CN108454787A - A kind of compensation of undulation robot system and its control method - Google Patents
A kind of compensation of undulation robot system and its control method Download PDFInfo
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- CN108454787A CN108454787A CN201710566033.6A CN201710566033A CN108454787A CN 108454787 A CN108454787 A CN 108454787A CN 201710566033 A CN201710566033 A CN 201710566033A CN 108454787 A CN108454787 A CN 108454787A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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Abstract
The present invention relates to a kind of compensation of undulation robot system, which is mounted on the deck of ship；It is characterized in that：Turn ethernet module including mechanical arm, controller, teaching machine, inertial navigation, PC, interchanger and RS232；The motion state of the ship deck caused by stormy waves is detected with inertial navigation first；Then, PC is transferred data to, serial data is extracted and handled in PC；Then, with the data compilation tracking pedestal mark and Fuzzy PID extracted in the software in PC；After compiling is completed, in the case of no mistake, these programs are downloaded to by cable in controller；Movement instruction is compiled in teaching machine；Finally, material supply work is completed in conjunction with the order co- controlling machinery arm body in the program and teaching machine in controller.
Description
Technical field
The present invention relates to marine field of mechanical technique peculiar to vessel more particularly to a kind of compensation of undulation robot system and its controls
Method.
Background technology
As the mankind have obtained the blueness of more and more people to the continuous exploration of earth resource and exploitation, abundant marine resources
It looks at.The developable potentiality of marine resources are very big, and the ocean platform of operation at sea and the quantity of ship are continuously increased in recent years.It is logical
Often, it in ocean platform and shipping work, needs to be constantly the goods and materials such as its supplement and fuel oil, ensures that it can normally make
Industry.In the case where that cannot pull in shore and be stopped, sealift mode is generally used, object is carried out to ocean platform and ship
Money supply.Due to the influence of stormy waves, ship, which can do irregular wave, causes the relative position of ship to change.Meanwhile this
The problems such as a little variations can cause the difficulty of material supply to increase, influence working efficiency and personnel safety occurs.So how to remove
Stormy waves improves working efficiency and ensures worker safety, there is great meaning to the influence in supply vessel operation.
Currently, most of seaborne supply is will to feed goods and materials by steel wire rope to be transferred to ocean platform from supply ship and connect
It receives on ship, and steel wire rope is vacantly arranged.Due to the influence of stormy waves, the goods and materials transported on steel wire rope will produce randomly
Rule is waved, it is possible to issue the problems such as biology money falls into the sea and collide hull and mutually collision in more severe sea situation.
For example, a kind of wave compensation system described in Chinese patent 201610950110.3 and its control method.Including
Highline winch, tension pressurized strut, pulley blocks, crane, accumulator, driving device and control device.The steel of highline winch
Cord sequentially passes through tension pressurized strut, pulley blocks, crane, and tension pressurized strut includes that fixed pulley, movable pulley and setting are slided dynamic
Take turns the hydraulic cylinder between movable pulley, the cylinder body of hydraulic cylinder is fixedly connected with fixed pulley, the piston rod of hydraulic cylinder with move
Pulley is fixedly connected, and accumulator is connected to hydraulic cylinder, and driving device is sequentially connected with highline winch, and control device includes using
In the displacement sensor of the displacement of detection piston rod, according to the controller of the Bit andits control highline winch of piston rod rotation, control
Device processed is connected respectively at displacement sensor with driving device.Tension pressurized strut is cooperateed with to carry out wave benefit jointly by highline winch
It repays.
Compensation system is complicated in above-mentioned patent, and cumbersome for installation, efficiency and compensation precision be not high, troublesome maintenance, at
This height；In view of the above technical problems, it is therefore desirable to which research and development are a kind of with simple in structure, easy to operate, use scope is wide, efficient
With the control method of concatenated multiple degrees of freedom compensation of undulation robot system and the system of the function the advantages that more.
Invention content
The technical problem to be solved in the present invention is to provide a kind of compensation of undulation robot system and its control methods, can solve
When certainly at sea carrying out supply work, supply goods and materials, hull and supply personnel are caused since stormy waves causes the shaking of tender
Danger the problems such as.
