CN106737666A - A kind of industrial robot is according to path mode of progression - Google Patents
A kind of industrial robot is according to path mode of progression Download PDFInfo
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- CN106737666A CN106737666A CN201611092763.9A CN201611092763A CN106737666A CN 106737666 A CN106737666 A CN 106737666A CN 201611092763 A CN201611092763 A CN 201611092763A CN 106737666 A CN106737666 A CN 106737666A
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- Prior art keywords
- path
- consuming
- segmentation
- time
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention provides a kind of industrial robot according to path mode of progression, comprise the following steps：1. initialize；2. screening scheme；3. segmental averaging；4. segmentation is calculated：With the time-consuming average of each segmentation, the congestion coefficient of the segmentation is multiplied by, the estimation for obtaining each segmentation takes；5. superposition collects：Time-consuming to the estimation of each segmentation to be overlapped by node path point scheme, the total estimation for obtaining each node path point scheme takes；6. show：Using each node path point scheme as route scheme, take sequence according to total estimation and show active user.The present invention calculates time-consuming method by for current robot individual cases, the optimal path of the suitable robot can be given to the general time-consuming situation of different machines people, with high specific aim, no matter which kind of special tectonic robot is in, and can provide relative preferred plan.
Description
Technical field
The present invention relates to a kind of industrial robot according to path mode of progression.
Background technology
In the prior art, removable industrial robot is generally required according to actual control needs, the row in multiple path points
Enter to be operated, for the path point sequence of permanent order, travel path is relatively single, the problem for existing is not found temporarily, but it is right
In the situation of multiple path points not fixed sequence program, then for the planning of industrial robot travel path, typically all based on general
Consideration, directly taken for each person using all machines and present road congestion coefficient calculated, it is but in practice, different
Robot it is incomplete same to every section spent time because operating mode is different, the path for being hereby based on general consideration is advanced
Scheme efficiency is not high.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of industrial robot according to path mode of progression, the industrial machine
Device people calculates time-consuming method according to path mode of progression by for current robot individual cases, can be to the one of different machines people
As take situation and provide the optimal path of the suitable robot.
The present invention is achieved by the following technical programs.
A kind of industrial robot that the present invention is provided comprises the following steps according to path mode of progression：
1. initialize：The time-consuming table in path in the time-consuming storehouse of historical path of current robot is read, to lacking in the time-consuming table in path
Mistake value is filled with the average value of all robots, the path point list passed through needed for reading；
2. screening scheme：For path point list, with the human road junction of machine as node, every kind of possible, satisfaction is calculated
By the node path point scheme of all path points；
3. segmental averaging：In each node path point scheme, path point is considered as node, between each two node
Path is segmented as one section, and to each segmentation, the time-consuming meter in path according to active user calculates time-consuming average；
4. segmentation is calculated：With the time-consuming average of each segmentation, the congestion coefficient of the segmentation is multiplied by, obtains estimating for each segmentation
Calculate time-consuming；
5. superposition collects：It is time-consuming to the estimation of each segmentation to be overlapped by node path point scheme, obtain each node
Total estimation of path point scheme takes；
6. show：Using each node path point scheme as route scheme, take sequence and show according to total estimation and work as
Preceding user.
3. the time-consuming average of middle calculating takes average weighted mode to calculate to the step.
The beneficial effects of the present invention are：Time-consuming method is calculated by for current robot individual cases, can be to not
Provide the optimal path of the suitable robot with the general time-consuming situation of robot, with high specific aim, no matter robot
In which kind of special tectonic, relative preferred plan can be given.
Brief description of the drawings
Fig. 1 is schematic flow sheet of the invention.
Specific embodiment
Be described further below technical scheme, but claimed scope be not limited to it is described.
A kind of industrial robot as shown in Figure 1 comprises the following steps according to path mode of progression：
1. initialize：The time-consuming table in path in the time-consuming storehouse of historical path of current robot is read, to lacking in the time-consuming table in path
Mistake value is filled with the average value of all robots, the path point list passed through needed for reading；
2. screening scheme：For path point list, with the human road junction of machine as node, every kind of possible, satisfaction is calculated
By the node path point scheme of all path points；
3. segmental averaging：In each node path point scheme, path point is considered as node, between each two node
Path is segmented as one section, and to each segmentation, the time-consuming meter in path according to active user calculates time-consuming average；
4. segmentation is calculated：With the time-consuming average of each segmentation, the congestion coefficient of the segmentation is multiplied by, obtains estimating for each segmentation
Calculate time-consuming；
5. superposition collects：It is time-consuming to the estimation of each segmentation to be overlapped by node path point scheme, obtain each node
Total estimation of path point scheme takes；
6. show：Using each node path point scheme as route scheme, take sequence and show according to total estimation and work as
Preceding user.
