CN109500820A - A kind of robot control system, robot motion's method for monitoring state and robot - Google Patents
A kind of robot control system, robot motion's method for monitoring state and robot Download PDFInfo
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- CN109500820A CN109500820A CN201811591614.6A CN201811591614A CN109500820A CN 109500820 A CN109500820 A CN 109500820A CN 201811591614 A CN201811591614 A CN 201811591614A CN 109500820 A CN109500820 A CN 109500820A
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- robot
- position information
- module
- target position
- actual position
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
Abstract
The present invention discloses a kind of robot control system, robot motion's method for monitoring state and robot, it is related to technical field of robot control, causes robot device to damage or jeopardize personal safety to solve the problems, such as that robot motion's state can not be monitored in real time in the prior art and invent.The robot control system, comprising: monitoring module, control module and motor drive module；Control module is used to send target position information to motor drive module；Motor drive module is used to drive robot motion according to target position information, and obtains the actual position information of robot in real time；Monitoring module is for acquiring target position information and actual position information, and calculate the difference between target position information and actual position information, the preset difference value stored in difference and monitoring module is compared, and comparison result is sent to control module, so that control module makes respective reaction.The present invention is for controlling robot.
Description
Technical field
The present invention relates to technical field of robot control more particularly to a kind of robot control systems, robot motion's shape
State monitoring method and robot.
Background technique
With the development of society and the progress of science and technology, the type of robot is increasingly various, function is become stronger day by day, it both can be with
Receive mankind commander, and the program of preparatory layout can be run, it can also be according to principle program formulated with artificial intelligence technology
Action.In order to improve industrial automatization, robot is widely used in more and more industries, and robot completes work
Make with robot motion to be inseparable.The principle of robot motion approximately as: controller send target position information to
After servo-driver, servo-driver control servo motor executes the instruction, and there are a response times for this process.With control
The time interval that device processed sends two neighboring target position information is a cycle of operation, and servo motor is tied in a cycle of operation
The physical location gone to when beam is relatively backward, and servo-driver for the target position that controller issues
The physical location that servo motor moves will not be fed back to controller again.So when being communicated not between controller and servo-driver
When smooth, for example, communicating interrupt controller have sent errors present instruction or robot motion it is out of control when, control
Device processed cannot note abnormalities in time, also will continue to send new position command to servo-driver, thus will result in robot
Equipment damage even jeopardizes the generation of the case where personal safety.
Summary of the invention
The embodiment of the present invention provides a kind of robot control system, in order to solve that machine can not be monitored in real time in the prior art
Device people motion state and cause robot device to damage or the problem of jeopardize personal safety.
In order to achieve the above objectives, the embodiment of the present invention provides a kind of robot control system, comprising: monitoring module, control
Molding block and motor drive module；The control module is used to send target position information to the motor drive module；It is described
Motor drive module is used to drive robot motion according to the target position information, and obtains the reality of the robot in real time
Location information；The monitoring module calculates the target for acquiring the target position information and actual position information
Difference between location information and actual position information carries out the preset difference value stored in the difference and the monitoring module
Compare, and comparison result is sent to the control module, so that the control module makes respective reaction.
Optionally, the monitoring module is also used to acquire robot proper motion time-division under different parameter presets
The maximum difference between target location coordinate and actual position coordinate not obtained, to establish and be stored as preset difference value table.
Optionally, the communication cycle of the monitoring module is identical as the cycle of operation of the control module, the communication week
Phase is the time that the monitoring module is used to acquire the target position information and the actual position information, the cycle of operation
It is used to send the time of the target position information for the control module.
Optionally, the monitoring module is fpga chip.
Optionally, the monitoring module includes acquisition unit, arithmetic element and storage unit；The acquisition unit is for adopting
Collect the target position information and actual position information；The arithmetic element is for calculating the target position information and reality
Difference between location information, and comparison result is sent to the control module；The storage unit is described pre- for storing
If difference table.
Optionally, the monitoring module further includes communication unit, and the acquisition unit acquires institute by the communication unit
Target position information and actual position information are stated, the comparison result is sent to by the arithmetic element by the communication unit
The control module.
The embodiment of the present invention also provides a kind of robot motion's method for monitoring state, comprising the following steps: acquisition control
The actual position information for the robot that the target position information and motor drive module that module is sent obtain, and calculate the mesh
The difference is compared by the difference between cursor position information and actual position information with preset difference value, and by comparison result
It is sent to the control module.
