CN110103231A - A kind of accurate grasping means and system for mechanical arm - Google Patents
A kind of accurate grasping means and system for mechanical arm Download PDFInfo
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- CN110103231A CN110103231A CN201910528520.2A CN201910528520A CN110103231A CN 110103231 A CN110103231 A CN 110103231A CN 201910528520 A CN201910528520 A CN 201910528520A CN 110103231 A CN110103231 A CN 110103231A
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- Prior art keywords
- route
- crawl
- laser sensor
- mechanical arm
- detection
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
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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
- B25J9/1697—Vision controlled systems
Abstract
The present invention provides a kind of accurate grasping means for mechanical arm, comprising: acquisition includes the crawl position polar plot of position of manipulator coordinate and object space coordinate to be handled；When detect receive the crawl position polar plot after, the position of manipulator coordinate is analyzed to one group of crawl route data between the object space coordinate to be handled according to the crawl position polar plot, and be transmitted to the first laser sensor；When detecting the crawl route data, whether the first laser sensor is detected on every crawl route according to the crawl route data with the presence of barrier, obtains alternative crawl route；According to the alternative crawl route, Optimal Grasp route is obtained, and is transmitted to the second laser sensor；The Optimal Grasp route is analyzed, is controlled at second laser sensor mechanical arm fixed-point motion according to the Optimal Grasp route guidance to the object space coordinate to be handled；It controls the manipulator and completes crawl.
Description
Technical field
The present invention relates to mechanical equipments to grab control field, in particular to a kind of accurate crawl for mechanical arm
Method and a kind of accurate grasping system for mechanical arm.
Background technique
Mechanical arm is the automated machine device that most broad practice is obtained in field of mechanical technique, industry manufacture,
The fields such as therapeutic treatment, entertainment service, military affairs, semiconductors manufacture and space probation can see its figure.They are in work
It is, by means of flexible, rotation and lifting, to be directly targeted to three-dimensional or two-dimensional destination by receiving instruction during work
A little carry out operation, but determined due to positioning each mutual corner in portion joint by mechanical arm, the error in each joint
It is easy accumulation, therefore position precision is relatively difficult to guarantee.
Summary of the invention
The invention proposes a kind of new accurate grasping means for mechanical arm, and technical problems to be solved are existing skills
In art, the positioning of mechanical arm grasping movement is determined by each mutual corner in portion joint of mechanical arm, and the error in each joint is held
The problem of easily accumulation, crawl precision is difficult to ensure.
In view of this, the invention proposes a kind of a kind of new accurate grasping means for mechanical arm, including mechanical arm
And manipulator, camera, controller, first laser sensor and second laser sensor are provided on the mechanical arm, it is described
The working end of the mechanical arm is arranged in manipulator, and wherein the step of method specifically includes: acquisition includes that position of manipulator is sat
The crawl position polar plot of mark and object space coordinate to be handled, and the crawl position polar plot is transmitted to the control
Device；When detect receive the crawl position polar plot after, the manipulator is analyzed according to the crawl position polar plot
Position coordinates are transmitted to the first laser and pass to one group of crawl route data between the object space coordinate to be handled
Sensor；When detecting the crawl route data, the first laser sensor detects every according to the crawl route data
Whether item grabs on route with the presence of barrier, obtains alternative crawl route；According to the alternative crawl route, optimal grab is obtained
Route is taken, and is transmitted to the second laser sensor；The Optimal Grasp route is analyzed, the second laser sensor is controlled
At mechanical arm fixed-point motion described in the Optimal Grasp route guidance to the object space coordinate to be handled；Described in control
Manipulator completes crawl.
It in the technical scheme, include the crawl of position of manipulator coordinate and object space coordinate to be handled by acquisition
Position vector figure, and the crawl position polar plot is transmitted to controller, it enables the controller to according to the crawl position vector
Map analysis goes out multiple groups Current mechanical hand and reaches the route that object to be captured can pass through, i.e. crawl route data, by the crawl
Route data is transmitted to first laser sensor, convenient for first laser sensor according to analyze come crawl route data in
It is irradiated on each crawl route using light beam, and is differentiated according to the radiation situation of light beam on each crawl route and be
It is no to have barrier, and the crawl route for the not barrier that will test out is confirmed as alternatively grabbing route, realizes route with this
One-time detection, effectively prevent crawl route on barrier obstruction mechanical arm movement the case where；Then from above-mentioned alternative crawl
It chooses in route relative to mechanical arm current location used time shortest alternative crawl route, and is confirmed as the transmission of Optimal Grasp route
To second laser sensor, enable mechanical arm under the guidance of second laser sensor, fixed-point motion to object to be handled
Place, the precision of the movement of each point of mechanical arm is confirmed with this, when effectively preventing the mutual corner in each joint of mechanical arm
The accumulation of error, effectively increase the accuracy of grasping movement；In mechanical arm according to fixed point guided-moving to object position to be handled
When setting coordinate, the manipulator of control mechanical arm working end opens crawl band transport object, completes this time to grab, wherein first swashs
Optical sensor and second laser sensor include laser itself, laser detector and measuring circuit, in order to carry out light beam
Diverging, whether beam emissions distance emit with duration and light beam to the detection of destination.
