CN104647377B - A kind of industrial robot based on cognitive system and control method thereof - Google Patents

A kind of industrial robot based on cognitive system and control method thereof Download PDF

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Publication number
CN104647377B
CN104647377B CN201410843324.1A CN201410843324A CN104647377B CN 104647377 B CN104647377 B CN 104647377B CN 201410843324 A CN201410843324 A CN 201410843324A CN 104647377 B CN104647377 B CN 104647377B
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model
robot
cognitive
task
module
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CN104647377A (en
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李正刚
任海军
冯玖强
陈立
朱彬
金晶
刘翠萍
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Hangzhou Xin Song Robot Automation Co Ltd
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Hangzhou Xin Song Robot Automation Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/163Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control

Abstract

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.Including robot cognitive system and robot movement-control system.Sequentially include the following steps: and set up cognitive model → arrange feature → image recognition and modal position attribute → virtual field working environment → arrange flow of task → become to be transformed into the adjustment that adjustment → target workpiece that execution aspect → complete loading and unloading → device layout changes changes from cognitive layer.A kind of industrial robot based on cognitive system and control method thereof improve robot automtion level further, improve robot conformability.

Description

A kind of industrial robot based on cognitive system and control method thereof
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 thereof Method, belongs to Study of Intelligent Robot Control field.
Background technology
In industrial robot application process at the scene, owing to site environment is complicated and changeable, the field layout of equipment is often Change.At this moment, due to the change of relative position, it has to the tutorial program of robot is adjusted.This adjustment is Caused by the change of coordinate, and other factors participating in whole task the most do not change.In this case, can carry Go out a kind of industrial robot control method not affected by spatial position change, to adapt to site environment complicated and changeable, shorten R&D cycle.
Summary of the invention
The present invention mainly solves the deficiencies in the prior art, it is provided that can occur in the layout that commercial Application is on-the-spot During change, update the position attribution of each model in cognitive model, so that it may commence work without delay, remove the complicated mistake of teaching again from A kind of based on cognitive system the industrial robot of journey and control method thereof.
The above-mentioned technical problem of the present invention is mainly addressed by following technical proposals:
A kind of industrial robot based on cognitive system, including robot cognitive system and robot movement-control system;
Described robot cognitive system includes cognitive model module, visual identity module, workspace module and task Control module, visual identity module is connected with cognitive model module, and cognitive model module is connected with workspace module, work Making space module to be connected with task control module, task control module is connected with robot movement-control system;
Described robot movement-control system includes servo drive system, kinetic control system and motion planning system, Servo drive system is connected with kinetic control system, and kinetic control system is connected with motion planning system, 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 used for driving servomotor;
Described kinetic control system is for being controlled the error in robot kinematics;
Described motion planning system is 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 by model attributes and mould Type behavior forms;
Concrete a certain model in feature, with model system is extracted in described visual identity module Land use models knowledge otherwise The aspect of model contrast, identify related object;
Described workspace module is a virtual three-dimensional space centered by robot, the cognitive model recognized Can be reconstructed according to on-the-spot coordinate position in this space;
Described task control module carries out dissection process to the task of being sent to 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 reality In the application of border, only select representative, it is possible to distinguish this objective material object attribute with other objective things as model genus Property;
Described model behavior is that the one of contact existing between two things interacted implements;Described Model behavior must comprise two models and an action.
Model attributes contains the aspect of model;In the middle of the phenomenon that model attributes is showed, there is the local of some attributes Show distinguished characteristic, can be as the foundation of the objective material object of differentiation, these local characteristicses are exactly the aspect of model.
As preferably, the described work space in workspace module is a virtual three-dimensional space, and its initial point is machine The initial point of device people basis coordinates system, can describe with spherical coordinate system with cartesian coordinate system, cylindrical coordinate;Current participation task Cognitive model can be reconstructed in work space according to the position that visual identity obtains, to obtain reflecting of an operation field Penetrate;
Described task control module is a kind of man-machine interaction language, with cognitive model as elementary cell, by model it Between behavior contact each model, whole task process is described;Meanwhile, its by the behavior of each participation task by motion rail Mark planning realizes, and makes whole flow of task be transformed into, from cognitive aspect, the aspect that robot performs.
