CN111015657A - Adaptive control method, device and system of industrial robot - Google Patents
Adaptive control method, device and system of industrial robot Download PDFInfo
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- CN111015657A CN111015657A CN201911314666.3A CN201911314666A CN111015657A CN 111015657 A CN111015657 A CN 111015657A CN 201911314666 A CN201911314666 A CN 201911314666A CN 111015657 A CN111015657 A CN 111015657A
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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
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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
- B25J9/1656—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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Abstract
The invention relates to the technical field of intelligent robots, in particular to an adaptive control method, a device and a system of an industrial robot, wherein the method comprises the following steps: firstly, acquiring a CCD image containing a mechanical arm and a target object, and determining the positions of the mechanical arm and the target object in the CCD image; calculating to obtain the position deviation of the mechanical arm and the target object according to the CCD image; determining the position adjustment amount of the mechanical arm according to the position deviation; the invention also correspondingly provides an adaptive control device and system of the industrial robot, and the adaptive control device and system can promote the robot to operate quickly and stably.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an adaptive control method, device and system of an industrial robot.
Background
Transfer robot belongs to a common industrial robot, mainly is applied to the automatic field of commodity circulation for replace the manual work and carry out automatic pile up neatly. With the enlargement of production scale and the improvement of automation level, higher requirements are put forward on the stacking speed of the transfer robot; meanwhile, the transfer robot is frequently and rapidly started and stopped in the working process, and the impact and the abrasion on a mechanical structure are serious. To make the machine run faster, position more accurately and more stable and reliable, it must be smooth when starting and stopping, and should not experience sudden changes in acceleration.
Therefore, how to make the transfer robot fast and stable in the palletizing process is very important for the operation of the robot.
Disclosure of Invention
In order to solve the problems, the invention provides an adaptive control method, device and system of an industrial robot, which can promote the robot to work quickly and stably.
In order to achieve the purpose, the invention provides the following technical scheme:
in one aspect, there is provided an adaptive control method of an industrial robot, including:
acquiring a CCD image comprising a mechanical arm and a target object, and determining the positions of the mechanical arm and the target object in the CCD image;
calculating to obtain the position deviation of the mechanical arm and the target object according to the CCD image;
determining the position adjustment amount of the mechanical arm according to the position deviation;
and adjusting the motion of the mechanical arm according to the position adjustment amount of the mechanical arm until the mechanical arm is aligned with the target object successfully.
Further, the calculating according to the CCD image to obtain the position deviation between the mechanical arm and the target object specifically includes:
detecting the mechanical arm and the target object in the CCD image to obtain two rectangular frames;
determining the image plane coordinates of the two rectangular frames;
converting the image plane coordinates of the two rectangular frames into two-dimensional plane coordinates by using a geometric relation derivation method;
and calculating the distance between the two rectangular frames by an Euclidean distance formula, wherein the distance is the position deviation of the mechanical arm and the target object.
Further, the method further comprises: and judging whether the position deviation is within a preset range, if so, judging that the alignment of the mechanical arm and the target object is successful.
Further, the alignment success of the mechanical arm and the target object is judged through the following modes:
the method comprises the steps of obtaining a torque fed back by a torque sensor at the tail end of a mechanical arm, obtaining a current image containing the mechanical arm and a target object when the torque is larger than 0, and judging whether the mechanical arm and the target object are aligned successfully or not according to the current image.
Further, the determining the position adjustment amount of the mechanical arm according to the position deviation specifically includes:
obtaining the compensation deviation of the mechanical arm according to the preset compensation amount and the position deviation;
and calculating the position adjustment amount of the mechanical arm according to the compensation deviation.
Further, the motion of the mechanical arm is adjusted according to the position adjustment amount of the mechanical arm, specifically:
shifting the mechanical arm according to the position adjustment amount of the mechanical arm;
acquiring the current speed of the industrial robot, controlling the mechanical arm to do deceleration movement, and calculating the acceleration a of the deceleration movement of the mechanical arm through the following formula:
In another aspect, there is provided an adaptive control apparatus of an industrial robot, including:
the position determining module is used for acquiring a CCD image containing the mechanical arm and the target object and determining the positions of the mechanical arm and the target object in the CCD image;
the position deviation calculation module is used for calculating the position deviation between the mechanical arm and the target object according to the CCD image;
the position adjustment amount determining module is used for determining the position adjustment amount of the mechanical arm according to the position deviation;
and the adjusting module is used for adjusting the movement of the mechanical arm according to the position adjusting amount of the mechanical arm until the mechanical arm is aligned with the target object successfully.