Optionally, further comprising the steps of: to establish and store the preset difference value table；The preset difference value table is the machine
Between the target location coordinate and actual position coordinate that device people obtains respectively in proper motion under different parameter presets most
Big difference.
The embodiment of the present invention provides a kind of robot again, controls system including robot described in any one of above scheme
System.
A kind of robot control system provided in an embodiment of the present invention, by setting monitoring module come acquisition control module hair
The robot actual position information that target position information and motor drive module out obtains, and calculate target position information
Comparison result is sent out the difference by the difference between actual position information afterwards compared with the preset difference value stored in monitoring module
Control module is given, judges whether robot works normally and make respective reaction according to comparison result by control module, thus
The real time monitoring to robot motion is realized, thus the hair for situations such as avoiding robot device from damaging and jeopardize personal safety
It is raw.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of robot control system provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another robot control system provided in an embodiment of the present invention；
Fig. 3 is a kind of data flow diagram of robot control system provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", "upper", "lower",
The orientation or position of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Setting relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot
It is interpreted as limitation of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Referring to Fig.1, the embodiment of the present invention provides a kind of robot control system, comprising: monitoring module 1, control module 2
With motor drive module 3；Control module 2 is used to send target position information to motor drive module 3；Motor drive module 3 is used
According to target position information drive robot motion, and in real time obtain robot actual position information；Monitoring module 1 is used for
Target position information and actual position information are acquired, and calculates the difference between target position information and actual position information,
The preset difference value stored in difference and monitoring module 1 is compared, and comparison result is sent to control module 2, so that control
Molding block 2 makes respective reaction.
A kind of robot control system provided in an embodiment of the present invention, by setting monitoring module 1 come acquisition control module 2
The robot actual position information that the target position information and motor drive module 3 of sending obtain, and calculate target position
Difference between information and actual position information, by the difference with after the preset difference value stored in monitoring module 1 will compared with
As a result it is sent to control module 2, judges whether robot works normally and make corresponding anti-according to comparison result by control module 2
It answers, is achieved in the real time monitoring to robot motion, so that robot device be avoided to damage and jeopardize the feelings such as personal safety
The generation of condition.
Monitoring module 1 is also used to acquire the target position that robot obtains when proper motion respectively under different parameter presets
Set the maximum difference between coordinate and actual position coordinate.It is understood that in order to make robot realize multivariant fortune
It is dynamic, robot be include the different number of axle, be both provided with motor drive module and motor on each axis of corresponding floor-washing robot
Module is provided at least one motor drive module 3 and at least one motor module 4 in an i.e. robot.By controlling mould
Motor drive module 3 of the block 2 on each axis of robot sends target position information respectively, so that motor drive module 3 is according to mesh
Cursor position information drives corresponding motor module 4 to run, to drive robot motion.Wherein, parameter preset can be speed, side
To etc. parameters.It specifically, is index with the movement velocity of each axis of robot, with the corresponding target position of each axis different motion speed
Maximum difference between coordinate and actual position coordinate is object, establishes and is stored as preset difference value table.This is because robot
Performance parameter be all different, even same series-produced robot is because can not resist factor all more or less to slightly have
Difference, so setting up the preset difference value for being adapted to robot itself by allowing robot to move under various parameter presets
Whether just table can more accurately judge the working condition of robot for preset difference value is manually set in use
Often.Specifically, allowing each robot, each axis is moved before being put into use with maximum speed, and each axis of robot accelerates from speed 0
During maximum speed, each axis actual speed has a change procedure, and monitoring module 1 is allowed to acquire robot during this
Target location coordinate and actual position coordinate, and calculate the maximum difference between target location coordinate and actual position coordinate and
The actual speed of this monitoring each axis of period inner machine people.It is index with each axis actual speed, this maximum difference is as preset difference value
Object can save as preset difference value table with parameters such as each axis directions of motion of robot.Until in actual use, directly from prison
It is transferred and use in control module 1.
It is understood that the communication cycle of monitoring module 1 is identical as the cycle of operation of control module 2, communication cycle is
Monitoring module 1 is used to acquire the time of target position information and actual position information, and the cycle of operation is control module 2 for sending
The time of target position information.In actual conditions, the general every 4ms of control module 2 sends a target position information, so will prison
The communication cycle of control module 1 is also set to 4ms, so that monitoring module 1 can collect each cycle of operation of control module 2 and be sent out
The target position information of submitting.