The control method of a kind of industrial robot based on cognitive system, sequentially includes the following steps:
(1), cognitive model is set up:
The cognitive model storehouse of cognition module is set up respectively robot, lathe, fixture, target workpiece, feeding area with under The cognitive model in material district:
A, cognitive model title: robot;Model attributes: profile and position attribution;Model behavior: connect and end Mobile;
B, cognitive model title: lathe;Model attributes: profile and position attribution;Model behavior: clamp workpiece and add Work;
C, cognitive model title: fixture;Model attributes: profile and position attribution;Model behavior: connected and clamping Workpiece;
D, cognitive model title: target workpiece;Model attributes: profile and position attribution;Model behavior: processed, Held and be placed;
E, cognitive model title: feeding area;Model attributes: profile and position attribution;Model behavior: place workpiece;
F, cognitive model title: discharging area;Model attributes: profile and position attribution;Model behavior: place workpiece;
(2), feature is set:
More than creating after several cognitive models, according to the needs of visual identity module, arrange rationally for each model Feature, in order to identify;Owing to profile all difference of each model in lathe loading and unloading are relatively big, only with extracting its edge Resemblance, just can effectively be identified;
(3), image recognition and modal position attribute:
Visual identity module utilizes industrial camera that surrounding is carried out image information collecting, and it is fixed to extract from image information The feature that justice is good, is identified model;Meanwhile, the position of each model is obtained according to the information of multiple images after calculating Attribute;
(4), virtual field working environment:
Utilize the model attributes that obtained, in work space, be reconstructed display according to relevant parameter:
A. the coordinate system with the basis coordinates system of robot as work space;
B. three-dimensional modeling is carried out according to the profile of each model;
C. the position attribution further according to each model positions in work space;
By above step, obtain a virtual work on the spot environment;Simultaneously as the definition of model behavior, work The relation interacted has been had between model in space;But concrete course of processing needs a series of to determine Interaction relationship and time sequencing;
(5), flow of task is set:
In task control module, flow of task is configured by the processing technique for this workpiece:
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;
Being a circulation from step b to step k, robot obtains the determination contact between the model of participation task and mould The time sequencing that type behavior occurs;
(6), become, from cognitive layer, the execution aspect that is transformed into:
The mobile behavior of robot is realized by kinetic control system by Motion trajectory, and the clamping of fixture, lathe Clamping then realized by PLC control signal with processing behavior, whole flow of task is transformed into robot from cognitive aspect and holds The aspect of row;
(7), loading and unloading are completed:
Kinetic control system controls robot and is operated, and completes lathe loading and unloading process;
(8), the adjustment that device layout changes:
If according to the needs produced, the layout of equipment there occurs change, in this case only need to be in visual identity module In the position attribution of model is re-recognized, work space regenerates virtual work environment, correction position attribute The most just can be operated immediately, eliminate the time of a large amount of teaching;
(9), the adjustment that target workpiece changes:
If according to the needs produced, target workpiece there occurs change, the most only need to update in the model attributes of target workpiece Profile, and add corresponding fixture model, just energy rapid configuration robot application, improves efficiency of research and development.
Effect:
When any model attributes changes with model behavior, can come fast by the way of updating model attributes Speed configuration industrial robot application.
Thoroughly have changed the operator scheme that industrial robot is configured by artificial teaching, for industrial robot application fast Speed configuration provides a kind of new standard, will promote the utilization ratio of industrial robot, accelerates the construction cycle of robot application.
Also apply be applicable to service robot field, improve the intelligent level of service robot.
The present invention provides a kind of industrial robot based on cognitive system and control method thereof, improves robot intelligence further Level can be changed, improve robot conformability.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the present invention.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.
Embodiment 1: as it is shown in figure 1, a kind of industrial robot based on cognitive system, including robot cognitive system and machine Device people's kinetic control system;
Described robot cognitive system includes cognitive model module, visual identity module, workspace module and task Control module, visual identity module is connected with cognitive model module, and cognitive model module is connected with workspace module, work Making space module to be connected with task control module, task control module is connected with robot movement-control system;
Described robot movement-control system includes servo drive system, kinetic control system and motion planning system, Servo drive system is connected with kinetic control system, and kinetic control system is connected with motion planning system, 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 used for driving servomotor;
Described kinetic control system is for being controlled the error in robot kinematics;
Described motion planning system is 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 by model attributes and model behavior group Become;