Further, the position deviation calculation module is specifically configured to:
detecting the mechanical arm and the target object in the CCD image to obtain two rectangular frames;
determining the image plane coordinates of the two rectangular frames;
converting the image plane coordinates of the two rectangular frames into two-dimensional plane coordinates by using a geometric relation derivation method;
and calculating the distance between the two rectangular frames by an Euclidean distance formula, wherein the distance is the position deviation of the mechanical arm and the target object.
Further, the position adjustment amount determining module is specifically configured to:
obtaining the compensation deviation of the mechanical arm according to the preset compensation amount and the position deviation;
and calculating the position adjustment amount of the mechanical arm according to the compensation deviation.
In another aspect, an adaptive control system for an industrial robot is provided, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, causing the at least one processor to implement the adaptive control method of the industrial robot.
The invention has the beneficial effects that: the invention discloses an adaptive control method, a device and a system of an industrial robot, which comprises the steps of firstly obtaining a CCD image containing a mechanical arm and a target object, and determining the positions of the mechanical arm and the target object in the CCD image; calculating to obtain the position deviation of the mechanical arm and the target object according to the CCD image; determining the position adjustment amount of the mechanical arm according to the position deviation; and adjusting the motion of the mechanical arm according to the position adjustment amount of the mechanical arm until the mechanical arm is aligned with the target object successfully. The invention can promote the robot to operate quickly and stably.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic flow chart of an adaptive control method for an industrial robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an adaptive control device of an industrial robot according to an embodiment of the invention.
Detailed Description
The conception, specific structure and technical effects of the present disclosure will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, aspects and effects of the present disclosure. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, fig. 1 illustrates an adaptive control method for an industrial robot according to an embodiment of the present disclosure, including the following steps:
s100, acquiring a CCD image containing a mechanical arm and a target object, and determining the positions of the mechanical arm and the target object in the CCD image;
step S200, calculating to obtain the position deviation of the mechanical arm and the target object according to the CCD image;
step S300, determining the position adjustment amount of the mechanical arm according to the position deviation;
and S400, adjusting the motion of the mechanical arm according to the position adjustment amount of the mechanical arm until the mechanical arm is aligned with the target object successfully.
The method comprises the steps of firstly acquiring a CCD image containing a mechanical arm and a target object, and determining the positions of the mechanical arm and the target object in the CCD image; calculating to obtain the position deviation of the mechanical arm and the target object according to the CCD image; determining the position adjustment amount of the mechanical arm according to the position deviation; and adjusting the motion of the mechanical arm according to the position adjustment amount of the mechanical arm until the mechanical arm is aligned with the target object successfully. The invention can promote the robot to operate quickly and stably.
In a preferred embodiment, the step S200 specifically includes:
(1) detecting the mechanical arm and the target object in the CCD image to obtain two rectangular frames;
in this embodiment, the mechanical arm is labeled as a first rectangular frame, and the target object is labeled as a second rectangular frame; and detecting rectangular frames corresponding to the mechanical arm and the target object by adopting an SSD target object detection algorithm, and labeling the frames. The SSD target object detection algorithm is based on a feed-forward convolutional network that can generate a fixed-size bounding box set and target class scores therein, and then perform final detection with non-maximum suppression.
(2) Determining the image plane coordinates of the two rectangular frames;
in the embodiment, the plane coordinates of the center points of the first rectangular frame and the second rectangular frame are determined, so as to determine the image plane coordinates of the two rectangular frames, and the plane coordinates of the two center points are respectively marked as (u1, v1) and (u2, v 2); the present embodiment can output the coordinates of the rectangular frame pixel points through the OpenCV self-contained function.
(3) Converting the image plane coordinates of the two rectangular frames into two-dimensional plane coordinates by using a geometric relation derivation method;
deriving two-dimensional plane coordinates (x1, y1), (x2, y2) from the image-plane coordinate points (u1, v1), (u2, v2) using a geometrical derivation method; the two-dimensional plane coordinate can be understood as a coordinate projected onto the ground, i.e., the z-axis coordinate is 0.
(4) And calculating the distance between the two rectangular frames by an Euclidean distance formula, wherein the distance is the position deviation of the mechanical arm and the target object. The specific calculation formula is as follows:
wherein d is the position deviation of the mechanical arm and the target object.
In a preferred embodiment, the method further comprises the steps of:
and judging whether the position deviation is within a preset range, if so, judging that the alignment of the mechanical arm and the target object is successful.
