CN110774284A

CN110774284A - Method for detecting real-time position of movement of manipulator, computer-readable storage medium, and device with manipulator

Info

Publication number: CN110774284A
Application number: CN201911055966.4A
Authority: CN
Inventors: 傅峰峰; 康志勇
Original assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Current assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2020-02-11
Anticipated expiration: 2039-10-31
Also published as: CN110774284B

Abstract

The invention relates to the technical field of manipulator position detection, in particular to a manipulator motion real-time position detection method, a computer readable storage medium and a device with a manipulator. When the manipulator moves according to the preset action stroke, the manipulator movement real-time position detection method is executed, as long as the current distance value di between the manipulator and the detector is detected, and the corresponding relation between the distance obtained by calculation according to the action stroke track of the manipulator and the position of the manipulator is obtained, the current position point Pi of the manipulator on the stroke track can be confirmed, and the movement real-time position of the manipulator is conveniently, quickly and inexpensively detected.

Description

Method for detecting real-time position of movement of manipulator, computer-readable storage medium, and device with manipulator

Technical Field

The invention relates to the technical field of manipulator position detection, in particular to a manipulator motion real-time position detection method, a computer readable storage medium and a device with a manipulator.

Background

The simple mechanical arm applied to the self-service vending machine generally comprises 3-5 joints, the motion stroke of each joint is formed by a plurality of continuous motion paths, each motion path is completed in a plane respectively, the joints move to the tail end from the initial position of one motion path, then in-place detection is carried out, and the next motion path is carried out after the joints are confirmed to be in place. The in-place detection can ensure that the joints of the mechanical arm execute complete movement stroke, and can realize the tasks of moving, taking and placing articles. The existing manipulator is generally additionally provided with a plurality of in-place sensors such as photoelectric sensors, contacts and optical fiber sensors to realize position detection, the sensors adopt a traditional bus wiring mode, the position of the in-place sensor can be detected whether the manipulator reaches the position, generally only an approximate position interval of the manipulator can be provided, and the real-time position of the manipulator in the motion process cannot be definitely detected. If the detection precision of the position of the manipulator is increased, a large number of sensors are arranged, and the cost is high.

Disclosure of Invention

The purpose of the invention is: provided are a method of detecting a real-time position of a motion of a robot arm, a computer-readable storage medium storing a program for implementing the method when executed by a processor, and a robot arm using the medium, the real-time position of the motion of the robot arm being capable of being conveniently and rapidly detected.

Provides a real-time position detection method for the movement of a manipulator, which is used when the manipulator moves according to a preset action stroke,

detecting to obtain a value di of the current distance between the manipulator and the detector;

and obtaining a current position point Pi of the manipulator according to the obtained value di and the corresponding relation between the distance and the manipulator position in the motion stroke, wherein the corresponding relation is obtained by pre-calculating and pre-storing according to the track of the motion stroke.

A computer-readable storage medium is also provided, which stores an executable computer program that, when executed by a processor, is capable of implementing the above-described robot motion real-time position detection method.

A manipulator position detection system is also provided, including a processor that detects a real-time position of a motion of a manipulator, and a computer readable storage medium having a computer program executable by the processor.

When the manipulator moves according to the preset action stroke, the manipulator movement real-time position detection method is executed, as long as the current distance value di between the manipulator and the detector is detected, and the corresponding relation between the distance obtained by calculation according to the action stroke track of the manipulator and the position of the manipulator is obtained, the current position point Pi of the manipulator on the stroke track can be confirmed, and the movement real-time position of the manipulator is conveniently, quickly and inexpensively detected.

Drawings

Fig. 1 is a schematic diagram of the motion stroke and position of a manipulator in a real-time position detection method for the motion of the manipulator.

