CN107571258A - A kind of operating path planning method and device based on mechanical arm - Google Patents
A kind of operating path planning method and device based on mechanical arm Download PDFInfo
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- CN107571258A CN107571258A CN201710774838.XA CN201710774838A CN107571258A CN 107571258 A CN107571258 A CN 107571258A CN 201710774838 A CN201710774838 A CN 201710774838A CN 107571258 A CN107571258 A CN 107571258A
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- path
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- mechanical arm
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Abstract
The invention discloses a kind of operating path planing method based on mechanical arm, the pile part for piling up region described in setting first piles up technique；Then control the mechanical arm to obtain the pickup point position, first stage path is planned according to the path point chosen from the pickup point to user；Then control the mechanical arm to capture pile part from the pickup position, and the transition point is moved to by the first stage path；That piles up that technique obtains the pile part described in then reading puts part position, and part position planning second stage path is put according to from the transition point to described；Finally control the mechanical arm from the second stage path move to it is described put part point, and the pile part is placed on described put on part point according to the technique of piling up.Present invention also offers a kind of operating path device for planning of mechanical arm, effectively prevents the collision obstacle in the moving process of mechanical arm crawl pile part, improves the security of stacking work, moreover it is possible to improve the flexibility of path planning.
Description
Technical field
The present invention relates to the control field of mechanical arm, more particularly to a kind of operating path planing method based on mechanical arm and
Device.
Background technology
Carry and palletizing operation occupies critical role in the logistics management of modern enterprise.In stacking work, stacking peace
Full property is particularly important.The path planning to palletizing mechanical arm is usually to lift from pickup position by pile part in the prior art, and is passed through
Cross after rectilinear movement and put down the pile part putting part position.Existing paths planning method due to lacking bending on path,
Easily produce friction with the barrier on path even to collide, the security for causing stacking to work is affected.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of operating path planing method based on mechanical arm, can effectively prevent
Collision obstacle in the moving process of mechanical arm crawl pile part, improve the security of stacking work, moreover it is possible to improve path planning
Flexibility.
To achieve the above object, the embodiments of the invention provide a kind of operating path planing method based on mechanical arm, bag
Include step：
The pile part that region is piled up described in S1, setting piles up technique；
S2, the control mechanical arm obtain the pickup point position, according to from the path that the pickup point is chosen to user
Point planning first stage path；
S3, the control mechanical arm capture pile part from the pickup position, and move to institute by the first stage path
State transition point；
S4, read described in pile up that technique obtains the pile part put part position, put part position according to from the transition point to described
Plan second stage path；
S5, the control mechanical arm put part point described in being moved to from the second stage path, and pile up work according to described
The pile part is placed on described put on part point by skill.
As the improvement of such scheme, the step S2 is specifically included：
To pickup position, it is pickup point to record the pickup position for S21, the control manipulator motion；
The path point that S22, the control manipulator motion are chosen to user, the position for recording the path point is transition
Point, calculate from the pickup point and be recorded as first stage path to the path of the transition point, and by the path.
As the improvement of such scheme, the quantity for the path point that user chooses is more than or equal to one.
As the improvement of such scheme, multiple path points of user's selection of record include the position of the path point
And order.
As the improvement of such scheme, the pickup point and the path are recorded by recording the form of space coordinates
Point.
As the improvement of such scheme, the step S4 is specifically included：
S41, reading piled up pile number of packages amount and it is described pile up technique, calculate what the pile part should be piled up on the pallet
Position, it is designated as putting part point；
S42, calculate from the transition point to the path for putting part point, the path is recorded as second stage path.
As the improvement of such scheme, recorded by recording the form of space coordinates and described put part point.
As the improvement of such scheme, the technique of piling up includes piling up posture, pile up position and piling up order for pile part.
As the improvement of such scheme, step S6 is additionally included in place and the posture of the pile part adjusted before the pile part
It is whole.
Compared with prior art, a kind of operating path planing method based on mechanical arm provided in an embodiment of the present invention, it is first
Pile part on pallet is first set to pile up technique, it is then determined that pickup point and transition point is chosen, according to the pickup point and the mistake
Cross a planning first stage path.The pile part is captured in the mechanical arm and according to being moved to the first stage path
During transition point, according to it is described pile up that technique determines the pile part put part point, according to the transition point and described put the planning of part point
Second stage path, and the pile part is put to the placement of part point according to being moved to the second stage path.Plan with institute
It is starting point to state pickup point, puts operating path of the part point as terminal by the transition point, and using described, can not only prevent in machine
Collision obstacle in the moving process of tool arm crawl pile part, improves the security of stacking work, also chooses the mistake by user
Cross a little to improve the flexibility of path planning.
