CN111113411A - Robot control method and system based on two-dimensional code recognition and robot - Google Patents
Robot control method and system based on two-dimensional code recognition and robot Download PDFInfo
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- CN111113411A CN111113411A CN201911235243.2A CN201911235243A CN111113411A CN 111113411 A CN111113411 A CN 111113411A CN 201911235243 A CN201911235243 A CN 201911235243A CN 111113411 A CN111113411 A CN 111113411A
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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
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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Abstract
The invention provides a robot control method, a robot control system and a robot based on two-dimension code recognition. In a calibration coordinate system, information such as the type and position coordinates of an object is coded into a QR code two-dimensional code, so that the object is grabbed and classified, the current situation that the current robot joint is not accurate in positioning is solved, and the effect of improving the operation speed by optimizing the motion track is realized while the accurate positioning is kept.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a robot control method and system based on two-dimension code recognition and a robot.
Background
Since the advent of the traditional industrial robots, robotics has made significant progress in as little as 60 years. Nowadays, robots are no longer limited to industrial applications, and the research focus and development direction thereof are more oriented towards daily life applications, such as catering, welcoming, entertainment, companions, and the like.
In the field of industrial robot control, higher requirements are increasingly put on stability, flexibility, modularization, integration and the like of joint structure control. At present, industrial robots are widely applied to various production fields, but the precise positioning of robot joints or mechanical arms, the optimization of motion tracks of the robot joints and the like are also greatly challenged.
At present, most robots mainly adopt a precision speed reducer and a servo motor to be matched to ensure the motion precision and move according to a path track taught in advance. However, the requirements of machining and manufacturing a high-precision speed reducer on machining equipment and process level are extremely high, the manufacturing cost is difficult to control, and the precision is gradually reduced along with the increase of the service life due to mechanical irreversible mechanical abrasion, so that the performance of the robot is seriously influenced. In addition, with the continuous improvement of the industrial automation level, the matching of the robot and the factory assembly line is more and more necessary. Because the target object moves along with the production line, the placing position and the angle of the target object are not fixed, and the current robot based on teaching can not work in a production line mode basically according to a fixed track movement mode.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a robot control method based on two-dimension code recognition, the two-dimension code recognition technology and a controller are combined and modularized, the optimal motion track is realized under multiple positioning training, the accurate positioning of a target is realized, and the effect of improving the operation speed is realized.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot control method based on two-dimension code recognition is characterized in that two-dimension code recognition points are set on a coordinate system calibrated by a robot, two-dimension code information of the set recognition points on the robot is recognized through a two-dimension code recognition algorithm, and the two-dimension code information is recognized and decoded into a controller to control a mechanical arm of the robot to act. In a calibration coordinate system, information such as the type and position coordinates of an object is coded into a QR code two-dimensional code, so that the object is grabbed and classified, the current situation that the current robot joint is not accurate in positioning is solved, and the effect of improving the operation speed by optimizing the motion track is realized while the accurate positioning is kept.
Further, the identifying the two-dimensional code information and decoding the two-dimensional code information into the controller to control the mechanical arm of the robot to perform actions specifically includes: and identifying and decoding the two-dimension code information to a controller adopting a CP-nets combined fuzzy PID control algorithm, controlling the motion of the mechanical arm by the controller, detecting whether the positioning is accurate, and if the positioning is accurate, judging the set time. The method comprises the following steps of researching a track of a human arm and a solved wrist joint motion preference model based on CP-nets, analyzing human motion preference characteristics, and applying the human motion preference characteristics to an industrial robot arm, wherein due to the fact that a six-axis robot and a human joint structure have certain similarity, optimal track control of a robot joint can be achieved, and mechanical loss is reduced; by combining fuzzy PID control, the algorithm can realize that the robot is far away from the deviation, the stable and reliable operation of the joint of the robot is ensured, and the combination of the fuzzy PID control and the joint stability on the basis of the optimal track control can be realized.
Further, the identifying the two-dimensional code information and decoding the two-dimensional code information into the controller to control the mechanical arm of the robot to perform actions specifically includes: and identifying and decoding the two-dimension code information to a controller adopting a CP-nets combined fuzzy PID control algorithm, controlling the motion of the mechanical arm by the controller, detecting whether the positioning is accurate, and returning the two-dimension code to re-identify and control if the positioning is not accurate. Through training and recognizing the two-dimensional code set point for multiple times, the recognition step is returned to repeat the positioning until the positioning is accurate when the positioning is detected to be inaccurate, and the accuracy of recognition control is ensured.