In order to solve the above technical problems, the technical scheme is that：A kind of compensation of undulation robot system, system peace
Mounted in the deck of ship；Its innovative point is：Turn including mechanical arm, controller, teaching machine, inertial navigation, PC, interchanger and RS232
Ethernet module；
The mechanical arm is bolted on ship deck；The inertial navigation is bolted to connection the ship by mechanical arm
On oceangoing ship deck, it is used for detecting the state after Lidar Equation suffered by ship in real time；It is solid by bolt that the RS232 turns ethernet module
It is connected in by inertial navigation on ship deck, RS232 turns ethernet module and is connected by data line with the output port of inertial navigation；
The interchanger is connected by data line with each component on deck establishes LAN for transmitting data；The PC receives used
The data of output are led, data processing, compiling tracking pedestal beacon course sequence and control algolithm is carried out and compensates, by compiled program
Download to controller；The teaching machine and controller cooperation control mechanical arm；One end of the controller and computer
Data exchange is carried out, the other end of controller is connected with mechanical arm and control machinery arm compensates movement.
A kind of control method of above-mentioned compensation of undulation robot system, innovative point are：It is as follows：
S1：It uses inertial navigation to detect the delta data of the ship deck caused by stormy waves in real time first, clamp plate of ship is changed
Data turn ethernet module output by RS232；
S2：In the data transmission to PC that the LAN established by interchanger sends out inertial navigation；
S3：The data received are handled by software in PC, and utilize the data compilation tracking pedestal mark handled well
Program and control algolithm compensate；
S4：Compiled program is downloaded to by LAN in controller, movement instruction is compiled in teaching machine；
S5：After program in controller and teaching machine is be combined with each other with order, co- controlling manipulator motion, to mechanical arm end
End compensates, and can smoothly transport goods and materials.
Further, the inertial navigation in the S1 can detect the angle of rolling, pitching, swaying, surging and heave in real time
Distance, the speed of swaying, surging and heave.
Further, tracking pedestal mark is will to detected the offset of pedestal mark and world coordinates in inertial navigation in the S3
It finds out, realizes that the algorithm that the new value of input constantly covering old value is matched to hop controller bottom again realizes tracking pedestal by programming
Mark, then correction pedestal mark is carried out, realize the coincidence of pedestal mark and world coordinate system, even if ensureing that the pedestal of mechanical arm is moving,
End effector also can smoothly transport supply goods and materials.
Further, what control algolithm was used is fuzzy-adaptation PID control, with the basic theories and method of fuzzy mathematics,
The condition of rule, the fuzzy set representations of operation, and it is stored in computer literacy using these fuzzy controls and for information about as knowledge
In library, then according to the real response situation of control, the optimum apjustment to pid parameter is realized with fuzzy number.
The advantage of the invention is that：
1）Compared with the material compensations devices such as the mechanical arm used in apparatus of the present invention and common loop wheel machine, have it is simple in structure,
It is compact, maintain easily, can compensate for the advantages that direction is more, precision is high and is conveniently operated.
2）The mechanical arm used in apparatus of the present invention has compared with the system for carrying out material supply with steel wire rope etc.
Precision is high, highly reliable and the advantages that increase operator safety.
3）Control method in apparatus of the present invention is novel, need not be developed into bottom.The secondary development the case where
Under can achieve the goal, compared with the workload of low level development, workload smaller, realize effect it is more preferable.
4）Apparatus of the present invention and control method are suitable for most of cascaded structure mechanical arms, do not have a certain brand and model
Limitation, it is applied widely.Control method is novel, and algorithm is simple, and compensation effect is good.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a kind of overall structure diagram of compensation of undulation robot system of the present invention.
Fig. 2 is a kind of hardware system flow chart of compensation of undulation robot control method of the present invention.
Fig. 3 is a kind of tracking pedestal mark schematic diagram of compensation of undulation robot control method of the present invention.
Fig. 4 is a kind of Fuzzy PID Control System fuzzy rule operation of compensation of undulation robot control method of the present invention
Flow chart.
Fig. 5 is a kind of flow chart of compensation of undulation robot control method of the present invention.