The embodiment of the present invention additionally provides a kind of operating path device for planning of mechanical arm, including technique setup module, uses
The setting of technique is piled up in control pile part；First planning module, for planning the first stage path；Second planning module,
For planning the second stage path；Stacking control module, for controlling the mechanical arm to be entered according to default technique of piling up
Row stacking works.
Compared with prior art, a kind of operating path device for planning based on mechanical arm provided in an embodiment of the present invention, by
Pile part piles up technique on technique setup module setting pallet.First planning module determines pickup point and obtains transition point, according to
The pickup point and transition point planning first stage path.Stacking control module controls the mechanical arm to capture the pile part
And the transition point is moved to according to the first stage path.Second planning module piles up technique according to and determines the pile
Part puts part point, and second stage path is planned according to the transition point and the part point of putting.The stacking control module controls institute
State mechanical arm and the pile part is put to the placement of part point according to being moved to the second stage path.Plan with the pickup point
For starting point, operating path of the part point as terminal is put by the transition point, and using described, can not only prevent from capturing in mechanical arm
Collision obstacle in the moving process of pile part, the security of stacking work is improved, the transition point is also chosen by user to carry
The flexibility of high path planning.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the operating path planing method based on mechanical arm in the embodiment of the present invention.
Fig. 2 is a kind of flow chart of the operating path planing method step S2 based on mechanical arm in the embodiment of the present invention.
Fig. 3 is a kind of flow chart of the operating path planing method step S4 based on mechanical arm in the embodiment of the present invention.
Fig. 4 is a kind of structural representation of the operating path device for planning based on mechanical arm in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
A kind of operating path planing method based on mechanical arm provided in an embodiment of the present invention, the mechanical arm are multi-joint
Mechanical arm, including pickup portion and motion portion.The pickup portion is used to pick and place pile part, and the pickup portion obtains the mode of the pile part
Including but not limited to grip, support takes and drawn；The motion portion links including multiple joints, for driving taking for the mechanical arm
Realize three-D displacement in part portion.The mechanical arm piles up the pile part on pallet, and the pallet is stacking pallet, loading end
To be square, including but not limited to flat board pallet, Post Pallets and box pallet.
Referring to Fig. 1 to Fig. 3, a kind of operating path planing method based on mechanical arm provided in an embodiment of the present invention includes step
Suddenly：
The pile part that region is piled up described in S1, setting piles up technique.
Specifically, the area and shape data for piling up region are read, is piled up with reference to the single pile part and piles up area described
Area occupied and shape data on domain, calculate the individual layer maximum quantity for piling up the pile part that region can carry.It is logical
Heuritic approach, such as ant group algorithm or approximate data are crossed, region individual layer code can also piled up by the method for exhaustion described in satisfaction
The quantity for the pile part put is equal under conditions of the individual layer maximum quantity, calculates and piles up multiple pile parts described
The posture on region and position are piled up, and order is piled up for multiple pile part additions are arbitrary, by the institute of multiple pile parts
Posture, the position and the combination for piling up order is stated to be recorded as piling up technique.
S2, the control mechanical arm obtain the pickup point position, according to from the path that the pickup point is chosen to user
Point planning first stage path.Specifically, include referring to Fig. 2, step S2：
S21, the pickup portion of the control mechanical arm move to pickup position, and it is pickup point to record the pickup position.
In this step, describing for convenience, it is assumed that the pile part is transported to the pickup position by streamline,
So as to be gripped by the pickup portion of the mechanical arm, in other cases, the pile part can also be deposited in specific region, not shadow
Ring the beneficial effect that the present invention obtains.The form of expression of the pickup position can be the coordinate of space coordinates, can also institute
State the attitude information in the motion portion of mechanical arm, or the location information of the other sensors by the mechanical arm.In this implementation
In example, the pickup position shows as the coordinate A (x1, y1, z1) of space coordinates, and the coordinate A is pickup point coordinates.
S22, the pickup portion of the control mechanical arm move to the path point of user's selection, record the position of the path point
For transition point, calculate from the pickup point to the path of the transition point.
