterized in that:
Working space in described working space module is a virtual three-dimensional space, and its initial point is the initial point of basis coordinates system of robot, can describe with cartesian coordinate system, cylindrical coordinate and spherical coordinate system; The position that the cognitive model of current participation task can obtain according to visual identity is reconstructed, to obtain the mapping of an operation field in working space;
Described task control module is a kind of man-machine interaction language, take cognitive model as elementary cell, contacts each model by the behavior between model, describe whole task process; Meanwhile, the behavior of each participation task is realized by Motion trajectory by it, makes whole flow of task be transformed into the aspect of robot execution from cognitive aspect.
6. the control method of a kind of industrial robot based on cognitive system according to claim 1,
It is characterized in that carrying out according to the following steps:
(1), cognitive model is set up:
The cognitive model of robot, lathe, fixture, target workpiece, feeding area and discharging area is set up respectively in the cognitive model storehouse of cognition module:
A, cognitive model title: robot; Model attributes: profile and position attribution; Model behavior: connection and end move;
B, cognitive model title: lathe; Model attributes: profile and position attribution; Model behavior: holding workpiece and processing;
C, cognitive model title: fixture; Model attributes: profile and position attribution; Model behavior: be connected and holding workpiece;
D, cognitive model title: target workpiece; Model attributes: profile and position attribution; Model behavior: processed, clamped and be placed;
E, cognitive model title: feeding area; Model attributes: profile and position attribution; Model behavior: place work piece;
F, cognitive model title: discharging area; Model attributes: profile and position attribution; Model behavior: place work piece;
(2), feature is set:
More than establishment after several cognitive model, according to the needs of visual identity module, for each model arranges rational feature, to identify; Due to the profile of each model in lathe loading and unloading, all difference is comparatively large, only with extracting its edge contour feature, just can effectively be identified;
(3), image recognition and modal position attribute:
Visual identity module utilizes industrial camera to carry out image information collecting to surrounding environment, extracts the feature defined, identify model from image information; Meanwhile, the position attribution of each model is obtained after calculating according to the information of multiple image;
(4), virtual field working environment:
Utilize the model attributes obtained, in working space, be reconstructed display according to relevant parameter:
A. be the coordinate system of working space with the basis coordinates of robot;
B. three-dimensional modeling is carried out according to the profile of each model;
C. position in working space according to the position attribution of each model again;
By above step, obtain a virtual work on the spot environment; Meanwhile, due to the definition of model behavior, between the model in working space, there is interactional relation; But concrete process needs a series of interaction relationship of determining and time sequencing;
(5), flow of task is set:
In task control module, the processing technology for this workpiece is arranged flow of task:
A. robot is connected with fixture;
B. robot end moves to feeding area;
C. holder target workpiece;
D. robot end moves to machine tooling district;
E. lathe clamping target workpiece, fixture unclamps target workpiece;
F. robot end moves to safety zone wait, and lathe starts processing;
G. machine tooling is complete, and robot end moves to machining area;
H. holder target workpiece, lathe unclamps target workpiece;
I. robot end moves to discharging area;
J. fixture unclamps target workpiece;
K. robot end moves to feeding area;
Be a circulation from step b to step k, the time sequencing that the determination contact between the model of robot acquisition participation task and model behavior occur;
(6), become to be transformed into execution aspect from cognitive layer:
The mobile behavior of robot is realized by Motion trajectory by kinetic control system, and the clamping of fixture, the clamping of lathe and processing behavior are then realized by PLC control signal, whole flow of task is transformed into the aspect of robot execution from cognitive aspect;
(7), loading and unloading are completed:
Kinetic control system control carries out work, completes lathe loading and unloading process;
(8), the adjustment that changes of device layout:
If according to the needs produced, the layout of equipment there occurs change, only again need identify the position attribution of model in visual identity module in this case, virtual work environment is regenerated in working space, just can carry out work immediately after correction position attribute, eliminate the time of a large amount of teaching;
(9), the adjustment that changes of target workpiece:
If according to the needs produced, target workpiece there occurs change, then only need upgrade the profile in the model attributes of target workpiece, and add corresponding fixture model, just energy rapid configuration robot application, improves efficiency of research and development.
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