Specific implementation mode
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
A kind of compensation of undulation robot system as shown in Figure 1, the compensation of undulation robot system are integrally mounted in ship
On oceangoing ship deck；The system turns ethernet module 3 by mechanical arm body 1, inertial navigation 2, RS232, interchanger 4, PC5, controller 6, shows
Device 7 is taught to form.Mechanical arm body 1 is connected in by bolt on ship deck, for transporting supply goods and materials；According to the peace of inertial navigation 2
Inertial navigation 2 is connected on ship deck by reload request and application method by bolt, close to the pedestal of machinery arm body 1；Inertial navigation 2
The variation of attitude of ship caused by stormy waves can be detected in real time, while being also the pedestal target change of mechanical arm body 1 after converting
It changes；RS232 turns ethernet module 3 and is connected on ship deck by bolt, the Serial Port Line and 2 phase of inertial navigation that one end passes through DB9 needles
Even, the other end is connected by cable with interchanger 4；Interchanger 4 by cable and RS232 conversion modules 3, PC5, controller 6 with
And teaching machine 7 is connected, to constitute a LAN；PC5 is compiled and handles after receiving the data that inertial navigation 2 is sent, then
It is compiled tracking pedestal beacon course sequence by software and control algolithm compensates, compiled program is finally downloaded into control
In device 6；Have in controller 6 mechanical arm bottom control algolithm can automatic path planning, control machinery arm body 1 transported
It is dynamic；Teaching machine 7 writes move and the needs of controller 6 are used in conjunction with and carry out compensation of undulation control to mechanical arm body 1.
Fig. 2 is hardware system flow chart；Inertial navigation 2 detects motion state of ship deck under the conditions of stormy waves, and in real time
Transmission data；The port of inertial navigation 2 is the ports RS232, needs to turn the progress of ethernet module 3 more using RS232 to read data
Good transmission；Whole system is set up a LAN by interchanger 4, convenient for the data transmission in LAN；RS232 turns ether
Net module 3, PC5, controller 6 and teaching machine 7 are connected by cable with interchanger；By PC5 to data carry out processing and
The compiling of program downloads to compiled program in controller 6, finally by controller 6 and teaching machine 7 co- controlling machinery
Arm body 1 carries out the transport of material supply.
Fig. 3 is the tracking pedestal mark schematic diagram of the robot system of compensation of undulation function.In ship not by stormy waves shadow
In the case of sound, the base coordinate system and world coordinate system of mechanical arm are to overlap, i.e. coordinate system XYZ；When ship is in operation process
In by Lidar Equation after, due to deck shaking and wave, the origin O of basis coordinates system X ' Y ' Z ' and world coordinate system XYZ
And O ' is overlapped, rest part will be overlapped no longer；The serial data detected by inertial navigation 2, we extract the serial data by software
Middle need data to be used；These data are the angular deviation or position offset of pedestal mark and world coordinates, it would be desirable to
The data for compensating direction extract, and controller is constantly sent to the format that controller 6 can identify；In controller 6
By the variable quantity of real-time As-received coordinate and world coordinate system, these variable quantities are negated and need the variation compensated as pedestal mark
Amount.
By tabling look-up, the self-correcting completed to pid parameter with operation works.
Fig. 5 is compensation of undulation control method flow chart；First the ship deck caused by stormy waves is detected with inertial navigation 2
Motion state；Then, PC5 is transferred data to, serial data is extracted and handled in PC5；Then, in PC5
With the data compilation tracking pedestal mark and Fuzzy PID extracted in software；After compiling is completed, in no mistake
In the case of accidentally, these programs are downloaded to by cable in controller 6；In next step, movement instruction is compiled in teaching machine 7.
For example, wanting to carry out goods and materials are fed from tender in a linear fashion with mechanical arm, then needing to compile in teaching machine 7
Collect straight line order and with lives such as opposite referentials；Finally, common in conjunction with the order in the program and teaching machine 7 in controller 6
Control machinery arm body 1 completes material supply work.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, above-described embodiment and explanation
Merely illustrating the principles of the invention described in book, without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of compensation of undulation robot system, which is mounted on the deck of ship；It is characterized in that：Including mechanical arm, control
Device, teaching machine, inertial navigation, PC, interchanger and RS232 processed turn ethernet module；
The mechanical arm is bolted on ship deck；The inertial navigation is bolted to connection the ship by mechanical arm
On oceangoing ship deck, it is used for detecting the state after Lidar Equation suffered by ship in real time；It is solid by bolt that the RS232 turns ethernet module
It is connected in by inertial navigation on ship deck, RS232 turns ethernet module and is connected by data line with the output port of inertial navigation；
The interchanger is connected by data line with each component on deck establishes LAN for transmitting data；The PC receives used
The data of output are led, data processing, compiling tracking pedestal beacon course sequence and control algolithm is carried out and compensates, by compiled program
Download to controller；The teaching machine and controller cooperation control mechanical arm；One end of the controller and computer
Data exchange is carried out, the other end of controller is connected with mechanical arm and control machinery arm compensates movement.