Specifically, the pickup portion of the mechanical arm is controlled to be linearly moved to first of user's selection from the pickup point
Put, the space coordinates coordinate B1 (x2, y2, z2) of the first position is recorded as First Transition point coordinates B1；Institute is controlled again
The pickup portion for stating mechanical arm moves to the second place of user's selection from the First Transition point, by the space of the second place
Coordinate system coordinate B2 (x3, y3, z3) is recorded as the second transition point coordinates B2.The pickup point coordinates A is read, calculates the pickup
Point coordinates A obtains first path vector AB1 to the path of the First Transition point coordinates B1；Second transition point is read to sit
B2 is marked, the First Transition point coordinates B1 is calculated to the path of the second transition point coordinates B2, obtains the second path vector
B1B2.Choose transition point purpose be, by the pickup portion of the mechanical arm from the pickup position to the road the pallet
Footpath is converted to more broken lines from straight line, to avoid in the pickup position and the obstacle that may be present between piling up position of the pile part
The guardrail of thing, such as streamline or the frame of box pallet, it is ensured that the pile part can pass through the path, arrive safe and sound predetermined
Pile up position.In other cases, the quantity of the transition point can be more or less do not influence the present invention obtain have
Beneficial effect.
S3, the pickup portion of the control mechanical arm capture pile part from the pickup position, and obtain by step S3 described
Path is moved to the transition point.
In this step, the pickup portion of the mechanical arm is controlled to capture the pile part, and from the pickup point setting in motion.
The pickup portion of the mechanical arm is controlled to follow the first path vector AB1 from the pickup point and be moved to first mistake
Cross a little, then follow the second path vector B1B2 and be moved to the second transition point.
S4, read described in pile up that technique obtains the pile part put part position, put part position according to from the transition point to described
Plan second stage path.Specifically, step S4 also includes：
S41, reading piled up pile number of packages amount and it is described pile up technique, calculate what the pile part should be piled up on the pallet
Position, it is designated as putting part point；
S42, calculate from the transition point to the path for putting part point, the path is recorded as second stage path.
For convenience of description, here it is assumed that the pile part currently captured is first pile part on the pallet.
Pile number of packages amount is piled up described in reading, it is 0 to obtain the pile number of packages amount of having piled up, it is determined that the pile currently captured
Part piles up order described on the pallet be No. 1.Technique is piled up described in reading, i.e. what is set in read step S1 piles up
The postures of multiple pile parts on the pallet, the position and it is described pile up order, what is currently captured is described
1 number corresponding to pile part puts forward sequence, No. 1 position and No. 1 posture.The coordinate C (x4, y4, z5) of No. 1 position is recorded as putting
Part point coordinates C.Read the second transition point coordinates B2, i.e., the changing coordinates (x3, y3, z3) in the pickup portion of described mechanical arm,
Calculate from the second transition point coordinates B2 to the path for putting part point coordinates C, obtain the 3rd path vector B2C.
Part point is put in the path that S5, the pickup portion of the control mechanical arm obtain by step S5 described in being moved to, and
According to the pile part piled up technique placement and currently captured.
The pickup portion of the mechanical arm is controlled to follow the 3rd path vector B2C movements from second transition point
Part point is put to described, and No. 1 posture is read in technique from described pile up；Taken simultaneously according to No. 1 gesture stability
The posture for the pile part that the adjustment of part portion currently captures.The pickup portion of the mechanical arm be moved to it is described after putting part point, will be current
The pile part of crawl is placed on the pallet, and the pile part for completing currently to capture piles up work.
A kind of operating path planing method based on mechanical arm provided in an embodiment of the present invention, pile part on pallet is set first
Pile up technique, it is then determined that pickup point and choosing transition point, the first stage is planned according to the pickup point and the transition point
Path.When the mechanical arm captures the pile part and is moved to the transition point according to the first stage path, according to institute
State pile up that technique determines the pile part put part point, according to the transition point and it is described put part point planning second stage path, and
The pile part is put to the placement of part point according to being moved to the second stage path.Plan using the pickup point as starting point,
Operating path of the part point as terminal is put by the transition point, and using described, can not only be prevented in mechanical arm crawl pile part
Collision obstacle in moving process, the security of stacking work is improved, the transition point is also chosen by user to improve path
The flexibility of planning.
Referring to Fig. 4, a kind of operating path planing method based on mechanical arm provided in an embodiment of the present invention, support is set first
Pile part piles up technique on disk, it is then determined that pickup point and choosing transition point.The pile part is captured in the mechanical arm to be moved to
During the transition point, according to it is described pile up that technique determines the pile part put part point, and by the pile part movement from the transition
Point is moved to the part point of putting and placed.Plan using the pickup point as starting point, part point is put by the transition point, and with described
For the operating path of terminal, the collision obstacle in the moving process of mechanical arm crawl pile part can be not only prevented, improves stacking
The security of work, the transition point is also chosen by user to improve the flexibility of path planning.