Concrete a certain model in feature, with model system is extracted in described visual identity module Land use models knowledge otherwise The aspect of model contrast, identify related object;
Described workspace module is a virtual three-dimensional space centered by robot, the cognitive model recognized Can be reconstructed according to on-the-spot coordinate position in this space;
Described task control module carries out dissection process to the task of being sent to 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 select representative, it is possible to distinguish this objective material object attribute with other objective things as model attributes;
Described model behavior is that the one of contact existing between two things interacted implements;Described Model behavior must comprise two models and an action.
Model attributes contains the aspect of model;In the middle of the phenomenon that model attributes is showed, there is the local of some attributes Show distinguished characteristic, can be as the foundation of the objective material object of differentiation, these local characteristicses are exactly the aspect of model.
The described work space in workspace module is a virtual three-dimensional space, and its initial point is robot basis coordinates The initial point of system, can describe with spherical coordinate system with cartesian coordinate system, cylindrical coordinate;The current cognitive model meeting participating in task The position obtained according to visual identity is reconstructed in work space, to obtain the mapping of an operation field;
Described task control module is a kind of man-machine interaction language, with cognitive model as elementary cell, by model it Between behavior contact each model, whole task process is described;Meanwhile, its by the behavior of each participation task by motion rail Mark planning realizes, and makes whole flow of task be transformed into, from cognitive aspect, the aspect that robot performs.
The control method of a kind of industrial robot based on cognitive system, sequentially includes the following steps:
(2), cognitive model is set up:
The cognitive model storehouse of cognition module is set up respectively robot, lathe, fixture, target workpiece, feeding area with under The cognitive model in material district:
A, cognitive model title: robot;Model attributes: profile and position attribution;Model behavior: connect and end Mobile;
B, cognitive model title: lathe;Model attributes: profile and position attribution;Model behavior: clamp workpiece and add Work;
C, cognitive model title: fixture;Model attributes: profile and position attribution;Model behavior: connected and clamping Workpiece;
D, cognitive model title: target workpiece;Model attributes: profile and position attribution;Model behavior: processed, Held and be placed;
E, cognitive model title: feeding area;Model attributes: profile and position attribution;Model behavior: place workpiece;
F, cognitive model title: discharging area;Model attributes: profile and position attribution;Model behavior: place workpiece;
(2), feature is set:
More than creating after several cognitive models, according to the needs of visual identity module, arrange rationally for each model Feature, in order to identify;Owing to profile all difference of each model in lathe loading and unloading are relatively big, only with extracting its edge Resemblance, just can effectively be identified;
(3), image recognition and modal position attribute:
Visual identity module utilizes industrial camera that surrounding is carried out image information collecting, and it is fixed to extract from image information The feature that justice is good, is identified model;Meanwhile, the position of each model is obtained according to the information of multiple images after calculating Attribute;
(5), virtual field working environment:
Utilize the model attributes that obtained, in work space, be reconstructed display according to relevant parameter:
D. the coordinate system with the basis coordinates system of robot as work space;
E. three-dimensional modeling is carried out according to the profile of each model;
F. the position attribution further according to each model positions in work space;
By above step, obtain a virtual work on the spot environment;Simultaneously as the definition of model behavior, work The relation interacted has been had between model in space;But concrete course of processing needs a series of to determine Interaction relationship and time sequencing;
(5), flow of task is set:
In task control module, flow of task is configured by the processing technique for this workpiece:
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;
Being a circulation from step b to step k, robot obtains the determination contact between the model of participation task and mould The time sequencing that type behavior occurs;
(6), become, from cognitive layer, the execution aspect that is transformed into:
The mobile behavior of robot is realized by kinetic control system by Motion trajectory, and the clamping of fixture, lathe Clamping then realized by PLC control signal with processing behavior, whole flow of task is transformed into robot from cognitive aspect and holds The aspect of row;
(7), loading and unloading are completed:
Kinetic control system controls robot and is operated, and completes lathe loading and unloading process;
(8), the adjustment that device layout changes:
If according to the needs produced, the layout of equipment there occurs change, in this case only need to be in visual identity module In the position attribution of model is re-recognized, work space regenerates virtual work environment, correction position attribute The most just can be operated immediately, eliminate the time of a large amount of teaching;
(9), the adjustment that target workpiece changes:
If according to the needs produced, target workpiece there occurs change, the most only need to update in the model attributes of target workpiece Profile, and add corresponding fixture model, just energy rapid configuration robot application, improves efficiency of research and development.