In order to improve the speed of service, monitoring module 1 can use fpga chip, and FPGA full name is Field
Programmable Gate Array, i.e. field programmable gate array, because of the internal structure trigger ratio and quantity of FPGA
It is more, thus it sequential logic design aspect advantageously.Fpga chip is applied in robot control system, it not only can be with
Programmable logic resource abundant, easy-to-use storage, calculation function module are provided, it is also with good performance.
Control module 2 sends target position information to motor drive module 3, and target position information is generally pulse signal,
Motor drive module 3, which receives pulse signal, can drive the motor module 4 in robot to run, to drive robot motion.
In order to preferably control the kinematic accuracy of robot, motor drive module 3 can be servo-driver, and motor module 4 can be
Servo motor.Motor encoder is installed on servo motor, motor encoder can with the corner of real-time measurement to servo motor and
Revolving speed, it is possible to the actual position information of robot is known by reading the data on motor encoder.Monitoring module 1 is point
Unit realizes above-mentioned function, and referring to Fig. 2, monitoring module 1 specifically includes acquisition unit 11, arithmetic element 12 and storage unit
13.Acquisition unit 11 is used for acquisition pulse signal and motor encoder data.Arithmetic element 12 calculates mesh according to pulse signal
Cursor position coordinate calculates the actual speed of robot according to motor encoder data and robot parameter and physical location is sat
Mark, finally calculates the difference between target location coordinate and actual position coordinate；According to speed and side in preset difference value table
To etc. parameters, find out correspondingly preset difference value；Above-mentioned calculated difference is compared with preset difference value, then will compare knot
Fruit is sent to control module 2.And storage unit 13 is for storing preset difference value table in order to transfer, compare in time.
In addition, monitoring module 1 further includes communication unit 14 referring to Fig. 2, the main effect of communication unit 14 is exactly and monitoring
Other modules other than module 1 are communicated.Specifically: acquisition unit 11 by communication unit 14 acquire target position information and
Comparison result is sent to control module 2 by communication unit 14 by actual position information, arithmetic element 12.
On the other hand, the embodiment of the present invention also provides a kind of robot motion's method for monitoring state, comprising the following steps:
The actual position information for the robot that the target position information and motor drive module 3 that acquisition control module 2 is sent obtain, and count
The difference between target position information and actual position information is calculated, difference is compared with preset difference value, and knot will be compared
Fruit is sent to control module 2.
A kind of robot motion's method for monitoring state that the embodiment of the present invention provides, is issued by acquisition control module 2
Target position information and motor drive module 3 obtain robot actual position information, it will be appreciated that control module 2 and electricity
Whether the communication between machine drive module 3 is unimpeded and whether the practical executive condition of robot meets expection；Then mesh is calculated
Difference between cursor position information and actual position information, by the difference compared with preset difference value after, robot can be obtained and existed
Comparison result is sent to control module 2 by the working condition during performance objective location information, is achieved in and is transported to robot
Dynamic real time monitoring reduces contingency occurrence probability, and then avoids robot device from damaging and situations such as jeopardize personal safety
Occur.In general, when difference is less than or equal to preset difference value, to be normal as a result, illustrating that robot is working properly；When difference is big
When preset difference value, it is abnormal results, illustrates robot operation irregularity, it may be between control module 2 and motor drive module 3
It communicates not smooth, it is also possible to for motor operation is abnormal or other failures.Also, by observation difference situation of change, may be used also
For assessing robot abrasion in use, aging conditions.Optionally, the operational module of monitoring module 1 can have
Acquisition mode and two kinds of monitoring mode: before robot comes into operation, acquisition mode is opened, so that monitoring module 1 collects correlation
Information is for establishing preset difference value table；In robot comes into operation, flexible configuration, opening mould can be monitored according to actual needs
Formula opens simultaneously both of which, when difference is only to open monitoring mode, 1 recording exceptional result of monitoring module.It beats simultaneously
Both of which is opened, then monitoring module 1 records all comparison results.
