CN105883116B - The optimization method of robot putting position in automatic labeling system - Google Patents
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- 230000014509 gene expression Effects 0.000 claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 29
- 239000010959 steel Substances 0.000 claims description 29
- 239000002245 particle Substances 0.000 claims description 22
- 229910001294 Reinforcing steel Inorganic materials 0.000 claims description 17
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 abstract description 12
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C3/00—Labelling other than flat surfaces
- B65C3/02—Affixing labels to elongated objects, e.g. wires, cables, bars, tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
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Abstract
The optimization method of robot putting position in automatic labeling system, using the carry out automatic labeling of the bundled reinforcing bar automatic labeling system of view-based access control model, it is characterised in that adopt with the following method：First, using the knowwhy of robot kinematics, set up industrial robot kinematics coordinate system and set up fixed coordinate system on reinforcing bar bundle end face, set up the kinematical equation of industrial robot；Then, ask for parsing inverse solution using the kinematical equation of industrial robot, obtain the mathematic(al) representation of industrial robot end each joint rotation angle when taking mark and labelling, the mathematic(al) representation of the corner sum in each joint of every reinforcing bar industrial robot in poster process is drawn, and then again these expression formulas are carried out with the total angle of rotation that summation draws entire bundle reinforcing bar industrial robot joint in labeling；Finally, the total angle of rotation is optimized using optimized algorithm as the object function of optimization to the putting position of robot in the scope of safety, obtains the optimal location that industrial robot is put.
Description
Technical Field
The invention relates to a space position optimization method, in particular to a robot placement position optimization method for automatically labeling end faces of bundled reinforcing steel bars by using a robot.
Background
At present, the work of labeling the end faces of bundled reinforcing steel bars in steel plants is mainly manually carried out, an automatic labeling system is gradually adopted in part of steel enterprises, and automatic labeling of the end faces of the bundled reinforcing steel bars by a robot is realized. In the vision-based automatic labeling system for the end faces of the bundled reinforcing steel bars, the mounting position of the robot not only influences the overall labeling performance, but also directly restricts the labeling efficiency, so that the optimization of the spatial position of the robot is very important.
Disclosure of Invention
In order to solve the problems, the invention provides an optimization method of a robot placement position in an automatic labeling system, which adopts a vision-based automatic labeling system for bundled reinforcing steel bars to perform automatic labeling and optimizes the spatial position of an industrial robot so as to improve the overall labeling efficiency, and the specific method comprises the following steps:
firstly, theoretical knowledge of robot kinematics is utilized to establish a kinematic coordinate system of the industrial robot and a fixed coordinate system on the end face of the steel bar bundle, parameters of all connecting rods of the industrial robot are utilized to obtain a transformation matrix between the coordinate systems of all the connecting rods of the industrial robot, and a kinematic equation of the industrial robot is established by utilizing the transformation matrix.
And then, solving an analytical inverse solution by using a kinematic equation of the industrial robot to obtain mathematical expressions between the terminal pose of the industrial robot and each joint corner, and solving the mathematical expressions of each joint corner of the terminal of the industrial robot during label extraction and labeling by using the expressions. The mathematical expression is used for calculating the change value of each joint corner of the industrial robot in the labeling and label-taking processes, the change values are summed, the mathematical expression of the sum of the corners of each joint of the industrial robot in the labeling process of each reinforcing steel bar is obtained, and then the mathematical expressions are summed to obtain the total corner of the joints of the industrial robot when the whole bundle of reinforcing steel bars are labeled.
And finally, taking the total corner as an optimized objective function, optimizing the placing position of the industrial robot in a safe range by utilizing an optimization algorithm, and solving the optimal placing position of the industrial robot, so that the total corner value of each joint of the industrial robot is minimum during labeling.
The invention provides an optimization method for solving the problem of the placement position of an industrial robot in the automatic labeling system for the end faces of the bundled reinforcing steel bars based on vision, solves the optimal spatial position of the industrial robot, shortens the labeling time of the industrial robot, improves the labeling efficiency, and provides theoretical guidance for the placement of the industrial robot in the automatic labeling system for the end faces of the bundled reinforcing steel bars based on vision.