Further, the determination of the entry setting time specifically includes: and detecting and identifying the control time t, if t is less than or equal to t1, ending the control of the robot, and t1 is a preset standard time value. And setting a standard time value, and when the recognition control time is less than or equal to the standard time and indicates that the robot can finish corresponding operation within the specified time, considering that the recognition control is finished.
Further, the determination of the entry setting time specifically includes: and detecting the identification control time t, and returning to the two-dimensional code re-identification control if t is greater than t 1. When the recognition control time exceeds the standard time, the robot recognition control time is too long to meet the standard requirement, and the robot needs to be re-recognized and controlled until the time is within the standard range, so that the stable and efficient working efficiency of the robot is ensured.
The utility model provides a robot control system based on two-dimensional code discernment, includes two-dimensional code identification module, controller module, processor module and driver module, two-dimensional code identification module is used for discerning the two-dimensional code information of identification point and decodes to digital signal transmission to the controller module, the controller module sends relevant instruction to processor module, processor module adopts algorithm analysis to calculate robot's relevant operating parameter and sends to the driver module, the driver module is used for driving each joint movement of robot.
Further, the processor module analyzes and calculates the operation parameters of each joint of the robot by using CP-nets and a fuzzy PID control algorithm.
A computer-readable storage medium storing a computer program that, when invoked by a processor, implements the two-dimensional code recognition-based robot control method of any one of the above.
A robot comprising a processor and a memory for storing a computer program that when invoked by the processor implements a two-dimensional code recognition based robot control method as claimed in any preceding claim.
The robot control method, the robot control system and the robot based on the two-dimension code recognition have the advantages that: the CP-nets are combined with a PID control algorithm, so that the track which best accords with the preference of human motion can be realized, and the mechanical loss is reduced; after accurate positioning is realized, the reliability and the effectiveness of a control algorithm are verified; and finally, the operation speed is improved while the accurate positioning is ensured.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a block diagram of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of the present invention.
Example 1: a robot control method based on two-dimension code recognition is disclosed.
As shown in fig. 1, a robot control method based on two-dimensional code recognition includes the following specific steps:
setting a two-dimensional code identification point under a calibration coordinate system of the industrial robot (a robot base is a set origin of the coordinate system), wherein the two-dimensional code is arranged on the surface of an object and is generally set in the middle of the surface of the object; in the identification process, the optical scanner and the target are in relative positions, and when the two-dimensional code which is arranged in advance is used, the positions are relatively determined;
decoding information into a controller adopting a CP-nets combined with a fuzzy PID control algorithm through a two-dimensional code recognition technology, controlling the mechanical arm to act, optimizing the motion track of the joint structure, and achieving the purposes of reducing mechanical wear and improving the motion speed of the joint; and if the accurate positioning is not realized, returning to the steps of re-identifying the two-dimensional code and re-controlling the motion joint until the set operation time standard is reached.
The two-dimension code identification technology specifically comprises the following steps: the coding process of the two-dimensional code is that matrix digital representation is carried out on the stored information, a black-white matrix represents binary (1 and 0) data, and black-white pixels are coded in different distribution in the matrix; the decoding process is the reverse process of encoding, and the information content of the matrix two-dimensional code is determined by identifying the two-dimensional code through a photoelectric scanner.
In the embodiment, a two-dimensional code recognition technology is combined with an industrial robot controller, a CP-nets and fuzzy PID control algorithm is adopted, the trajectory of a human arm and a solved wrist joint motion preference model are researched based on the CP-nets, human motion preference characteristics are analyzed, and then the human motion preference characteristics are applied to the industrial robot arm, so that the optimal trajectory control of the robot joint can be realized and mechanical loss is reduced due to the fact that a six-axis robot and the human joint structure have certain similarity; by combining fuzzy PID control, the algorithm can realize that the robot is far away from the deviation, the stable and reliable operation of the joint of the robot is ensured, and the combination of the fuzzy PID control and the joint stability on the basis of the optimal track control can be realized.
Example 2: a robot control system based on two-dimensional code recognition.