In any of the above-described technical solution, it is preferable that it is described when detecting the crawl route data, described first
Whether laser sensor detects on every crawl route according to the crawl route data with the presence of barrier, obtains alternative crawl
The specific steps of route include: when detecting the crawl route data, and the first laser sensor is successively grabbed along described
Crawl route described in each in route data is taken to carry out laser beam detection；Hinder when detecting that any crawl route exists
When hindering object, this crawl route is stored as obstacle route；When detecting any crawl route, there is no barriers
When, this crawl route is stored as alternatively to grab route.
In the technical scheme, route is grabbed in crawl position polar plot by each in detection crawl route data
In trace, control first laser sensor is irradiated along above-mentioned each trace, when detecting any one crawl road
It there are when barrier, just confirming that this grabs route is obstacle route on the trace of line, when detecting any one crawl route
Trace on when barrier is not present, just confirm that the crawl route is alternative crawl route, effectively carried out invalid crawl route
Exclusion, reduce mechanical arm movement fault and waste.
In any of the above-described technical solution, it is preferable that it is described according to the alternative crawl route, obtain Optimal Grasp road
Line, and the specific steps for being transmitted to the second laser sensor include: to obtain the alternative crawl route, respectively described in analysis
The detection time that first laser sensor uses on every alternative crawl route, obtains detection time data；Analysis institute
Detection time data are stated, confirm that the used time is shortest for the most fast time in the detection time data；According to the most fast time, really
Recognizing the alternative crawl route corresponding with most fast time is Optimal Grasp route, and is transmitted to the second laser and passes
Sensor.
In the technical scheme, by analyzing trace of the alternative crawl route in the polar plot of crawl position, control first
Laser sensor carries out light beam irradiation in above-mentioned trace, and confirms that used time shortest trace is Optimal Grasp route, effectively with this
The time for shortening crawl ensure that quick crawl.
In any of the above-described technical solution, it is preferable that the analysis Optimal Grasp route controls described second and swashs
At optical sensor mechanical arm fixed-point motion according to the Optimal Grasp route guidance to the object space coordinate to be handled
Specific steps include: the analysis Optimal Grasp route, choose multiple detection sites on the Optimal Grasp route；It will be each
The detection site is successively transmitted to the controller, controls the second laser sensor according to the transmission of the detection site
Sequentially, each detection site successively is irradiated with light beam, while controls the mechanical arm in the second laser sensor light
It is successively moved to each detection site after beam irradiation, until moving at the object space coordinate to be handled.
In the technical scheme, by analyzing Optimal Grasp route, multiple fixed points, which are arranged, on Optimal Grasp route is
Detection site, convenient for being also convenient for being corrected, reducing error in the degree of error of above-mentioned each detection site detection mechanical arm movement
Degree；Mechanical arm is controlled simultaneously and is successively moved to each detection site after the irradiation of second laser sensor light beam, until moving to
Object space coordinate to be handled goes out, and the accumulation of each joint motions process error of mechanical arm is avoided with this, improves mechanical arm
The accuracy of movement improves crawl accuracy.
In any of the above-described technical solution, it is preferable that described that each detection site is successively transmitted to the control
Device processed controls the second laser sensor according to the transmission sequence of the detection site, successively described in light beam irradiation each
Detection site, while controlling the mechanical arm and being successively moved to each inspection after second laser sensor light beam irradiation
Geodetic point, until the light beam of the second laser sensor shines in the step of moving at the object space coordinate to be handled
After being incident upon any one detection site, only when the mechanical arm is accurately moved to presently described detection site, described second swashs
The detection site that light beam is moved to next sequence is irradiated by optical sensor.
In the technical scheme, after the light beam of second laser sensor exposes to any one detection site, only in machinery
When arm is accurately moved to current detection place, the detection site that light beam can be just moved to next sequence is irradiated, on the one hand
The moving line of convenient intuitive observation mechanical arm, is confirmed, on the other hand, second laser sensor has effectively guided machinery
The movement of arm；Wherein, detection site is an identification point in the polar plot of crawl position.