Drawings
FIG. 1 is a schematic diagram of an automatic labeling system used in the method of the present invention;
FIG. 2 is a coordinate system of an automatic labeling system used in the method of the present invention;
FIG. 3 is a graph of fitness curve calculated by particle swarm in the method of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The invention is suitable for a vision-based automatic labeling system for bundled reinforcing steel bars, which is shown in figure 1, and the whole set of device comprises a positive and negative pressure supply device 1, a machine vision device 2, a label supply device 3 and an automatic labeling device 4.
The main labeling process comprises the following steps: firstly, the industrial robot in the automatic labeling device 4 moves to enable the vacuum sucker arranged at the tail end of the automatic labeling device to move right above the adhesive sticker label printed on the label printer, then the industrial robot vertically moves downwards to enable the vacuum sucker to be in contact with the label and tightly suck the label by utilizing negative pressure generated by the positive and negative pressure supply device 1. After the label is sucked tightly, the vacuum sucker at the tail end of the industrial robot drives the label to be vertically away from the label printer for a certain distance and then quickly moves to the right front of the end surface of the bundled reinforcing steel bars, and the right center of the label is overlapped with the center of the reinforcing steel bar to be labeled. The tail end of the industrial robot is close to the end face of the steel bar along a straight line, so that the label is in contact with the end face of the steel bar and is pressed tightly to be pasted on the appointed end face of the steel bar. The pressure supply device 1 then provides a positive air pressure which acts on the label through the vacuum chuck to make the label stick firmly. And finally, the industrial robot is far away from the end face of the reinforcing steel bar along a straight line, and returns to the position right above the label printer at the highest speed after being far away from a certain distance, so that a label is taken down.
In whole subsides mark system, the terminal surface of reinforcing bar bundle is through the arrangement of arrangement station, and the terminal surface of each reinforcing bar can remain the parallel and level basically, and the back of arranging, reinforcing bar bundle rely on the conveying chain to carry out the material loading that levels, and under ideal situation, the terminal surface of reinforcing bar bundle is the parallel and level. For solving, the steel bar bundle under the ideal state can be analyzed, and the optimal position of the robot is solved on the basis.
The end face of the steel bar in an ideal state is used asX u -Y u A plane, the circle center of the reinforcement bundle in an ideal state is used as the origin, the reinforcement support frame is horizontally placed, and the horizontal direction isX u The axis is positive to the right and verticalY u The axial direction is positive, and a user coordinate system is established according to the axial direction. Using the centre of a circle of the robot base as the origin, the robotX 0The axis is arranged horizontally in a direction perpendicular to the direction of the steel bar bundle and is right to the left, and the axis of the robot is perpendicular to the direction of the steel bar bundleZ 0The axes are positive vertically and thus establish the robot coordinate system as shown in fig. 2.
The most common diameter of the steel bars produced by the steel mill is 30-50mm, and here the steel bars with larger output and 50mm diameter are selected and ideally placed as the basis of the optimal design of the placing position of the robot as shown in fig. 2. Under an ideal state, the coordinates of the center point of each steel bar under a basic coordinate system can be obtained, and the specific coordinate values are shown in table 1.