Claims (4)

1. an industrial robot based on cognitive system, it is characterised in that: include robot cognitive system and robot motion Control system;
Described robot cognitive system includes cognitive model module, visual identity module, workspace module and task control Module, visual identity module is connected with cognitive model module, and cognitive model module is connected with workspace module, work sky Between module be connected with task control module, task control module is connected with robot movement-control system;
Described robot movement-control system includes servo drive system, kinetic control system and motion planning system, servo Drive system is connected with kinetic control system, and kinetic control system is connected with motion planning system, 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 used for driving servomotor;
Described kinetic control system is for being controlled the error in robot kinematics;
Described motion planning system is 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 with model behavior model attributes;
The mould of concrete a certain model in feature, with model system is extracted in described visual identity module Land use models knowledge otherwise Type feature contrasts, and identifies related object;
Described workspace module is a virtual three-dimensional space centered by robot, and the cognitive model recognized can be This space is reconstructed according to on-the-spot coordinate position;
Described task control module carries out dissection process to the task of being sent to robot, generates flow of task.
A kind of industrial robot based on cognitive system the most according to claim 1, it is characterised in that:
Described model attributes is a kind of phenomenon that objective material object shows in one aspect, but in actual applications, only choosing Select representative, it is possible to distinguish this objective material object attribute with other objective material objects as model attributes;
Described model behavior is that the one of contact existing between two things interacted implements;Described mould Type behavior must comprise two models and an action;
Model attributes contains the aspect of model;In the middle of the phenomenon that model attributes is showed, there is the topical manifestations of some attributes Going out distinguished characteristic, as the foundation of the objective material object of differentiation, these local characteristicses are exactly the aspect of model.
A kind of industrial robot based on cognitive system the most according to claim 1, it is characterised in that:
The described work space in workspace module is a virtual three-dimensional space, and its initial point is basis coordinates system of robot Initial point, describes with spherical coordinate system with cartesian coordinate system, cylindrical coordinate;The current cognitive model participating in task can be according to vision Identify that the position obtained is reconstructed, to obtain the mapping of an operation field in work space;
Described task control module is a kind of man-machine interaction language, with cognitive model as elementary cell, between model Behavior contacts each model, describes whole task process;Meanwhile, the behavior of each participation task is advised by it by movement locus Draw and realize, make whole flow of task be transformed into, from cognitive aspect, the aspect that robot performs.
The control method of a kind of industrial robot based on cognitive system the most according to claim 1, it is characterised in that press Following steps are carried out:
(1), cognitive model is set up:
Robot, lathe, fixture, target workpiece, feeding area and discharging area is set up respectively in the cognitive model storehouse of cognition module Cognitive model:
A, cognitive model title: robot;Model attributes: profile and position attribution;Model behavior: connect and end moves Dynamic;
B, cognitive model title: lathe;Model attributes: profile and position attribution;Model behavior: clamping workpiece and processing;
C, cognitive model title: fixture;Model attributes: profile and position attribution;Model behavior: connected and clamping work Part;
D, cognitive model title: target workpiece;Model attributes: profile and position attribution;Model behavior: processed, pressed from both sides Hold and be placed;
E, cognitive model title: feeding area;Model attributes: profile and position attribution;Model behavior: place workpiece;
F, cognitive model title: discharging area;Model attributes: profile and position attribution;Model behavior: place workpiece;
(2), feature is set:
More than creating after several cognitive models, according to the needs of visual identity module, rational spy is set for each model Levy, in order to identify;Owing to profile all difference of each model in lathe loading and unloading are relatively big, 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 that surrounding is carried out image information collecting, extracts and define from image information Feature, model is identified;Meanwhile, the position obtaining each model according to the information of multiple images after calculating belongs to Property;
(4), virtual field working environment:
Utilize the model attributes that obtained, in work space, be reconstructed display according to relevant parameter:
A. the coordinate system with the basis coordinates system of robot as work space;
B. three-dimensional modeling is carried out according to the profile of each model;
C. the position attribution further according to each model positions in work space;
By above step, obtain a virtual work on the spot environment;Simultaneously as the definition of model behavior, work space In model between had interact relation;But concrete course of processing need a series of determine mutual Interactively and time sequencing;
(5), flow of task is set:
In task control module, flow of task is configured by the processing technique for target workpiece:
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;
Being a circulation from step b to step k, robot obtains the determination contact between the model of participation task and model row For the time sequencing occurred;
(6), become, from cognitive layer, the execution aspect that is transformed into:
The mobile behavior of robot is realized by kinetic control system by Motion trajectory, and the clamping of fixture, the folder of lathe Hold and then realized by PLC control signal with processing behavior, whole flow of task is transformed into what robot performed from cognitive aspect Aspect;
(7), loading and unloading are completed:
Kinetic control system controls robot and is operated, and completes lathe loading and unloading process;
(8), the adjustment that device layout changes:
If according to the needs produced, the layout of equipment there occurs change, in this case only need to be right in visual identity module The position attribution of model re-recognizes, and regenerates virtual work environment, in work space after correction position attribute just Can be operated immediately, eliminate the time of a large amount of teaching;
(9), the adjustment that target workpiece changes:
If according to the needs produced, target workpiece there occurs change, the most only need to update the profile in the model attributes of target workpiece Attribute, and add corresponding fixture model, just energy rapid configuration robot application, improves efficiency of research and development.
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