The preset range is a value meeting the error range, and is determined according to the target object, and only the mechanical arm can operate the target object within the preset range, namely within the preset range, for example, when the target object is an express box, the preset range can be set to be within 2% of the position deviation of the express box.
In a preferred embodiment, the alignment success of the mechanical arm and the target object is judged by the following means:
the method comprises the steps of obtaining a torque fed back by a torque sensor at the tail end of a mechanical arm, obtaining a current image containing the mechanical arm and a target object when the torque is larger than 0, and judging whether the mechanical arm and the target object are aligned or not according to the current image.
In a preferred embodiment, the determining the position adjustment amount of the mechanical arm according to the position deviation specifically includes:
obtaining the compensation deviation of the mechanical arm according to the preset compensation amount and the position deviation;
calculating the position adjustment quantity of the mechanical arm according to the compensation deviation;
in this embodiment, the preset compensation amount and the positional deviation are combined to obtain the corrected positional deviation, and then the position of the robot arm is calculated.
In a preferred embodiment, the adjusting the movement of the mechanical arm according to the position adjustment amount of the mechanical arm specifically includes:
shifting the mechanical arm according to the position adjustment amount of the mechanical arm;
acquiring the current speed of the industrial robot, controlling the mechanical arm to do deceleration movement, and calculating the acceleration a of the deceleration movement of the mechanical arm through the following formula:
In the present embodiment, the velocity vfWithin the range of speeds that the arm can withstand, at which speedvfUnder the condition of no damage to the mechanical arm, when reaching the speed vfThereafter, if the robot arm still does not complete the alignment with the target object, the velocity v is set to the valuefAnd continuing to operate.
Referring to fig. 2, an embodiment of the present invention further provides an adaptive control apparatus for an industrial robot, including:
the position determining module 100 is configured to acquire a CCD image including a mechanical arm and a target object, and determine positions of the mechanical arm and the target object in the CCD image;
the position deviation calculation module 200 is used for calculating the position deviation between the mechanical arm and the target object according to the CCD image;
a position adjustment amount determining module 300, configured to determine a position adjustment amount of the mechanical arm according to the position deviation;
and an adjusting module 400, configured to adjust the motion of the robot arm according to the position adjustment amount of the robot arm until the robot arm and the target object are aligned successfully.
In a preferred embodiment, the position deviation calculating module 200 is specifically configured to:
detecting the mechanical arm and the target object in the CCD image to obtain two rectangular frames;
determining the image plane coordinates of the two rectangular frames;
converting the image plane coordinates of the two rectangular frames into two-dimensional plane coordinates by using a geometric relation derivation method;
and calculating the distance between the two rectangular frames by an Euclidean distance formula, wherein the distance is the position deviation of the mechanical arm and the target object.
In a preferred embodiment, the position adjustment amount determining module 300 is specifically configured to:
obtaining the compensation deviation of the mechanical arm according to the preset compensation amount and the position deviation;
and calculating the position adjustment amount of the mechanical arm according to the compensation deviation.
The contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.
The embodiment of the invention also provides an adaptive control system of an industrial robot, which comprises:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, causing the at least one processor to implement the adaptive control method of the industrial robot.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method of the above embodiments can be implemented by software, and is loaded into a processor by embedded software, so as to perform adaptive control of an industrial robot. Based on this understanding, the technical solutions of the present invention may be embodied in the form of software products, which essentially or partially contribute to the prior art.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific-Integrated-Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The processor is a control center of the adaptive control system of the industrial robot, and various interfaces and lines are used for connecting all parts of the adaptive control system of the whole industrial robot.
The memory may be used for storing the computer programs and/or modules, and the processor may implement the various functions of the adaptive control system of the industrial robot by running or executing the computer programs and/or modules stored in the memory and calling up the data stored in the memory. The memory may primarily include a program storage area and a data storage area, which may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart-Media-Card (SMC), a Secure-Digital (SD) Card, a Flash-memory Card (Flash-Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
While the present disclosure has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed with references to the appended claims so as to provide a broad, possibly open interpretation of such claims in view of the prior art, and to effectively encompass the intended scope of the disclosure. Furthermore, the foregoing describes the disclosure in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the disclosure, not presently foreseen, may nonetheless represent equivalent modifications thereto.
Claims (10)
1. An adaptive control method of an industrial robot, comprising:
acquiring a CCD image comprising a mechanical arm and a target object, and determining the positions of the mechanical arm and the target object in the CCD image;
calculating to obtain the position deviation of the mechanical arm and the target object according to the CCD image;
determining the position adjustment amount of the mechanical arm according to the position deviation;
and adjusting the motion of the mechanical arm according to the position adjustment amount of the mechanical arm until the mechanical arm is aligned with the target object successfully.