TABLE 1 center coordinates of end faces of reinforcing bars
| Steel bar label | X | Y | Z | Steel bar label | X | Y | Z |
| 1 | -50 | 86 | 0 | 11 | 50 | 0 | 0 |
| 2 | 0 | 86 | 0 | 12 | 100 | 0 | 0 |
| 3 | 50 | 86 | 0 | 13 | -75 | -43 | 0 |
| 4 | -75 | 43 | 0 | 14 | -25 | -43 | 0 |
| 5 | -25 | 43 | 0 | 15 | 25 | -43 | 0 |
| 6 | 25 | 43 | 0 | 16 | 75 | -43 | 0 |
| 7 | 75 | 43 | 0 | 17 | -50 | -86 | 0 |
| 8 | -100 | 0 | 0 | 18 | 0 | -86 | 0 |
| 9 | -50 | 0 | 0 | 19 | 50 | -86 | 0 |
| 10 | 0 | 0 | 0 |
The labeling robot needs at least 5 degrees of freedom, a 6-degree-of-freedom industrial robot UR5 of universal robots company is selected as a preferred embodiment, a slidable vacuum chuck is installed at the tail end of the UR5 robot, if the end faces of the steel bars are not aligned, the slidable vacuum chuck can compensate the position of the end faces of the steel bars, the length of the vacuum chuck and a support of the vacuum chuck is 270mm, and the maximum compression stroke of the vacuum chuck is 80 mm. UR5 robot can be set during labelingThe maximum sliding distance of the vacuum cups is 60mm, i.e. ideally the UR5 robot will have a compression stroke of 60mm when labelling. In view of the overall safety, the vacuum chuck at the end of the UR5 robot starts moving linearly for labeling 40mm before the UR5 robot contacts the end face of the reinforcing bar, so that the linear movement distance of the UR5 robot during labeling is 100 mm. Because the whole set of system is positioned by machine vision, and the camera in the machine vision system is positioned right in front of the whole bundle of steel bars, in order to prevent the robot from blocking the machine vision, the UR5 robot is placed on the side surface of the steel bar bundle, the UR5 robot is placed on the left side and the right side of the steel bars, the movement forms of the UR5 robot are similar, and the UR5 robot is placed on the right side of the steel bars. In the labeling process, the UR5 robot is too high, which easily causes the robot to collide with the bracket, and the height value can be set to be equal to or slightly higher than the overall highest point of the steel bar. In order to prevent the reinforcing bars from colliding with a robot during the conveying process, a safety distance can be set to improve the safety of the whole system. Since UR5 needs to move in a straight line during labeling and in certain specific locations causes safety shutdown due to its singularity, which should be avoided as much as possible in industrial sites, UR5 should be placed to avoid the singularity. By combining the external structure and the working mode of the UR5 robot, the distance between the center point of the base of the UR5 robot and the end face of the reinforcing steel bar can be obtainedzThe axial distance is at least 500 mm. Thus, under ideal conditions, the position range of the UR5 robot can be preliminarily determined as follows: 225<x<750，-400<y<200，500<z<815。
The D-H parameter table of each link of UR5 robot is shown in Table 2.
TABLE 2D-H PARAMETERS TABLE FOR UR5 ROBOT
The D-H parameter table of each connecting rod is used to obtain the transformation matrix of UR5 robotAThe expression of (a) is:
the transformation matrix of each link of the robot is:
，，，，，，。
in the formula, s i =sinθ i ，c i =cosθ i The same applies hereinafter.A 0Is a transformation matrix between the robot coordinate system and the base coordinate system, usingA 0The optimal position for the robot to be installed in the entire system can be determined.
The positive solution of robot kinematics can be found by using the transformation matrix:
（1）
wherein:
n x =s6s234c1-c6s1s5-c1c234c5c6；
o x =s6s1s5+c1c5s6c234+c1c6s234；
a x =s5c1c234-s1c5；
p x =x-d 4s1-a 2c1c2-d 6c5s1-d 5c1s234+d 6s5c1c234-a 3c1c23；
n y =s6c234+c5c6s234；
o y =c6c234-c5s6s234；
a y =-s5s234；
p y =y+a 2s2+a 3s23-d 6s5s234-d 5c234+d 1；
n z =-c1c6s5+c5c6s1c234-s1s6s234；
o z =c1s5s6-c5s1s6c234-c6s1s234；
a z =-s1s5c234-c1c5；
p z =z-d 4c1-d 6c1c5+a 2c2s1+d 5s1s234-d 6s1s5c234+a 3s1c23。
in the formula, s234=sin(θ +2 θ +3 θ 4)、c234=cos(θ +2 θ +3 θ 4)、c23=cos(θ +2 θ 3)、s23=sin(θ +2 θ 3)，x、y、zThe coordinate values of the robot in the basic coordinate system are the same as the following.
The inverse kinematics of the robot is to solve the rotation angle of each joint reversely under the condition that the terminal pose of the robot is known. Here, an analytical solution of inverse kinematics of the UR5 robot is obtained by a separation variable method among analytical methods.