As shown in fig. 2, a robot control system based on two-dimensional code recognition comprises a two-dimensional code recognition module, a DSP controller module, an ARM processor module and a servo driver module, wherein the two-dimensional code recognition module introduces a two-dimensional code recognition technology of a mobile phone end into the field of an industrial robot to realize coordinates of a target point under decoding, and transmits a decoded digital signal to the DSP controller module, the DSP controller module generates a main control command to the ARM processor module, the ARM processor module adopts CP-nets and a fuzzy PID control algorithm, the CP-nets tend to obtain a track most conforming to human motion preference, and an effect of reducing mechanical loss can be realized on path selection, and the fuzzy PID control algorithm is used for controlling and adjusting motion stability and accuracy of a mechanical joint; and finally, the ARM processor module transmits the control information to the servo driver module to finally drive the servo motors of the degrees of freedom of all joints.
In the embodiment, the two-dimensional code recognition technology is combined with CP-nets and a fuzzy PID control algorithm to realize joint track motion optimization, realize accurate positioning of a robot joint target, improve joint operation speed and verify the reliability and effectiveness of the control algorithm.
Example 3: a computer readable storage medium.
A computer-readable storage medium storing a computer program that, when invoked by a processor, implements the two-dimensional code recognition-based robot control method of embodiment 1.
Example 4: a robot is provided.
A robot comprising a processor and a memory for storing a computer program that, when invoked by the processor, implements the two-dimensional code recognition-based robot control method of embodiment 1.
The above description is only for the preferred embodiment of the present invention, but the present invention should not be limited to the embodiment and the disclosure of the drawings, and therefore, all equivalent or modifications that do not depart from the spirit of the present invention are intended to fall within the scope of the present invention.
Claims (9)
1. A robot control method based on two-dimension code recognition is characterized in that two-dimension code recognition points are set on a coordinate system calibrated by a robot, two-dimension code information of the set recognition points arranged on the robot is recognized through a two-dimension code recognition algorithm, and the two-dimension code information is recognized and decoded into a controller to control a mechanical arm of the robot to act.
2. The robot control method based on two-dimensional code recognition of claim 1, wherein the recognizing and decoding of the two-dimensional code information into the controller to control the mechanical arm of the robot to perform the action specifically comprises: and identifying and decoding the two-dimension code information to a controller adopting a CP-nets combined fuzzy PID control algorithm, controlling the motion of the mechanical arm by the controller, detecting whether the positioning is accurate, and if the positioning is accurate, judging the set time.
3. The robot control method based on two-dimensional code recognition of claim 1, wherein the recognizing and decoding of the two-dimensional code information into the controller to control the mechanical arm of the robot to perform the action specifically comprises: and identifying and decoding the two-dimension code information to a controller adopting a CP-nets combined fuzzy PID control algorithm, controlling the motion of the mechanical arm by the controller, detecting whether the positioning is accurate, and returning the two-dimension code to re-identify and control if the positioning is not accurate.
4. The robot control method based on two-dimensional code recognition according to claim 2, wherein the determination of the entering set time is specifically: and detecting and identifying the control time t, if t is less than or equal to t1, ending the control of the robot, and t1 is a preset standard time value.
5. The robot control method based on two-dimensional code recognition according to claim 4, wherein the determination of the entering set time is specifically: and detecting the identification control time t, and returning to the two-dimensional code re-identification control if t is greater than t 1.
6. The utility model provides a robot control system based on two-dimensional code discernment, its characterized in that, includes two-dimensional code identification module, controller module, processor module and driver module, two-dimensional code identification module is used for discerning the two-dimensional code information of identification point and decodes to digital signal transmission to controller module, controller module sends relevant instruction to processor module, processor module adopts algorithm analysis to calculate robot's relevant operating parameter and sends to driver module, driver module is used for driving each joint motion of robot.
7. The robot control system based on two-dimensional code recognition of claim 6, wherein the processor module analyzes and calculates the operation parameters of each joint of the robot by using CP-nets and a fuzzy PID control algorithm.
8. A computer-readable storage medium storing a computer program, wherein the computer program, when being invoked by a processor, implements the robot control method based on two-dimensional code recognition according to any one of claims 1 to 5.
9. A robot comprising a processor and a memory for storing a computer program, wherein the computer program, when invoked by the processor, implements the two-dimensional code recognition based robot control method of any of claims 1-5.
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| CN201911235243.2A CN111113411A (en) | 2019-12-05 | 2019-12-05 | Robot control method and system based on two-dimensional code recognition and robot |
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| CN201911235243.2A CN111113411A (en) | 2019-12-05 | 2019-12-05 | Robot control method and system based on two-dimensional code recognition and robot |
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