2. a kind of control method of compensation of undulation robot system described in claim 1, it is characterised in that：Specific steps are such as
Under：
S1：It uses inertial navigation to detect the delta data of the ship deck caused by stormy waves in real time first, clamp plate of ship is changed
Data turn ethernet module output by RS232；
S2：In the data transmission to PC that the LAN established by interchanger sends out inertial navigation；
S3：The data received are handled by software in PC, and utilize the data compilation tracking pedestal mark handled well
Program and control algolithm compensate；
S4：Compiled program is downloaded to by LAN in controller, movement instruction is compiled in teaching machine；
S5：After program in controller and teaching machine is be combined with each other with order, co- controlling manipulator motion, to mechanical arm end
End compensates, and can smoothly transport goods and materials.
3. a kind of control method of compensation of undulation robot system according to claim 2, it is characterised in that：In the S1
Inertial navigation can detect the angle of rolling, pitching, the distance of swaying, surging and heave, the speed of swaying, surging and heave in real time
Degree.
4. a kind of control method of compensation of undulation robot system according to claim 2, it is characterised in that：In the S3
Tracking pedestal mark is to find out the offset that detected pedestal mark and world coordinates in inertial navigation, realizes and will input by programming
New value constantly covering old value match the algorithm of hop controller bottom again and realize tracking pedestal mark, then carry out correction pedestal mark, realize
The coincidence of pedestal mark and world coordinate system, even if ensureing that the pedestal of mechanical arm can be transported smoothly if moving end effector
Send supply goods and materials.
5. a kind of control method of compensation of undulation robot system according to claim 2, it is characterised in that：Control algolithm
What is used is fuzzy-adaptation PID control, with the basic theories and method of fuzzy mathematics, condition, operation fuzzy set table rule
Show, and be stored in computer literacy library using these fuzzy controls and for information about as knowledge, then according to the practical sound of control
Situation is answered, the optimum apjustment to pid parameter is realized with fuzzy number.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710566033.6A CN108454787A (en) | 2017-07-12 | 2017-07-12 | A kind of compensation of undulation robot system and its control method |
| PCT/CN2017/116485 WO2019010918A1 (en) | 2017-07-12 | 2017-12-15 | Wave compensation robot system and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710566033.6A CN108454787A (en) | 2017-07-12 | 2017-07-12 | A kind of compensation of undulation robot system and its control method |
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| CN201710566033.6A Pending CN108454787A (en) | 2017-07-12 | 2017-07-12 | A kind of compensation of undulation robot system and its control method |
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| WO (1) | WO2019010918A1 (en) |
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| CN109506657A (en) * | 2018-12-18 | 2019-03-22 | 盐城汇金科技信息咨询服务有限公司 | A kind of automatic deviation correction track and correction localization method based on AGV |
| CN111618861A (en) * | 2020-06-12 | 2020-09-04 | 重庆科技学院 | Double-follow-up intelligent arm control method based on four-axis structure |
| CN115180084A (en) * | 2022-08-03 | 2022-10-14 | 苏州海希夫智控科技有限公司 | Wave compensation anti-swing method for active ship |
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|---|---|---|---|---|
| CN109506657A (en) * | 2018-12-18 | 2019-03-22 | 盐城汇金科技信息咨询服务有限公司 | A kind of automatic deviation correction track and correction localization method based on AGV |
| CN111618861A (en) * | 2020-06-12 | 2020-09-04 | 重庆科技学院 | Double-follow-up intelligent arm control method based on four-axis structure |
| CN115180084A (en) * | 2022-08-03 | 2022-10-14 | 苏州海希夫智控科技有限公司 | Wave compensation anti-swing method for active ship |
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| WO2019010918A1 (en) | 2019-01-17 |
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