Firstly, the terminal pose of the robot in the basic coordinate system is as shown in the formula (1), and the terminal pose is utilizedLeft-multiplying by (1) to obtain:
(2)
the third row and the third column of (2) are equal:
c5=-a z c1-a x s1(3)
substituting (3) into the third row and fourth column equations of (2), and simplifying them to obtain:
(82.5a x -p x +x)s1+(82.5a z -p z +z)c1=109.3 (4)
can orderWill berCarry-in (4) to simplify and then solveθ 1The expression of (a) is:
will be provided withθ 1The expression of (2) is substituted into (3) and can be obtained:
the third row, the first column and the second column of (2) are equal and simplified to obtain:
simplified by the second row, the second column and the third column of (2) being equal:，. This gives:
the fourth column of the first row and the fourth column of the second row in (2) are equal and simplified to obtain:
（5）
（6）
order to；。
Handlea、bThe square addition of the two formulas is carried out by the degenerated pairs of (5) and (6):
will be provided withθ 3The value of (2) is substituted into the fourth column of the second row to obtain:
(7)
order toWill ber 1Carry into (7) and simplify and can get:
further can obtainθ 4The values of (A) are:
in the system, the target pose of the inverse solution of the UR5 robot comprises the inverse solution of the UR5 robot in labeling and the inverse solution of the UR5 robot in calibration. For ease of distinction, this document usesθ ij Indicating the angle of each joint of UR5 robot. Wherein:iindicating the operating state of UR5 robot, wherein:i=1 represents a state where the UR5 robot is in labeling;i=2 indicates a state in which the UR5 robot is in the calibration.jThe representation of the first few joints is shown,jis 1-6, which represents the first to sixth joints of UR5 robot, respectively, the same as the following.
During labeling, the UR5 robot has the tail end position as the center position of each reinforcing steel bar and the posture as the end face of the vertical reinforcing steel bar, so that the posture of the UR5 robot is determined during labeling. Because the end faces of the steel bars are flush in the ideal state and are at the basic coordinatesX-YOn the plane, the pose of the UR5 robot on labeling can be obtained. Because the length of the vacuum chuck is 270mm, the maximum sliding stroke of the vacuum chuck is 80mm, the compression stroke of the vacuum chuck during labeling under an ideal state can be 60mm, and the terminal pose of the UR5 robot during labeling can be obtained:
wherein,p x 、p y the specific values of the coordinates of the centers of the respective reinforcing bars in the user coordinate system are shown in table 1 above. The expression of the UR5 robot when the robot is stuck can be obtained by using the above inverse solution expression:
；
；
；
；
；
；
wherein,；；；。
the label is printed by a label printer, and the UR5 robot firstly stops the tail end of the UR5 right above the label when taking the label and then moves vertically downwards until the vacuum suction cup is contacted with the label, and the label is sucked by negative pressure. The label printer is arranged below the right center of the steel bar bundle, and the space coordinate of the label printer is (0, -300, 600). When the robot is calibrated, the vacuum chuck does not need to be compressed, and the length of the vacuum chuck is considered, so that the pose of the tail end of the UR5 robot when the robot is calibrated is as follows:
substituting the pose into the expression can solve the inverse solution expression of each joint of the robot as follows:
；
；
；
；
；
。
wherein,；；；。
the Particle Swarm Optimization (PSO) is an Optimization algorithm proposed based on biological phenomena, which has a simple principle and is easy to implement, and has attracted the attention of scholars and achieved a great deal of research results. The mathematical representation of the population of particles is as follows:
initialization with PSOnParticles, in the optimization iteration, the firstiThe position of each particle isX i Of 1 atiThe optimal position of the iteration of the particle so far, i.e. the individual extremum, isP i Of 1 atiThe velocity of each particle isV i The optimal speed of the entire particle swarm to date, i.e. the global extremum, isG i . In the particle swarm optimization algorithm, each particle has an adaptive value determined by an optimization function, and each particle knows its own individual extreme valueP i Global extreme valueG i And the current position of the particleX i Then each particle is transformed according to the following formula:
(8)
(9)
wherein,wis a constant for inertial weight under different strategieswThe change strategies of the inertia weight generally include a linear decreasing strategy, a fixed invariant strategy and a concave function decreasing strategy;c 1、c 2is a constant for learning the factor, usuallyc 1=c 2=2, in most cases 0<c 1=c 2<4; and rand () is a random number between (0, 1). In the iterative process, the position of the particle is in the range of [ 2 ]x min,x max]The particles are continuously updated and iterated in the value range,and finally, solving the optimal.