Whether the working condition in order to more accurately judge robot is normal, one kind that the embodiment of the present invention provides
Robot motion's method for monitoring state is further comprising the steps of: establishing and stores preset difference value table；Preset difference value table is robot
Maximum between the target location coordinate and actual position coordinate obtained respectively in proper motion under different parameter presets is poor
Value.Parameter preset herein can be speed, direction etc. parameter, and it is poor that many maximums are obtained under different parameter presets
Value, can establish into preset difference value table for it with parameter preset.Robot is allowed to move under various parameter presets to set up
Be adapted to the preset difference value table of robot itself, it is possible thereby in use more accurately judge robot working condition whether
Normally.Preferably, according to actual needs, vigilance parameter and alarm index can also be set, referring to Fig. 3, by preset difference value
Preset difference value in table obtains early warning preset difference value table and alarm preset difference value table multiplied by early warning and alarm index respectively.Operation list
Difference between calculated target instruction target word coordinate and actual position coordinate and is read early warning preset difference value, alarm by member 12
Preset difference value is compared, to issue more diverse comparison result to controller, so that control module 2 is timely according to comparison result
Make respective reaction.When difference is less than or equal to early warning preset difference value, illustrate that robot is working properly；When difference is pre- greater than early warning
If difference and when being less than or equal to alarm preset difference value, it is abnormal to illustrate that robot work slightly has, arithmetic element 12 is to control mould at this time
Block 2 issues warning information and saves early warning resume to storage unit 13, and controller issues prompt after receiving warning information, is convenient for
Operator takes corresponding measure according to prompt number；When difference is greater than alarm preset difference value, illustrate robot operation irregularity,
Arithmetic element 12 saves alarm resume to 2 alert of control module and to storage unit 13 at this time, and controller receives
Not only prompt had been issued after warning message but also can control robot and had been stopped, to ensure that robot device is intact and the personal peace of operator
Entirely.
Another aspect, the embodiment of the present invention provide a kind of robot again, including machine described in any one of above scheme
Device people's control system.
Since robot provided in an embodiment of the present invention includes above-mentioned robot control system, so the robot is same
It can be realized the real time monitoring to robot motion, thus situations such as avoiding robot device from damaging and jeopardize personal safety
Occur.
In the description of this specification, particular features, structures, materials, or characteristics can be real in any one or more
Applying can be combined in any suitable manner in example or example.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (9)
1. a kind of robot control system characterized by comprising monitoring module, control module and motor drive module；
The control module is used to send target position information to the motor drive module；
The motor drive module is used to drive robot motion according to the target position information, and obtains the machine in real time
The actual position information of people；
The monitoring module calculates the target position letter for acquiring the target position information and actual position information
Difference between breath and actual position information, the preset difference value stored in the difference and the monitoring module is compared,
And comparison result is sent to the control module, so that the control module makes respective reaction.
2. robot control system according to claim 1, which is characterized in that the monitoring module is also used to acquire described
Between the target location coordinate and actual position coordinate that robot obtains respectively in proper motion under different parameter presets
Maximum difference, to establish and be stored as preset difference value table.
3. robot control system according to claim 1 or 2, which is characterized in that the communication cycle of the monitoring module
Identical as the cycle of operation of the control module, the communication cycle is the monitoring module for acquiring the target position letter
The time of breath and the actual position information, the cycle of operation are the control module for sending the target position information
Time.
4. robot control system according to claim 3, which is characterized in that the monitoring module is fpga chip.
5. robot control system according to claim 4, which is characterized in that the monitoring module include acquisition unit,
Arithmetic element and storage unit；The acquisition unit is for acquiring the target position information and actual position information；The fortune
It calculates unit to be used to calculate the difference between the target position information and actual position information, and comparison result is sent to institute
State control module；The storage unit is for storing the preset difference value table.
6. robot control system according to claim 5, which is characterized in that the monitoring module further includes that communication is single
Member, the acquisition unit acquire the target position information and actual position information, the operation list by the communication unit
The comparison result is sent to the control module by the communication unit by member.
7. a kind of robot motion's method for monitoring state, which comprises the following steps: the mesh that acquisition control module is sent
The actual position information for the robot that cursor position information and motor drive module obtain, and calculate the target position information and
The difference is compared with preset difference value, and comparison result is sent to the control by the difference between actual position information
Molding block.
8. robot motion's method for monitoring state according to claim 7, which is characterized in that further comprising the steps of: establishing
And store preset difference value table；The preset difference value table is that the robot obtains when proper motion respectively under different parameter presets
The maximum difference between target location coordinate and actual position coordinate obtained.
9. a kind of robot, which is characterized in that including robot control system described in any one of claims 1 to 6.
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| CN201811591614.6A CN109500820A (en) | 2018-12-25 | 2018-12-25 | A kind of robot control system, robot motion's method for monitoring state and robot |
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| CN201811591614.6A CN109500820A (en) | 2018-12-25 | 2018-12-25 | A kind of robot control system, robot motion's method for monitoring state and robot |
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| CN112527024A (en) * | 2020-11-20 | 2021-03-19 | 湖北航天技术研究院总体设计所 | Platform straightening system and straightening method thereof |
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Application publication date: 20190322 |