2. The adaptive control method of an industrial robot according to claim 1, wherein the calculating of the position deviation between the robot arm and the target object based on the CCD image includes:
detecting the mechanical arm and the target object in the CCD image to obtain two rectangular frames;
determining the image plane coordinates of the two rectangular frames;
converting the image plane coordinates of the two rectangular frames into two-dimensional plane coordinates by using a geometric relation derivation method;
and calculating the distance between the two rectangular frames by an Euclidean distance formula, wherein the distance is the position deviation of the mechanical arm and the target object.
3. An adaptive control method of an industrial robot according to claim 1, further comprising:
and judging whether the position deviation is within a preset range, if so, judging that the alignment of the mechanical arm and the target object is successful.
4. The adaptive control method for an industrial robot according to claim 2, wherein the success of the alignment of the robot arm with the target object is judged by:
the method comprises the steps of obtaining a torque fed back by a torque sensor at the tail end of a mechanical arm, obtaining a current image containing the mechanical arm and a target object when the torque is larger than 0, and judging whether the mechanical arm and the target object are aligned successfully or not according to the current image.
5. An adaptive control method for an industrial robot according to claim 1, wherein the determining of the position adjustment of the robot arm based on the position deviation comprises:
obtaining the compensation deviation of the mechanical arm according to the preset compensation amount and the position deviation;
and calculating the position adjustment amount of the mechanical arm according to the compensation deviation.
6. The adaptive control method of an industrial robot according to claim 1, wherein the adjusting of the robot arm movement according to the amount of robot arm position adjustment comprises:
shifting the mechanical arm according to the position adjustment amount of the mechanical arm;
acquiring the current speed of the industrial robot, controlling the mechanical arm to do deceleration movement, and calculating the acceleration a of the deceleration movement of the mechanical arm through the following formula:
7. An adaptive control apparatus for an industrial robot, comprising:
the position determining module is used for acquiring a CCD image containing the mechanical arm and the target object and determining the positions of the mechanical arm and the target object in the CCD image;
the position deviation calculation module is used for calculating the position deviation between the mechanical arm and the target object according to the CCD image;
the position adjustment amount determining module is used for determining the position adjustment amount of the mechanical arm according to the position deviation;
and the adjusting module is used for adjusting the movement of the mechanical arm according to the position adjusting amount of the mechanical arm until the mechanical arm is aligned with the target object successfully.
8. An adaptive control apparatus for an industrial robot according to claim 7, wherein the positional deviation calculation module is specifically configured to:
detecting the mechanical arm and the target object in the CCD image to obtain two rectangular frames;
determining the image plane coordinates of the two rectangular frames;
converting the image plane coordinates of the two rectangular frames into two-dimensional plane coordinates by using a geometric relation derivation method;
and calculating the distance between the two rectangular frames by an Euclidean distance formula, wherein the distance is the position deviation of the mechanical arm and the target object.
9. An adaptive control apparatus for an industrial robot according to claim 7, wherein the position adjustment amount determining module is configured to:
obtaining the compensation deviation of the mechanical arm according to the preset compensation amount and the position deviation;
and calculating the position adjustment amount of the mechanical arm according to the compensation deviation.
10. An adaptive control system for an industrial robot, comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, causing the at least one processor to implement the adaptive control method of an industrial robot according to any one of claims 1-6.
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Cited By (3)
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| CN112091933A (en) * | 2020-09-25 | 2020-12-18 | 北京极智嘉科技有限公司 | Container holding robot and holding method thereof |
| CN113625555A (en) * | 2021-06-30 | 2021-11-09 | 佛山科学技术学院 | Adaptive inverse control AGV rotation speed control method based on recursive subspace identification |
| CN115582829A (en) * | 2021-07-05 | 2023-01-10 | 腾讯科技（深圳）有限公司 | Method and device for determining position of mechanical arm, electronic equipment and storage medium |
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| CN113625555A (en) * | 2021-06-30 | 2021-11-09 | 佛山科学技术学院 | Adaptive inverse control AGV rotation speed control method based on recursive subspace identification |
| CN113625555B (en) * | 2021-06-30 | 2024-06-11 | 佛山科学技术学院 | Adaptive inverse control AGV (automatic guided vehicle) rotating speed control method based on recursive subspace identification |
| CN115582829A (en) * | 2021-07-05 | 2023-01-10 | 腾讯科技（深圳）有限公司 | Method and device for determining position of mechanical arm, electronic equipment and storage medium |
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