The initial positions and initial velocities of the particles are randomly generated, then the velocity and position iteration is carried out according to the iteration formulas (8) and (9), the fitness of each particle is calculated, and the optimal position and the global optimal position of each particle are found until the iteration is completed and the optimal solution is sought.
The basic idea of optimizing the spatial position of UR5 robot by using particle swarm optimization follows the minimum optimization principle of the sum of the joint angles. Because the rotation angle of each joint of the UR5 may be a positive value or a negative value in the actual working process, if the rotation angles of the joints are directly summed, the finally obtained value is not consistent with the value of the actual rotation angle, so the absolute value of the rotation angle of each joint is taken in the calculation, that is, the optimization capability of the particle swarm optimization algorithm is utilized to solve the problem of the robotx、yAndzoptimal values of three coordinates such that the sum of the rotation angles of the joints of the UR5 robotAnd minimum.
Setting the number of population sizes to 150; the number of iterations is 50; the optimization function is:whereinnThe number of the steel bars is one bundle; and the location range of UR 5: 225<x<750；-400<y<200；500<z<815. The relationship curve between the fitness and the iteration times can be obtained by substituting the PSO optimization program with the fitness and the iteration times as shown in FIG. 3.
As can be seen from fig. 3, the fitness of the particle reaches a stable minimum after a plurality of iterations, and the coordinate of the robot is calculated to be (225,102.25,767.11), and the sum of the minimum rotation angles of all joints is 11516 °.
Claims (2)
1. An optimization method for the placement position of an industrial robot in an automatic labeling system adopts a vision-based automatic labeling system for bundled reinforcing steel bars to perform automatic labeling, and is characterized by adopting the following method: firstly, establishing a kinematic coordinate system of an industrial robot and a fixed coordinate system on the end face of a steel bar bundle by using theoretical knowledge of the kinematics of the robot, solving a transformation matrix between the coordinate systems of all connecting rods of the industrial robot by using parameters of all the connecting rods of the industrial robot, and establishing a kinematic equation of the industrial robot by using the transformation matrix; then, solving an analytic inverse solution by using a kinematic equation of the industrial robot to obtain mathematical expressions between the terminal pose of the industrial robot and each joint corner, solving the mathematical expressions of each joint corner of the terminal of the industrial robot during label taking and labeling by using the expressions, solving the change value of each joint corner of the industrial robot during label taking and labeling by using the mathematical expressions of each joint corner of the terminal of the industrial robot during label taking and labeling, summing the absolute values of the change values to obtain the mathematical expression of the sum of the corners of each joint of the industrial robot during label taking and labeling of each steel bar, and summing the mathematical expressions of the sum of the corners of each joint of the industrial robot during label taking and labeling of each steel bar to obtain the total corner of the joint of the industrial robot during label taking and labeling of the whole bundle of steel bars; and finally, taking the total corner as an optimized objective function, optimizing the placing position of the industrial robot in a safe range by utilizing an optimization algorithm, and solving the optimal placing position of the industrial robot, so that the total corner value of each joint of the industrial robot is minimum when the industrial robot takes and labels.
2. The method for optimizing the placement of an industrial robot in an automatic labeling system according to claim 1, wherein: the optimization algorithm adopts a particle swarm algorithm.
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| JPH1177567A (en) * | 1997-09-09 | 1999-03-23 | Nippon Telegr & Teleph Corp <Ntt> | Control method and device for robot manipulator |
| CN101583468A (en) * | 2006-10-19 | 2009-11-18 | Abb股份有限公司 | System and method for automatically processing and/or machining workpieces |
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| CN101811301A (en) * | 2009-10-28 | 2010-08-25 | 北京航空航天大学 | Series-parallel robot combined processing system and control method thereof |
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