Detailed Description

The method for detecting the real-time position of the movement of the manipulator comprises the following steps of firstly, two important components of a manipulator position detection system before the real-time position of the manipulator is detected: BLE-Mesh networking is arranged on the manipulator and the detector. The Bluetooth Mesh devices are arranged at the joints of the detector and the manipulator respectively, the Bluetooth Mesh devices arranged at the joints of the manipulator can be communicated with the Bluetooth Mesh devices on the detector independently, and the Bluetooth Mesh devices at the joints can be communicated with the controller of the driving motor of the manipulator joint where the Bluetooth Mesh devices are arranged, so that the information such as the running time, the stroke distance and the like of the driving motor can be acquired. Information interaction among the Bluetooth Mesh devices is realized through a heartbeat mechanism (the heartbeat mechanism belongs to a general technology of wireless signal communication, and is not described here in detail), and on the basis of data transmission, a signal intensity value can be transmitted, so that a distance value among the Bluetooth Mesh devices which perform information interaction with each other can be further calculated. BLE-Mesh networking is arranged for the manipulator and the detector, information transmission is achieved through the wireless Bluetooth Mesh equipment, information transmission is faster, and wiring space is saved.

As shown in fig. 1, a movable joint (hereinafter referred to as a manipulator joint) of a manipulator of the vending machine equipped with a bluetooth Mesh device moves according to a preset action travel track, and a corresponding relationship between a distance di between the manipulator and a detector, which is calculated according to the action travel track, and a manipulator joint position is prestored in a detector. The manipulator joint just moves to a position point P1 from a starting position P0, and the detector detects a current distance value di between the manipulator joint and the detector according to the signal strength (RSSI) between the manipulator joint and the detector fed back by the BLE-Mesh networking. The distance of the detector relative to each position point on the motion travel track of the manipulator joint node is fixed, so that after the distance di is determined, the current position point Pi of the manipulator joint can be obtained according to the corresponding relation.

However, since two position points Pd corresponding to the distance value di exist on the motion stroke trajectory: p1 and P2, it is necessary to identify which of the position points P1 and P2 is the actual current position point Pi of the robot joint. Since the robot joint starts from the start position P0, the start position P0 of the current stroke is the robot joint position point determined at the earliest time in the current operation stroke and the robot joint position point Pi-determined at the latest time before the robot joint reaches the current position point Pi. Therefore, taking the starting position P0 as the position point Pi —, the stroke from the query starting position P0 to the position points P1 and P2 respectively is obviously shorter than the stroke L1 from the starting position P0 to the position point P1 than the stroke L2 from the starting position P0 to the position point P2, that is, the position point P1 is the current position point Pi of the current detection.

If the robot joint position point Pi has been detected a plurality of times, and robot joint position points earlier determined in the present operation stroke are traced back to find that there are a plurality of robot joint position points Pi-, then the robot joint position point determined last time is selected as the robot joint position point Pi-at which the current position point Pi is detected.

When the manipulator joint moves according to the preset action stroke, the real-time position detection method for the manipulator joint movement is executed, as long as the current distance value di between the manipulator joint and the detector is detected, and the corresponding relation between the distance obtained by calculation according to the action stroke track of the manipulator joint and the manipulator joint position is obtained, the current position point Pi of the manipulator joint on the stroke track can be confirmed, and the real-time position of the manipulator joint movement is conveniently and quickly detected.

Claims

1. The real-time position detection method for the movement of the manipulator is used when the manipulator moves according to a preset action stroke, and is characterized in that:

2. A robot motion real-time position detecting method according to claim 1, wherein if there are a plurality of robot position points Pd corresponding to the value di in said correspondence relationship, the robot current position point Pi is selected therefrom according to the following condition: tracing back to the robot position point Pi-earlier determined in the present operation stroke, the stroke from the position point Pi-to the position point Pi is the shortest as compared with the stroke to the other position point Pd.

3. A method of real-time position sensing of robot movement according to claim 2, wherein the earlier determined robot position points Pi-refer to the last determined robot position points.

4. The method for detecting the real-time position of the motion of the robot hand according to claim 2 or 3, wherein the robot hand position point determined at the earliest time in the current motion stroke is a start position P0 of the current stroke of the robot hand.

5. A computer-readable storage medium, in which a computer program is stored, wherein the computer program, when executed by a processor, is capable of implementing the method for real-time position detection of a motion of a manipulator according to any one of claims 1 to 4.

6. An apparatus with a manipulator comprising a manipulator, a detector, and a processor for detecting the real-time position of the movement of the manipulator by means of the detector, characterized by a computer-readable storage medium according to claim 5, on which a computer program is executable by the processor.

7. Device with manipulator according to claim 6, characterized in that it is a vending machine, the manipulator of which is able to perform the moving and gripping operations.