A kind of operation principle of operating path device for planning modules based on mechanical arm provided in an embodiment of the present invention
And process refers to a kind of operating path planing method based on mechanical arm of above-described embodiment, will not be described here.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of operating path planing method based on mechanical arm, it is characterised in that including step：
The pile part that region is piled up described in S1, setting piles up technique；
S2, the control mechanical arm obtain the pickup point position, are advised according to the path point chosen from the pickup point to user
Draw first stage path；
S3, the control mechanical arm capture pile part from the pickup position, and move to the mistake by the first stage path
Cross a little；
S4, read described in pile up that technique obtains the pile part put part position, put the planning of part position according to from the transition point to described
Second stage path；
S5, the control mechanical arm put part point described in being moved to from the second stage path, and will according to the technique of piling up
The pile part is placed on described put on part point.
2. paths planning method as claimed in claim 1, it is characterised in that the step S2 is specifically included：
To pickup position, it is pickup point to record the pickup position for S21, the control manipulator motion；
The path point that S22, the control manipulator motion are chosen to user, the position for recording the path point is transition point, meter
Calculate from the pickup point and be recorded as first stage path to the path of the transition point, and by the path.
3. paths planning method as claimed in claim 2, it is characterised in that the quantity for the path point that user chooses is more than
Equal to one.
4. paths planning method as claimed in claim 3, it is characterised in that multiple path points that the user of record chooses
Position and order including the path point.
5. paths planning method as claimed in claim 4, it is characterised in that by recording the form of space coordinates to record
State pickup point and the path point.
6. paths planning method as claimed in claim 1, it is characterised in that the step S4 is specifically included：
S41, reading piled up pile number of packages amount and it is described pile up technique, calculate the position that the pile part should be piled up on the pallet
Put, be designated as putting part point；
S42, calculate from the transition point to the path for putting part point, the path is recorded as second stage path.
7. paths planning method as claimed in claim 6, it is characterised in that by recording the form of space coordinates to record
State and put part point.
8. paths planning method as claimed in claim 1, it is characterised in that the technique of piling up piles up appearance including pile part
State, pile up position and pile up order.
9. paths planning method as claimed in claim 8, it is characterised in that step S6 be additionally included in place it is right before the pile part
The posture of the pile part is adjusted.
A kind of 10. operating path device for planning of mechanical arm, it is characterised in that including：
Technique setup module, for controlling pile part to pile up the setting of technique；
First planning module, for planning the first stage path；
Second planning module, for planning the second stage path；
Stacking control module, for controlling the mechanical arm to carry out stacking work according to default technique of piling up.
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| CN201710774838.XA CN107571258A (en) | 2017-08-31 | 2017-08-31 | A kind of operating path planning method and device based on mechanical arm |
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| CN201710774838.XA CN107571258A (en) | 2017-08-31 | 2017-08-31 | A kind of operating path planning method and device based on mechanical arm |
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Cited By (6)
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| CN108709621A (en) * | 2018-08-02 | 2018-10-26 | 河北工业大学 | A kind of special-shaped workpiece detection grabbing device based on supersonic array |
| CN111230876A (en) * | 2020-02-06 | 2020-06-05 | 腾讯科技（深圳）有限公司 | Method and device for moving article, intelligent equipment and storage medium |
| CN111232272A (en) * | 2020-01-19 | 2020-06-05 | 珠海格力智能装备有限公司 | Material stacking method and device, storage medium and processor |
| CN111230877A (en) * | 2020-02-06 | 2020-06-05 | 腾讯科技（深圳）有限公司 | Method for moving article and intelligent equipment |
| CN112297049A (en) * | 2020-11-05 | 2021-02-02 | 泉州装备制造研究所 | Composite gripper |
| CN108709621B (en) * | 2018-08-02 | 2024-04-26 | 河北工业大学 | Abnormal workpiece detection grabbing device based on ultrasonic array |
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| CN111230876B (en) * | 2020-02-06 | 2021-11-02 | 腾讯科技（深圳）有限公司 | Method and device for moving article, intelligent equipment and storage medium |
| CN112297049A (en) * | 2020-11-05 | 2021-02-02 | 泉州装备制造研究所 | Composite gripper |
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Application publication date: 20180112 |