In any of the above-described technical solution, it is preferable that the step that the control manipulator is completed after crawl is also wrapped
It includes: obtaining the placement location polar plot comprising the object space coordinate to be handled and placement location position coordinates, and will be described
Placement location polar plot is transmitted to the controller；When detect receive the placement location polar plot after, put according to described
Seated position polar plot analyzes the position of manipulator coordinate and the placement location position coordinates that crawl needs carry an object
Between one group of placement route data, and be transmitted to the first laser sensor；When detecting the placement route data,
Whether the first laser sensor detects on every placement route according to the placement route data with the presence of barrier, obtains
It is alternative to place route；According to the alternative placement route, optimal placement route is obtained, and is transmitted to the second laser sensing
Device；The optimal placement route is analyzed, second laser sensor machine according to the optimal placement route guidance is controlled
At the fixed point operation to the placement location position coordinates of tool arm；The manipulator is controlled to complete to place.
In the technical scheme, it after manipulator completes crawl, often needs object transport to be handled to placement location, wherein
The position of Current mechanical hand is the position of object to be handled, by the movement of object transport to be handled mechanical arm into placement location
Keeping strokes for object to be handled is grabbed with mechanical arm.
According to the second aspect of the invention, a kind of accurate grasping system for mechanical arm is proposed, comprising: first obtains dress
Set, for obtain include the position of manipulator coordinate and object space coordinate to be handled crawl position polar plot, and will
The crawl position polar plot is transmitted to the controller；First analytical equipment receives the crawl position for that ought detect
After setting polar plot, the position of manipulator coordinate is analyzed to the object space to be handled according to the crawl position polar plot
One group of crawl route data between coordinate, and it is transmitted to the first laser sensor；Second acquisition device, for when detection
When to the crawl route data, the first laser sensor detects on every crawl route according to the crawl route data
Whether with the presence of barrier, alternative crawl route is obtained；Third acquisition device, for obtaining according to the alternative crawl route
Optimal Grasp route, and it is transmitted to the second laser sensor；First control device, for analyzing the Optimal Grasp road
Line controls second laser sensor mechanical arm fixed-point motion according to the Optimal Grasp route guidance to described wait remove
At transported object position coordinates；Second control device completes crawl for controlling the manipulator.
In the technical scheme, the first acquisition device includes position of manipulator coordinate and object position to be handled by obtaining
The crawl position polar plot of coordinate is set, and the crawl position polar plot is transmitted to controller, enables the first analytical equipment
According to the crawl position, polar plot analyzes multiple groups Current mechanical hand and reaches the route that object to be captured can pass through, that is, grabs
The crawl route data is transmitted to first laser sensor by route data, the second acquisition device, is convenient for first laser sensor
According to analyze come crawl route data in each crawl route on be irradiated using light beam, and according to the photograph of light beam
Situation is penetrated to differentiate the crawl route confirmation for the not barrier that whether has barrier on each crawl route, and will test out
Alternatively to grab route, the one-time detection of route is realized with this, effectively prevents barrier obstruction mechanical arm on crawl route
The case where movement；Then third acquisition device is chosen relative to the mechanical arm current location used time most from above-mentioned alternative crawl route
Short alternative crawl route, and be confirmed as Optimal Grasp route and be transmitted to second laser sensor, first control device makes machine
Tool arm can confirm the every of mechanical arm with this under the guidance of second laser sensor, at fixed-point motion to object to be handled
The precision of the movement of a point effectively prevents accumulation of error when the mutual corner in each joint of mechanical arm, effectively increases and grab
Take the accuracy of movement；Second control device is when mechanical arm is according to fixed point guided-moving to object space coordinate to be handled, control
The manipulator of mechanical arm working end processed opens crawl band transport object, completes this time to grab, wherein first laser sensor and the
Dual-laser sensor includes laser itself, laser detector and measuring circuit, in order to carry out diverging, the light beam hair of light beam
Penetrate whether distance emits with duration and light beam to the detection of destination.
In any of the above-described technical solution, it is preferable that second acquisition device includes: first detection module, is used for
When detecting the crawl route data, the first laser sensor is successively along each grabbed in route data
The crawl route carries out laser beam detection；First memory module, for there are obstacles when detecting any crawl route
When object, this crawl route is stored as obstacle route；Second memory module detects any crawl road for working as
When barrier is not present in line, this crawl route is stored as alternatively to grab route.
In the technical scheme, first detection module grabs route by each in detection crawl route data and is grabbing
The trace in polar plot is set in fetch bit, and control first laser sensor is irradiated along above-mentioned each trace, the first storage mould
Block is obstacle route there are when barrier, just confirming that this grabs route on the trace for detecting any one crawl route,
Second memory module, there is no when barrier, just confirms that the crawl route is on the trace for detecting any one crawl route
Alternative crawl route has effectively carried out the exclusion of invalid crawl route, has reduced the fault and waste of mechanical arm movement.
In any of the above-described technical solution, it is preferable that the third acquisition device includes: the second analysis module, is used for
The alternative crawl route is obtained, analyzes what the first laser sensor used on every alternative crawl route respectively
Detection time obtains detection time data；First confirmation module confirms the detection for analyzing the detection time data
It is the most fast time that the used time is shortest in time data；Second confirmation module, for according to the most fast time, confirmation with it is described most
The fast time corresponding alternative crawl route is Optimal Grasp route, and is transmitted to the second laser sensor.
In the technical scheme, the second analysis module, the first confirmation module and the second confirmation module are alternatively grabbed by analysis
Trace of the route in the polar plot of crawl position is taken, control first laser sensor carries out light beam irradiation in above-mentioned trace, and really
Recognizing used time shortest trace is Optimal Grasp route, and the time of crawl is effectively shortened with this, ensure that quick crawl.
In any of the above-described technical solution, it is preferable that the first control device includes: third analysis module, is used for
The Optimal Grasp route is analyzed, multiple detection sites on the Optimal Grasp route are chosen；Third control module, being used for will be every
A detection site is successively transmitted to the controller, controls the second laser sensor according to the biography of the detection site
Defeated sequence successively irradiates each detection site with light beam, while controlling the mechanical arm in the second laser sensor
It is successively moved to each detection site after light beam irradiation, until moving at the object space coordinate to be handled.
In the technical scheme, third analysis module is arranged on Optimal Grasp route by analysis Optimal Grasp route
Multiple fixed points are detection site, convenient for being also convenient for carrying out in the degree of error of above-mentioned each detection site detection mechanical arm movement
Correction reduces degree of error；Third control module controls mechanical arm simultaneously and successively moves after the irradiation of second laser sensor light beam
To each detection site, goes out until moving to object space coordinate to be handled, each joint motions of mechanical arm are avoided with this
The accumulation of journey error, improves the accuracy of manipulator motion, that is, improves crawl accuracy.
Compared with the prior art, the advantages of the present invention are as follows: during manipulator grabs object to be handled, pass through camera shooting
Machine collection machinery hand position information and object space coordinate to be handled obtain crawl position polar plot, are sensed by first laser
Device detects alternatively to grab route, can Effective selection go out obstacle route, avoid invalid operation；On the other hand swash by second
Optical sensor chooses detection site and mechanical arm is successively guided to move at object to be handled, effectively reduces mechanical arm in each inspection
Caused error on geodetic point reduces the accumulation of error in each node operational process of mechanical arm, improves grasping movement
Accuracy.
Detailed description of the invention
Fig. 1 shows the flow diagram of the accurate grasping means for mechanical arm of embodiment according to the present invention；
Fig. 2 shows the structural schematic block diagrams of the accurate grasping system for mechanical arm of embodiment according to the present invention.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The present invention is further detailed below in conjunction with Fig. 1 and Fig. 2.
As shown in Figure 1, a kind of accurate grasping means for mechanical arm, including mechanical arm and manipulator, the mechanical arm
On be provided with camera, controller, first laser sensor and second laser sensor, the manipulator is arranged in the machinery
The working end of arm, wherein the step of method specifically includes:
Step 101, acquisition includes the crawl position polar plot of position of manipulator coordinate and object space coordinate to be handled,
And the crawl position polar plot is transmitted to the controller；
Step 102, when detect receive the crawl position polar plot after, according to the crawl position vector map analysis
The position of manipulator coordinate is to one group of crawl route data between the object space coordinate to be handled out, and is transmitted to institute
State first laser sensor；
Step 103, when detecting the crawl route data, the first laser sensor is according to the crawl route
Whether with the presence of barrier on every crawl route of Data Detection, alternative crawl route is obtained；
Step 104, according to the alternative crawl route, Optimal Grasp route is obtained, and is transmitted to the second laser and passes
Sensor；
Step 105, the Optimal Grasp route is analyzed, controls the second laser sensor according to the Optimal Grasp road
Line guides at the mechanical arm fixed-point motion to the object space coordinate to be handled；
Step 106, it controls the manipulator and completes crawl.
Further in step 103, when detecting the crawl route data, the first laser sensor successively edge
Crawl route described in each in the crawl route data carries out laser beam detection；When detecting any crawl route
There are when barrier, this crawl route is stored as obstacle route；When detecting that any crawl route is not present
When barrier, this crawl route is stored as alternatively to grab route.
Further at step 104, after obtaining the alternative crawl route, the first laser sensor is analyzed respectively and is existed
The detection time used on every alternative crawl route, obtains detection time data；The detection time data are analyzed, really
It is shortest for the most fast time to recognize the used time in the detection time data；According to the most fast time, confirmation and the most fast time
The corresponding alternative crawl route is Optimal Grasp route, then is transmitted to the second laser sensor.
Further in step 105, after analyzing the Optimal Grasp route, multiple inspections on the Optimal Grasp route are chosen
Geodetic point；Each detection site is successively transmitted to the controller, controls the second laser sensor according to described
The transmission sequence of detection site successively irradiates each detection site with light beam, while controlling the mechanical arm described the
It is successively moved to each detection site after the irradiation of dual-laser sensor light beam, until moving to the object space to be handled
At coordinate, wherein it is described that each detection site is successively transmitted to the controller, control the second laser sensor
According to the transmission sequence of the detection site, each detection site successively is irradiated with light beam, while controlling the mechanical arm
It is successively moved to each detection site after second laser sensor light beam irradiation, until moving to described to be handled
In the step of at object space coordinate, after the light beam of the second laser sensor exposes to any one detection site, only exist
When the mechanical arm is accurately moved to presently described detection site, light beam is moved to next sequence by the second laser sensor
Detection site be irradiated.
After the manipulator of above-mentioned mechanical arm working end completes grasping movement, often need object transport to be handled to placing ground
Point can include the crawl position polar plot of position of manipulator coordinate and object space coordinate to be handled by acquisition, and will
The crawl position polar plot is transmitted to controller, enables the controller to analyze multiple groups according to the crawl position polar plot current
Manipulator reaches the route that object to be captured can pass through, i.e. crawl route data, which is transmitted to the
One laser sensor, convenient for first laser sensor according to analyze come crawl route data in each crawl route on
It is irradiated using light beam, and differentiates whether have barrier on each crawl route according to the radiation situation of light beam, and will
The crawl route of the not barrier detected is confirmed as alternatively grabbing route, the one-time detection of route is realized with this, effectively
The case where avoiding barrier obstruction mechanical arm movement on crawl route；Then from above-mentioned alternative crawl route choose relative to
Mechanical arm current location used time shortest alternative crawl route, and be confirmed as Optimal Grasp route and be transmitted to second laser sensing
Device enables mechanical arm under the guidance of second laser sensor, at fixed-point motion to object to be handled, confirms machine with this
The precision of the movement of each point of tool arm effectively prevents accumulation of error when the mutual corner in each joint of mechanical arm, effectively
Improve the accuracy of grasping movement；When mechanical arm is according to fixed point guided-moving to object space coordinate to be handled, machine is controlled
The manipulator of tool arm working end opens crawl band transport object, completes this time to grab, wherein first laser sensor and second swashs
Optical sensor includes laser itself, laser detector and measuring circuit, in order to carry out the diverging of light beam, beam emissions away from
Whether emit from duration and light beam to the detection of destination；Wherein, it is grabbed by each in detection crawl route data
Trace of the route in the polar plot of crawl position, control first laser sensor are irradiated along above-mentioned each trace, when
It detects on the trace of any one crawl route there are when barrier, just confirming that this crawl route is obstacle route, works as inspection
It measures on the trace of any one crawl route there is no when barrier, just confirming that the crawl route is alternative crawl route, has
Effect has carried out the exclusion of invalid crawl route, reduces the fault and waste of mechanical arm movement.
As shown in Fig. 2, a kind of accurate grasping system 200 for mechanical arm, including 201, first points of the first acquisition device
Analysis apparatus 202, the second acquisition device 203, third acquisition device 204, first control device 205 and second control device 206,
In the second acquisition device 203 include first detection module 2031, the first memory module 2032 and the second memory module 2033；Third
Acquisition device 204 includes the second analysis module 2041, the first confirmation module 2042 and the second confirmation module 2043；First control dress
Setting 205 includes third analysis module 2051 and third control module 2052.
Above-mentioned first acquisition device 201 includes position of manipulator coordinate and object space coordinate to be handled by obtaining
Crawl position polar plot, and the crawl position polar plot is transmitted to controller, enable the first analytical equipment 202 according to this
Crawl position polar plot analyzes multiple groups Current mechanical hand and reaches the route that object to be captured can pass through, i.e. crawl route number
According to, which is transmitted to first laser sensor by the second acquisition device 203, convenient for first laser sensor according to
It analyzes and is irradiated on each crawl route in the crawl route data come using light beam, and according to the irradiation feelings of light beam
The crawl route that condition grabs the not barrier that whether has barrier on route, and will test out to differentiate each is confirmed as standby
Choosing crawl route, the one-time detection of route is realized with this, effectively prevents barrier obstruction mechanical arm movement on crawl route
The case where；Then third acquisition device 204 is chosen relative to the mechanical arm current location used time most from above-mentioned alternative crawl route
Short alternative crawl route, and be confirmed as Optimal Grasp route and be transmitted to second laser sensor, first control device 205 makes
Mechanical arm can confirm mechanical arm with this under the guidance of second laser sensor, at fixed-point motion to object to be handled
The precision of the movement of each point effectively prevents accumulation of error when the mutual corner in each joint of mechanical arm, effectively increases
The accuracy of grasping movement；Second control device 206 is in mechanical arm according to fixed point guided-moving to object space coordinate to be handled
When, the manipulator of control mechanical arm working end opens crawl band transport object, completes this time to grab, wherein first laser sensing
Device and second laser sensor include laser itself, laser detector and measuring circuit, in order to carry out light beam diverging,
Whether beam emissions distance emits with duration and light beam to the detection of destination.
First detection module 2031 grabs route in crawl position vector by each in detection crawl route data
Trace in figure, control first laser sensor are irradiated along above-mentioned each trace, and the first memory module 2032 is being examined
It measures there are when barrier, just confirming that this crawl route is obstacle route on the trace of any one crawl route, second deposits
There is no when barrier, just confirm that the crawl route is standby on the trace for detecting any one crawl route for storage module 2033
Choosing crawl route has effectively carried out the exclusion of invalid crawl route, has reduced the fault and waste of mechanical arm movement.
Second analysis module 2041, the first confirmation module 2042 and the second confirmation module 2043 pass through the alternative crawl road of analysis
Trace of the line in the polar plot of crawl position, control first laser sensor carries out light beam irradiation in above-mentioned trace, and confirms use
When shortest trace be Optimal Grasp route, the time of crawl is effectively shortened with this, ensure that quick crawl.
By analysis Optimal Grasp route, multiple fixed points are arranged on Optimal Grasp route is third analysis module 2051
Detection site, convenient for being also convenient for being corrected, reducing error in the degree of error of above-mentioned each detection site detection mechanical arm movement
Degree；Third control module 2052 controls mechanical arm simultaneously and is successively moved to each detection after the irradiation of second laser sensor light beam
Place is gone out until moving to object space coordinate to be handled, the product of each joint motions process error of mechanical arm is avoided with this
It is tired, the accuracy of manipulator motion is improved, that is, improves crawl accuracy.
In the actual use process, after starting mechanical arm, the camera acquisition on mechanical arm includes manipulator position
The crawl position polar plot for setting coordinate and object space coordinate to be handled, after after the crawl position, polar plot is transmitted to controller,
The crawl position polar plot that controller automatic butt receives is analyzed, confirm between manipulator and object to be handled it is a plurality of can
Then group crawl route data is transmitted to first laser sensor, first laser sensing by walking along the street line, i.e. crawl route data
After device receives signal, the laser outgoing beam of first laser sensor is simulated every in above-mentioned crawl route data respectively
One crawl route screens out that there are barriers after receiving laser detector and feedback data that measuring circuit detects
Grab route, confirmation is alternative crawl route there is no the crawl route of barrier, then first laser sensor again by
Laser outgoing beam, each simulated in alternative crawl route grab route, are receiving laser detector and survey again
After the feedback data that amount circuit detects, screen out apart from farther away crawl route, most short, the used time shortest crawl road of confirmation distance
Line is Optimal Grasp route, and is transmitted to second laser sensor, meanwhile, controller confirms multiple inspections on Optimal Grasp route
Geodetic point, multiple detection site is arranged along Optimal Grasp route sequencing, and is transmitted to second laser sensor, and second
Laser sensor controls the laser of second laser sensor according to multiple detections after the data for receiving multiple detection sites
Putting in order for place successively carries out light spot, meanwhile, manipulator is along the sequencing of light spot, and successively fixed point is transported
It is dynamic, wherein laser only detects that manipulator is accurately run to detection site in laser detector, and luminous point moves to next detection ground
Point is irradiated, and manipulator moves therewith, until controller controls manipulator and completes at the object space coordinate to be handled of movement
Crawl；Later, if desired object to be handled is placed on to specified placement location, then repeated the above steps, that is, passes through video camera
Reacquisition includes object space coordinate to be handled, i.e. the current position coordinates of manipulator and placement location position coordinates
Placement location polar plot, be then transmit to controller, controller then controls first laser sensor confirmation optimal placement route,
And control second laser sensor guidance manipulator fixed point operation is completed to place to placement location position coordinates.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, and technical solution of the present invention proposes a kind of new
Accurate grasping means and system for mechanical arm are adopted during wherein manipulator grabs object to be handled by video camera
Collect position of manipulator information and object space coordinate to be handled to obtain crawl position polar plot, is examined by first laser sensor
Measure alternative crawl route, can Effective selection go out obstacle route, avoid invalid operation；On the other hand it is passed by second laser
Sensor chooses detection site and mechanical arm is successively guided to move at object to be handled, effectively reduces mechanical arm on each detection ground
Error caused by point, that is, reduce the accumulation of error in each node operational process of mechanical arm, improve the standard of grasping movement
True property.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of accurate grasping means for mechanical arm, including mechanical arm and manipulator, camera shooting is provided on the mechanical arm
The working end of the mechanical arm is arranged in head, controller, first laser sensor and second laser sensor, the manipulator,
It is characterised by comprising:
Acquisition includes the crawl position polar plot of position of manipulator coordinate and object space coordinate to be handled, and by the crawl
Position vector figure is transmitted to the controller；
When detect receive the crawl position polar plot after, the manipulator is analyzed according to the crawl position polar plot
Position coordinates are transmitted to the first laser and pass to one group of crawl route data between the object space coordinate to be handled
Sensor；
When detecting the crawl route data, the first laser sensor detects every according to the crawl route data
It whether grabs on route with the presence of barrier, obtains alternative crawl route；
According to the alternative crawl route, Optimal Grasp route is obtained, and is transmitted to the second laser sensor；
The Optimal Grasp route is analyzed, second laser sensor machine according to the Optimal Grasp route guidance is controlled
At tool arm fixed-point motion to the object space coordinate to be handled；
It controls the manipulator and completes crawl.
2. the accurate grasping means according to claim 1 for mechanical arm, which is characterized in that described described when detecting
When grabbing route data, whether the first laser sensor detects on every crawl route according to the crawl route data has
Barrier exists, and the specific steps for obtaining alternative crawl route include:
When detecting the crawl route data, the first laser sensor is successively every in the crawl route data
One crawl route carries out laser beam detection；
When detecting that this crawl route there are when barrier, is stored as obstacle route by any crawl route；
When detecting that barrier is not present in any crawl route, this crawl route is stored as alternatively to grab road
Line.
3. the accurate grasping means according to claim 1 for mechanical arm, which is characterized in that described according to described alternative
Route is grabbed, obtains Optimal Grasp route, and the specific steps for being transmitted to the second laser sensor include:
The alternative crawl route is obtained, analyze the first laser sensor respectively makes on every alternative crawl route
Detection time obtains detection time data；
The detection time data are analyzed, confirm that the used time is shortest for the most fast time in the detection time data；
According to the most fast time, the confirmation alternative crawl route corresponding with most fast time is Optimal Grasp road
Line, and it is transmitted to the second laser sensor.
4. the accurate grasping means according to claim 1 for mechanical arm, which is characterized in that the analysis is described optimal
Route is grabbed, controls second laser sensor mechanical arm fixed-point motion according to the Optimal Grasp route guidance to institute
Stating the specific steps at object space coordinate to be handled includes:
The Optimal Grasp route is analyzed, multiple detection sites on the Optimal Grasp route are chosen；
Each detection site is successively transmitted to the controller, controls the second laser sensor according to the detection
The transmission sequence in place successively irradiates each detection site with light beam, while controlling the mechanical arm and swashing described second
It is successively moved to each detection site after the irradiation of optical sensor light beam, until moving to the object space coordinate to be handled
Place.
5. the accurate grasping means according to claim 4 for mechanical arm, which is characterized in that described by each inspection
Geodetic point is successively transmitted to the controller, controls the second laser sensor according to the transmission sequence of the detection site,
Each detection site successively is irradiated with light beam, while controlling the mechanical arm and being irradiated in the second laser sensor light beam
It is successively moved to each detection site afterwards, until in the step of moving at the object space coordinate to be handled, it is described
After the light beam of second laser sensor exposes to any one detection site, only accurately it is moved in the manipulator presently described
When detection site, the detection site that light beam is moved to next sequence is irradiated by the second laser sensor.
6. the accurate grasping means according to claim 1 for mechanical arm, which is characterized in that the control machinery
Hand completes the step after crawl further include:
The placement location polar plot comprising the object space coordinate to be handled and placement location position coordinates is obtained, and will be described
Placement location polar plot is transmitted to the controller；
When detect receive the placement location polar plot after, crawl is analyzed according to the placement location polar plot and needs to be removed
One group of placement route data between the position of manipulator coordinate and the placement location position coordinates of transported object, and transmit
To the first laser sensor；
When detecting the placement route data, the first laser sensor detects every according to the placement route data
It whether places on route with the presence of barrier, obtains alternative placement route；
According to the alternative placement route, optimal placement route is obtained, and is transmitted to the second laser sensor；
The optimal placement route is analyzed, second laser sensor machine according to the optimal placement route guidance is controlled
At the fixed point operation to the placement location position coordinates of tool arm；
The manipulator is controlled to complete to place.
7. a kind of accurate grasping system for mechanical arm characterized by comprising
First acquisition device, for obtain include position of manipulator coordinate and object space coordinate to be handled crawl position arrow
Spirogram, and the crawl position polar plot is transmitted to the controller；
First analytical equipment, for when detect receive the crawl position polar plot after, according to the crawl position vector
Map analysis goes out the position of manipulator coordinate to one group of crawl route data between the object space coordinate to be handled, and passes
Transport to the first laser sensor；
Second acquisition device, for when detecting the crawl route data, the first laser sensor to be grabbed according to
It takes route data whether to detect on every crawl route with the presence of barrier, obtains alternative crawl route；
Third acquisition device for obtaining Optimal Grasp route according to the alternative crawl route, and is transmitted to described second and swashs
Optical sensor；
First control device controls the second laser sensor according to described optimal for analyzing the Optimal Grasp route
It grabs at mechanical arm fixed-point motion to the object space coordinate to be handled described in route guidance；
Second control device completes crawl for controlling the manipulator.
8. the accurate grasping system according to claim 7 for mechanical arm, which is characterized in that second acquisition device
Include:
First detection module, for when detecting the crawl route data, the first laser sensor to be successively along described
It grabs crawl route described in each in route data and carries out laser beam detection；
First memory module, for when detecting any crawl route there are when barrier, by this crawl route
It is stored as obstacle route；
Second memory module, for when detecting that barrier is not present in any crawl route, by this crawl road
Line is stored as alternatively grabbing route.
9. the accurate grasping system according to claim 7 for mechanical arm, which is characterized in that the third acquisition device
Include:
Second analysis module analyzes the first laser sensor in every institute for obtaining the alternative crawl route respectively
The detection time used on alternative crawl route is stated, detection time data are obtained；
First confirmation module confirms in the detection time data that the used time shortest is for analyzing the detection time data
The most fast time；
Second confirmation module, for according to the most fast time, the confirmation alternative crawl corresponding with most fast time
Route is Optimal Grasp route, and is transmitted to the second laser sensor.
10. the accurate grasping system according to claim 7 for mechanical arm, which is characterized in that the first control dress
It sets and includes:
Third analysis module chooses multiple detection sites on the Optimal Grasp route for analyzing the Optimal Grasp route；
Third control module controls the second laser for each detection site to be successively transmitted to the controller
Sensor successively irradiates each detection site with light beam, while described in control according to the transmission sequence of the detection site
Manipulator is successively moved to each detection site after second laser sensor light beam irradiation, until moving to described
At object space coordinate to be handled.
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| CN113492411A (en) * | 2021-09-10 | 2021-10-12 | 季华实验室 | Robot grabbing path planning method and device, electronic equipment and storage medium |
| CN113909830A (en) * | 2020-07-08 | 2022-01-11 | 华为技术有限公司 | Assembling equipment |
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| CN116140832B (en) * | 2023-04-20 | 2023-07-04 | 深圳市岑科实业有限公司 | Method and system for automatically correcting precision of intelligent inductance coil laser cutting system |
| CN116705670A (en) * | 2023-08-07 | 2023-09-05 | 拉普拉斯新能源科技股份有限公司 | Grabbing method and device for height Wen Zhou |
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