3. the time-consuming average of middle calculating takes average weighted mode to calculate to the step.
Thus, technical scheme uses the distinctive historical data of robot first when calculating time-consuming, because
This has specific aim.Because robot work region is typically more fixed, therefore data acquisition is easily, and section data are relative
Fixed, each section is also more by number of times, also can well avoid robot different when being intended for single use using average weighted mode
Reason condition (as tripped just) causes the time-consuming calculating exception that time-consuming value is ultimately resulted in extremely.
Claims (2)
1. a kind of industrial robot is according to path mode of progression, it is characterised in that：Comprise the following steps：
1. initialize：The time-consuming table in path in the time-consuming storehouse of historical path of current robot is read, to missing values in the time-consuming table in path
Filled with the average value of all robots, the path point list passed through needed for reading；
2. screening scheme：For path point list, with the human road junction of machine as node, calculate every kind of possible, satisfaction and pass through
The node path point scheme of all path points；
3. segmental averaging：In each node path point scheme, path point is considered as node, with the path between each two node
It is segmented as one section, to each segmentation, the time-consuming meter in path according to active user calculates time-consuming average；
4. segmentation is calculated：With the time-consuming average of each segmentation, the congestion coefficient of the segmentation is multiplied by, obtains the estimation consumption of each segmentation
When；
5. superposition collects：It is time-consuming to the estimation of each segmentation to be overlapped by node path point scheme, obtain each node path
Total estimation of point scheme takes；
6. show：Using each node path point scheme as route scheme, take sequence according to total estimation and show current use
Family.
2. industrial robot as claimed in claim 1 is according to path mode of progression, it is characterised in that：The step is 3. middle to calculate consumption
Hourly value takes average weighted mode to calculate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611092763.9A CN106737666A (en) | 2016-12-02 | 2016-12-02 | A kind of industrial robot is according to path mode of progression |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611092763.9A CN106737666A (en) | 2016-12-02 | 2016-12-02 | A kind of industrial robot is according to path mode of progression |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737666A true CN106737666A (en) | 2017-05-31 |
Family
ID=58915767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611092763.9A Pending CN106737666A (en) | 2016-12-02 | 2016-12-02 | A kind of industrial robot is according to path mode of progression |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326707A (en) * | 2021-11-30 | 2022-04-12 | 深圳优地科技有限公司 | Method for controlling movement of robot, and computer-readable storage medium |
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| US20060190136A1 (en) * | 2005-02-24 | 2006-08-24 | Paragon Technical Services, Inc. | Method and system for controlling a manipulator |
| CN102097011A (en) * | 2011-02-21 | 2011-06-15 | 昆明理工大学 | Cluster intelligent traffic flow control system |
| CN103164782A (en) * | 2011-12-16 | 2013-06-19 | 招商局国际信息技术有限公司 | Intelligent dispatching system and intelligent dispatching method of container trucks |
| CN103914976A (en) * | 2014-03-28 | 2014-07-09 | 北方工业大学 | Heterogeneous user-oriented system optimal traffic distribution model and distribution method |
| CN104882011A (en) * | 2015-06-02 | 2015-09-02 | 健康宝互联网技术有限公司 | Vehicle quick alarm-receiving and action-taking system and vehicle quick alarm-receiving and action-taking method |
| CN105652838A (en) * | 2016-01-29 | 2016-06-08 | 哈尔滨工大服务机器人有限公司 | Multi-robot path planning method based on time window |
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2016
- 2016-12-02 CN CN201611092763.9A patent/CN106737666A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060190136A1 (en) * | 2005-02-24 | 2006-08-24 | Paragon Technical Services, Inc. | Method and system for controlling a manipulator |
| CN102097011A (en) * | 2011-02-21 | 2011-06-15 | 昆明理工大学 | Cluster intelligent traffic flow control system |
| CN103164782A (en) * | 2011-12-16 | 2013-06-19 | 招商局国际信息技术有限公司 | Intelligent dispatching system and intelligent dispatching method of container trucks |
| CN103914976A (en) * | 2014-03-28 | 2014-07-09 | 北方工业大学 | Heterogeneous user-oriented system optimal traffic distribution model and distribution method |
| CN104882011A (en) * | 2015-06-02 | 2015-09-02 | 健康宝互联网技术有限公司 | Vehicle quick alarm-receiving and action-taking system and vehicle quick alarm-receiving and action-taking method |
| CN105652838A (en) * | 2016-01-29 | 2016-06-08 | 哈尔滨工大服务机器人有限公司 | Multi-robot path planning method based on time window |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326707A (en) * | 2021-11-30 | 2022-04-12 | 深圳优地科技有限公司 | Method for controlling movement of robot, and computer-readable storage medium |
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Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |