CN111278610A - Method and system for operating a mobile robot - Google Patents
Method and system for operating a mobile robot Download PDFInfo
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- CN111278610A CN111278610A CN201880070039.7A CN201880070039A CN111278610A CN 111278610 A CN111278610 A CN 111278610A CN 201880070039 A CN201880070039 A CN 201880070039A CN 111278610 A CN111278610 A CN 111278610A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 122
- 230000036544 posture Effects 0.000 claims abstract description 45
- 238000003754 machining Methods 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 description 33
- 238000001514 detection method Methods 0.000 description 27
- 239000012636 effector Substances 0.000 description 14
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37325—Multisensor integration, fusion, redundant
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39022—Transform between measuring and manipulator coordinate system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40298—Manipulator on vehicle, wheels, mobile
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- Aviation & Aerospace Engineering (AREA)
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Abstract
A method according to the invention for operating a mobile robot with a mobile platform (11) on which an articulated robot arm (14) is arranged, comprises the following steps: -manually guiding (S20) a robot reference (16; 16'; TCP) of the flexibly adjusted robot arm to an environmental reference (20; W); -detecting (S30) an arm pose of the robot arm relative to the platform for the robot reference guided to the environmental reference, and metrologically detecting (S10) a platform pose of the platform relative to a platform initial pose (Od); and-controlling (S50) the robot in accordance with the detected arm and platform postures.
Description
Technical Field
The invention relates to a method and a system for operating a mobile robot, and an arrangement with the mobile robot and the system, and to a computer program product for performing the method.
Background
On the one hand, it is known from the internal practice of enterprises that the machining of a workpiece by a robot can be predetermined by setting the machining attitude of an end effector guided by the robot with respect to a coordinate system specific to the workpiece. Thus, for example, based on the CAD data of the workpiece, a welding track, a cutting track, a bonding track, a painting track, a grinding track or the like of a welding head, a cutting head, a gluing head, a painting head, a grinding head or the like guided by a robot may be predetermined.
In this regard, FIG. 1 illustrates the robotically guided end effector 16 relative to the workpiece 20 or its x-axis xwAnd y axis ywA target machining pose represented by a workpiece-specific coordinate system W (also referred to as "task (coordinate) system") by a corresponding transformation from coordinate system W to coordinate system TWTTThe coordinate system TCP specific to the end effector is then converted to this coordinate system T (TCP → T), which is predetermined. In other words, the end effector 16 or end effector specific coordinate system TCP should be at the T orWTTA predetermined gesture.
On the other hand, it is known from business interior practice that a mobile robot with a mobile platform 11 and an articulated robot arm 14 (see also fig. 1) can be controlled on the basis of the (target) pose of the end effector of the robot arm 14 relative to an initial environment-specific coordinate system, wherein the pose of the platform is detected quantitatively (odometrisch) relative to this initial coordinate system, for example on the basis of the detected wheel speeds, steps, etc.
For this purpose, fig. 1 shows an exemplary passage through the x axis xOdAnd y-axisyOdThe initial coordinate system Od represented and the current pose of the platform 11 or the platform-specific coordinate system B and the corresponding transformation from the initial coordinate system Od to the platform-specific coordinate system BOdTB。
As can be seen in particular from the figures, in order to control the mobile robot, it is made possible to detect and pass through on the basis of the measurementOdTBThe determined attitude of the platform is entered into a coordinate system W with respect to the workpieceWTTThe predetermined (target) machining orientation requires (knowledge of) the orientation of the workpiece-specific coordinate system W with respect to the environment-specific metrology-initial coordinate system Od or (knowledge of) the transformation from the initial coordinate system Od to the workpiece-specific coordinate system WOdTwBecause:
OdTT＝WTT∙OdTW→BTTCP∙OdTB
wherein:
transformation ofOdTBDetermined by measuring the detected attitude of the platform relative to an initial attitude, the initial attitude defining an initial coordinate system Od;
transformation ofBTTCPDetermined from the pose of the robot arm relative to the platform or its joint coordinates;
transformation ofWTTPredetermined, for example, from CAD data; and
correspondingly determined transformationOdTW。
In other words, in the transformationOdTWAndWTTgiven this knowledge, the corresponding transformation can be determinedOdTBAndBTTCPor a corresponding joint position to be entered or target joint position of the robot arm and a posture to be entered or target posture of the platform, and controls the movable robot accordingly.
To enable another platform-based metering to be detected and measuredOdTB*The determined gesture ("another platform gesture") is entered with respect to being specific toCoordinate system W of the workpiece based onWTTA predetermined (target) machining pose, one (other) pose of the robot arm or controlling the robot arm can be determined accordingly:
WTT∙OdTW＝BTTCP*∙OdTB*
or determining a corresponding transformationBTtcp*And controls the robot arm accordingly. In other words, once the transformation from the initial coordinate system Od to the workpiece-specific coordinate system W has been determinedOdTWThe corresponding pose of the robot arm may then be determined and realized, respectivelyBTTCP、BTTCP*To achieve throughWTTPredetermined platform pose for arbitrary metrology detectionOdTB、OdTB*In the (target) processing attitude of (1).
Disclosure of Invention
The object of the invention is to improve the operation of a mobile robot, in one embodiment the entry into a preset machining pose is improved by means of a reference object specific to the robot.
The object of the invention is achieved by a method having the features of claim 1. Claims 10 to 12 protect a system or computer program product for performing the method described herein or an arrangement with a mobile robot and system described herein. Preferred developments are given by the dependent claims.
According to one embodiment of the invention, a method for operating a mobile robot having a mobile platform, on which an articulated robot arm is arranged, comprises the following steps:
manually guiding a robot reference of the flexibly adjusted robot arm to or beside the environmental reference, in particular as follows: that is, the robot reference guided to or beside the environmental reference is made to have a predetermined, in particular definite or three-dimensional, position and/or orientation relative to the environmental reference;
-detecting an arm pose of the robotic arm relative to the platform, and metrologically detecting a platform pose of the platform relative to an initial pose of the platform, for or in dependence on a robotic reference directed to an environmental reference; and
-controlling the robot in dependence of the detected arm and platform poses.
In one embodiment, the position of the mobile robot, in particular (also) its platform, relative to the environmental reference and, in one embodiment, its orientation is determined by a robot reference which is guided to the environmental reference or to a nearby robot reference. Thus, in one embodiment, from the detected arm and platform postures, the position, and in one extension the direction, of the environmental reference with respect to the initial posture of the metrology detection platform posture is also determined. Accordingly, in one embodiment, the robot can be advantageously controlled as a function of the detected arm and platform postures, in particular the transformation of the initially described initial coordinate system Od of the metrology detection of the platform posture into an environment-specific, in particular workpiece-specific or tool-specific coordinate system is determinedOdTw。
In one embodiment, the mobile platform has an undercarriage with one or more driven and/or steerable wheels, in particular mecanum wheels, tracks, chains, air cushions, (levitation) magnets, etc., and/or one or more sensors for detecting the movement of the platform, in particular the movement of its drives or movement mechanisms, in particular the movement of the wheels, tracks, chains, legs, etc., which sensors may in particular be trackless. Thus, in one embodiment, the mobile robot may advantageously enter different workstations or one workstation multiple times and/or flexibly.
In one embodiment, the articulated robot arm has at least three, in particular at least six, in particular at least seven joints, in particular revolute joints, which in one embodiment can be actuated by means of a drive, in particular an electric motor. In one embodiment, the end effector or robotic reference may advantageously be in any three-dimensional position and orientation in the workspace through at least six joints; in one embodiment, at least seven joints provide advantageous redundancy, in particular for driving with different arm postures to an environmental reference to avoid collisions or the like.
In one embodiment, manual guidance of a robotic reference of a flexibly adjusted robotic arm comprises: the avoidance of control techniques or the following of manually applied forces on the robot arm, in particular on or spaced apart from a robot reference, in particular in the case of compensating for the gravitational force or the gravitational force of the robot arm or maintaining its posture without externally applied forces, wherein, for a more compact representation, the anti-parallel force couple or the torque is also referred to in the present invention in general terms as force, and in one embodiment the control in the sense of the present invention comprises a control or an adjustment based on the detected actual value and a predetermined target value.
In one embodiment, the robot arm or its control unit is switched (switched) to a flexible adjustment, in particular a gravity compensation adjustment, in particular only after reaching the platform position, in particular only for the purpose of manually guiding the robot reference object to the environmental reference object. In one embodiment, the platform position can thus advantageously be entered, in particular also by pushing the mobile robot on an arm or the like of the mobile robot, in particular also rigidly adjusted or in particular locked by adjustment techniques or mechanically.
In one embodiment, the robot reference may comprise a robot-arm-specific part of the robot arm, in particular a distal and/or non-destructively, releasably-fastened part, in particular a screwed, clamped and/or locked part, in particular a robot (arm) end effector, in particular a robot (arm) guided tool, and/or a fixed or thereby defined coordinate system associated therewith; the robot reference object can in particular be a robot arm-specific part of the robot arm, in particular a distal and/or non-destructively, releasably fastenable part, in particular a screwed, clamped and/or locked part, in particular a robot (arm) end effector, in particular a robot (arm) guided tool, and/or a fixed or thereby defined coordinate system associated therewith.
In one embodiment, the environmental reference may comprise a part of (in) the environment of the robot, in particular a tool for machining a robot-guided workpiece, a workpiece to be machined by the robot and/or a receptacle for this, in particular a table, a clamping device or the like, and/or a fixed or thus defined coordinate system associated therewith; the environmental reference object can in particular be part of (in) the environment of the robot, in particular a tool for machining a robot-guided workpiece, a workpiece to be machined by the robot and/or a receptacle for this, in particular a table, a clamping device or the like, and/or a fixed or thus defined coordinate system associated therewith.
In one embodiment, the environmental reference object has one or more markings, in particular optical markings, in particular graphical markings, and/or in particular visual (recognizable), well-defined three-dimensional directions, in particular marked points, corners, edges, asymmetrical vehicle contours, etc. Thereby, in an embodiment, manual guidance of the robot reference object to or beside the environmental reference object may be improved, in particular with a predetermined direction with respect to the environmental reference object.
In one embodiment, the (arm) posture of the robot arm relative to the platform is detected by means of a joint sensor, in particular an angle sensor. Additionally or alternatively, in an embodiment, such (arm) gestures may also be detected by means of a camera, a laser tracker or the like.
In one embodiment, metrology detection of a (platform) pose of a platform relative to an initial pose of the platform or relative to or in a corresponding (initial) coordinate system of metrology detection comprises: the movement of the platform, in particular its moving mechanisms (e.g. wheels, tracks, chains, legs, etc.), starting from an initial attitude and its integration, in particular numerically, is detected, in one embodiment by means of displacement sensors, in particular angle sensors, speed sensors and/or acceleration sensor wheels, on the platform. Thus, the initial pose may be the pose at which metrology detection of the platform pose begins or is zeroed, among other things.
In one embodiment, metering detection may advantageously enable higher regulation periods and/or (more) stable or less abrupt control than map-based detection or the like.
As mentioned at the outset, a mobile robot whose platform attitude has been metered can advantageously enter or for this purpose control a machining attitude which is preset with respect to an environmental reference, when the change between the initial attitude of the metering detection and the attitude of the environmental reference or the environmental reference with respect to this initial attitude is known.
Accordingly, in one embodiment, an environmental reference attitude of the environmental reference relative to the initial attitude is determined from the detected arm attitude and platform attitude, in particular a transformation between the (initial) coordinate system of the metrology detection determined by or determining the initial attitude and a coordinate system specific to the environmental reference is determined, and the movable robot is controlled, in particular for entering the machining attitude, in dependence on the determined environmental reference attitude or transformation and one or more machining attitudes preset relative to the environmental reference, for example based on CAD data, a planned machining trajectory or the like.
In one embodiment, once this environmental reference attitude or transformation has been determined, the mobile robot can re-enter the machining attitude(s), in particular a number of times, after leaving the platform attitude, without having to re-determine the environmental reference attitude or transformation or having to manually guide the robot reference relative to the environmental reference for this purpose, in particular when or as long as the metrology detection is sufficiently accurate, in particular its (numerical) drift remains sufficiently small.
Accordingly, in one embodiment, the method comprises the steps of: the platform pose and/or one or more further platform poses are re-entered one or more times (respectively) without re-manual guidance of the robot reference to the environmental reference, and the robot arm, in particular (for) an end effector, in particular a tool or a workpiece, guided by the robot arm, in particular a robot (arm), is then controlled in accordance with the determined environmental reference pose or transformation and the one or more machining poses.
In one embodiment, a gesture in the sense of the present invention may comprise, in particular, a one-, two-or three-dimensional, in particular cartesian, position and/or a one-, two-or three-dimensional direction of space, in particular a one-, two-or three-dimensional, in particular cartesian, position and/or a one-, two-or three-dimensional direction of space (respectively).
Thus, manually guiding the robot reference to or beside the environmental reference may particularly comprise: the marked point of the robot reference, in particular the origin of the coordinate system specific to the robot reference or a point defining the origin or the coordinate system, is manually guided to the marked point of the environmental reference or to the vicinity of the point, in particular to the origin of the coordinate system specific to the environmental reference or to a point defining the origin or the coordinate system, wherein in one development the robot reference is guided to the environmental reference as follows: in other words, the robot reference object guided to the environment reference object is additionally provided with a direction, in particular one-, two-or three-dimensional, which is predetermined with respect to the environment reference object, in particular at least one, in particular all three, coordinate axes of the coordinate system specific to the robot reference object are aligned with or form a predetermined angle with corresponding coordinate axes of the coordinate system specific to the environment reference object. In a further development, the robot reference or the robot-reference-specific coordinate system guided to the environmental reference can have any orientation about one or more axes relative to the environmental reference or the environmental-reference-specific coordinate system. In one embodiment, the (platform) attitude of the detected platform may be determined by a two-dimensional, in particular horizontal, position and a one-dimensional, in particular around or relative to the vertical, orientation with respect to the initial attitude measurement of the platform.
In particular, in one embodiment, when the robot reference may be visually unambiguously or three-dimensionally oriented, in particular with at least three axes or directions which may be visually unambiguously identified or marked, which may be defined, for example, by at least two non-collinear edges or the like, the robot reference may be guided to the environmental reference as follows: that is, the machine reference guided to the environmental reference is made to have a predetermined three-dimensional or definite direction with respect to the environmental reference.
Thus, in one embodiment, it may be advantageous to be able to clearly determine the ambient reference attitude or the corresponding transformation ("single point method") with only one entry or one arm attitude.
In particular, in a further embodiment, when the robot reference object has at least one rotational symmetry axis or cannot be oriented visually unambiguously because its orientation relative to the rotational symmetry axis cannot be recognized or can only be recognized with difficulty and/or imprecisely, the method comprises the following steps in one embodiment ("two-point method"):
-manually guided movement of the robotic reference guided to the environmental reference along a predetermined direction relative to the environmental reference, in particular along a visually recognizable or marked axis or direction; and
-detecting at least one further, in particular only one further, arm pose of the robot arm relative to the platform for a robot reference moving along a predetermined direction, wherein the robot is (also) controlled in dependence of the detected one or more further arm poses, in particular an environmental reference pose or a corresponding transformation is determined in dependence of the detected one or more further arm poses.
In one embodiment, the predetermined direction forms a non-zero angle with the axis of rotational symmetry, which in one embodiment is at least 15 °, in particular at least 45 °, and/or at most 165 °, in particular at most 135 °. Additionally or alternatively, in one embodiment, the environmental reference or the environmental-reference-specific coordinate system has a predetermined orientation with respect to a travel or support plane of the platform, in one development the coordinate plane of the environmental reference or the environmental-reference-specific coordinate system being at least substantially parallel to the travel or support plane of the platform.
Thereby, in an embodiment, the rotational symmetry of the robot reference may advantageously be compensated.
As already mentioned, the metrology detection can have a drift, in particular in the numerical value, so that errors (position (orientation) and/or direction) can occur when the platform position is entered again or when another platform position is entered by means of or on the basis of the metrology detection.
In one embodiment, this can be compensated for by, in particular, periodically repeating the method described here for determining the orientation of the environmental reference object relative to the initial orientation or the corresponding transformed environmental reference object.
In this case, the robot reference is guided to the environment reference in particular on the basis of a visually clearly orientable robot reference as follows: that is, the robot reference guided to the environmental reference is made to have a predetermined three-dimensional direction with respect to the environmental reference, so that it is sufficient to definitely determine the attitude of the environmental reference only by manually guiding the robot reference to the environmental reference.
However, if at least one other arm pose is required for the first determination of the pose of the environmental reference because of the rotational symmetry of the robot reference, in one embodiment it may advantageously be omitted when re-determining the pose of the environmental reference or its corresponding correction.
To this end, in one embodiment, the method comprises in particular the following steps:
-detecting a reference posture of the platform relative to the environment of the platform by means of a scan of the environment, in particular a map, for or according to or in a platform posture;
-re-navigating the platform to the reference pose by means of a scan or map of the environment;
-for a platform navigated to a reference pose, gauge a platform contrast pose of the detection platform relative to the initial pose; and
-correcting the environmental reference pose based on the platform pose and the platform contrast pose.
By using a scan or a map to re-navigate to the reference pose, the reference pose can be re-occupied with higher accuracy on a regular basis. However, due to drift, the platform contrast pose detected by the metrology herein does not coincide with the pose of the platform detected by the metrology upon the first entry. Accordingly, in one embodiment, from the difference between the platform pose and the platform contrast pose (which should be the same pose within the accuracy range using scanning or map navigation), the error in metrology detection may be determined and compensated for accordingly, for example by introducing appropriate correction terms, offsets and/or rotations.
In one embodiment, the method comprises the following steps:
-manually re-guiding the robotic reference of the flexibly adjusted robotic arm to the environmental reference during or in the course of the platform being navigated to the reference pose; -detecting an arm contrast pose of the robotic arm relative to the platform for the robotic reference redirected to the environmental reference; and
- (also) correcting the environmental reference attitude in dependence on the arm attitude and the arm contrast attitude pull.
In one embodiment, by manually re-directing the robotic reference of the flexibly adjusted robotic arm to the environmental reference and detecting the arm contrast pose of the robotic arm relative to the platform, deviations or drifts in position (positionability) or translational nature of the metrology detection or initial pose may advantageously be determined and compensated for more accurately than based on scanning or map navigation into the reference pose alone.
However, according to the internal practice of enterprises, it is known that detecting a reference posture of a platform and navigating the platform to the reference posture through a scan or map of the environment is not suitable as an alternative method of metrology detection, in particular due to the slow cycle rate and possible steps. However, in one embodiment, this may still be advantageously used to compensate for metrology detection, particularly its drift. Thus, in one embodiment, the above steps are repeated periodically.
In one embodiment, the platform is navigated into a platform pose depending on the range of action of the robot arm, in particular such that the robot reference can be guided to the environmental reference in this platform pose. In one embodiment, the platform is automated here in particular by scanning or mapping and/or metrological detection and/or by user navigation, in particular by controlling the drive of the platform and/or the driverless movement of the platform.
Additionally or alternatively, in one embodiment, the platform stops in a platform pose when a robotic reference of the flexibly adjusted robotic arm is manually guided to the environmental reference; in one embodiment, the platform is stopped, in particular safely, in particular by closing or respectively controlling (braking or holding position) the drive, closing the brake, etc.
Thereby, in an embodiment, the accuracy and/or safety of the method may be improved.
According to one embodiment of the invention, a system for operating a mobile robot, in particular a (robot) controller, is designed, in particular by hardware and/or software technology, in particular by programming technology, for carrying out the method described herein, and/or has:
-means for flexibly adjusting the robot arm to manually guide the robot reference to the environmental reference;
-means for detecting an arm pose of the robotic arm relative to the platform for a robotic reference guided to the environmental reference and for metrology the platform pose of the detected platform relative to an initial pose of the platform; and
-means for controlling the robot in dependence of the detected arm and platform postures.
In one embodiment, the system or apparatus thereof has:
means for determining an environmental reference attitude of the environmental reference relative to an initial attitude based on the detected arm attitude and platform attitude, wherein the robot is controlled based on the determined environmental reference attitude and at least one machining attitude predetermined relative to the environmental reference, or the apparatus is designed for controlling the robot for this purpose; and/or
Means for re-entering the platform pose and/or at least one other platform pose (respectively) without re-directing the robot reference to the environmental reference and subsequently controlling the robot arm in accordance with the determined environmental reference pose and the at least one machining pose; and/or
Means for guiding the robot reference to the environmental reference such that the robot reference guided to the environmental reference has a predetermined direction with respect to the environmental reference; and/or
A device for detecting at least one further arm position of the robot arm relative to the platform for a robot reference moving in a direction predetermined relative to an environmental reference, wherein the robot is controlled as a function of the detected further arm position, in particular the environmental reference position is determined as a function of the detected further arm position, or for this purpose the device is designed for controlling the robot or for determining the environmental reference position; and/or
Means for detecting a reference pose of the platform relative to the platform environment by means of the scanning environment, in particular by means of a map of the environment, for a pose of the platform; means for re-navigating the platform to a reference pose by means of a scan, in particular a map; means for metrologically detecting a platform contrast pose of the platform relative to the platform of the initial pose for the platform to be navigated to the reference pose; and means for correcting the attitude of the environmental reference object in dependence on the attitude of the platform and the attitude of the platform contrast; and/or
Means for detecting an arm contrast pose of the robotic arm relative to the platform for a robotic reference redirected to an environmental reference; and means for correcting the attitude of the environmental reference object in dependence on the arm attitude and the arm contrast attitude; and/or
Means for navigating the platform into the platform pose and/or stopping the platform in the platform pose according to the range of action of the robot arm when manually guiding the robot reference of the flexibly adjusted robot arm to the environmental reference.
The device according to the invention can be implemented by hardware and/or software, and in particular has: a processing unit, in particular a digital processing unit, in particular a micro processing unit (CPU), preferably in data connection or signal connection with a memory system and/or a bus system; and/or one or more programs or program modules. The CPU can be designed for this purpose: executing instructions implemented as a program stored in a storage system; detecting an input signal from a data bus; and/or send output signals to a data bus. The storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and/or other non-volatile media. The program may be provided as follows: i.e. it can embody or carry out the method described herein, so that the CPU can carry out the steps of the method and can thus in particular run or control the robot. In one embodiment, the computer program product may have a storage medium, in particular a non-volatile storage medium, on which a program is stored or on which a program is stored, in particular a storage medium, in particular a non-volatile storage medium, on which a program is stored or on which a program is stored, wherein execution of the program causes a system or a controller, in particular a computer, to carry out the method or one or more steps of the method described herein.
In one embodiment, one or more, in particular all, steps of the method are performed fully or partially automatically, in particular by the system or a device thereof.
Drawings
Further advantages and features are given by the dependent claims and embodiments. To this end, parts are schematically shown:
FIG. 1 is an arrangement with a mobile robot and a system for operating the mobile robot according to one embodiment of the present invention;
FIG. 2 is a method for operating a mobile robot in accordance with one embodiment of the present invention;
FIG. 3 is an arrangement of FIG. 1 in a step of the method shown in FIG. 2;
FIG. 4 is a method for operating the mobile robot of the arrangement shown in FIG. 5, in accordance with another embodiment of the present invention;
fig. 5 is an arrangement in steps of the method shown in fig. 4.
Detailed Description
As already explained in part in the introduction, fig. 1 shows a mobile robot with a mobile platform 11 in a vertical plan view, on which an articulated robot arm 14 is arranged, whose revolute joint 15 is represented in fig. 1 for a more compact illustration only by a proximal revolute joint for rotation relative to the platform 11 and by a further revolute joint.
The mobile platform 11 has wheels with sensors 12 for measuring the platform attitude of the sensing platform 11 relative to its initial attitude, which platform is in communication with a controller 18.
Furthermore, one or more further sensors 13 are in communication with the controller 18 for scanning the environment or detecting the attitude of the platform 11 relative to the environment by means of a map.
This is illustrated in fig. 1 by the corresponding coordinate system and the transformation from the initial coordinate system to the target coordinate system ((Initial coordinate systemTTarget coordinate system) Illustratively, each coordinate system is represented here by its x-axis and y-axis:
at the initialization of the metrology inspection, the attitude of a platform-specific coordinate system B, in FIG. 1 with its x-axis and y-axis x, is specified as the initial attitude of the platformB、yBIs represented and is also referred to as a base-link (coordinate) frame, in fig. 1 by the x-axis xOdAnd y axis yOdA respective coordinate system, or initial coordinate system or reference coordinate system, representing an initial pose of the metrology inspection Od, also referred to as an "metrology (coordinate) frame".
Accordingly, the detected current position of the platform 11 or the platform-specific coordinate system B is measured by means of the wheel sensors 12, and a transformation is determinedOdTBOr, alternatively, it may correspond to a platform pose of the platform detected relative to an initial pose metric of the platform 11.
Also, the transmission may be via one or more transmissionsThe sensors 13 are arranged by means of a map or environment-specific map coordinate system M (which passes through the x-axis and the y-axis x)M、YMTo) a reference pose of the platform 11 or platform-specific coordinate system B with respect to the environment is detected, which reference pose accordingly determines a transformation from the map coordinate system M to the reference poseMTB. The map coordinate system M is also referred to as a "map (coordinate) frame", and therefore, the transformation is performedMTBMay correspond to a reference pose of the platform 11 relative to the environment of the platform detected by means of a scan or map of the environment.
As mentioned in the introduction, it is possible to specify the workpiece in a coordinate system W (which passes through the x-axis and the y-axis x), for example on the basis of CAD data or the likew、ywIndicated by x-axis and y-axis x), a tool 16 or TCP coordinate system (which is defined by x-axis and y-axis x), in particular for guidance by the robot, is presetTCP、yTCPTo indicate) a (target) machining attitude.
Since the controller 18 of the robot can determine the change by means of metrology inspectionOdTBAnd determining a transformation based on the detected joint anglesBTTCPTherefore, only need to changeOdTWOr the object-specific coordinate system W or the attitude of the environmental reference 20 (e.g. the object, the object receptacle, in particular the object holder, etc.) for determining this coordinate system with respect to the initial attitude (see Od) is known, the controller 18 of the robot can use the robot to enter a preset machining attitude T, i.e. to bring the coordinate system TCP into coincidence with the (corresponding) coordinate system T:
OdTT(CP)＝WTT∙OdTW＝BTTCP∙OdTB
in one embodiment, in particular for determining the ambient reference object posture or the corresponding transformationOdTwA method is performed, which is explained in more detail below with reference to fig. 2 and 3:
in step S10, the platform 11 is navigated into the platform pose shown in fig. 3 and stopped according to the range of action of the robot arm 14In the platform pose. In this case, the platform attitude of the platform 11 relative to an initial attitude, which determines the transformation, is detected quantitatively by means of the wheel sensors 12OdTB。
Subsequently in step S20, the controller 18 is switched to a gravity compensation mode in which the robotic arm is flexibly adjusted. In this state, the tool 16 is manually guided to the environmental reference 20 so that the coordinate system TCP coincides with the coordinate system W, i.e. both coordinate systems have the same origin and their coordinate axes have the same direction, as shown in fig. 3.
To this end, the user places the tool 16, for example, in the manner shown in fig. 3: that is, the center (marked or visually visible) of the tool's inner edge is placed at the corner of the workpiece 20 and aligned with the upper edge of the workpiece 20 in fig. 3, where the tool 16 is perpendicular to the surface of the workpiece 20. This is only exemplary for unambiguous three-dimensional positioning and orientation of the tool or robotic reference 16 on the workpiece or environmental reference 20.
In step S30, the six-dimensional arm pose of the tool or robot reference 16 relative to the platform 11 is now detected by means of the angle sensors in the joints 15, which determine the transformationBTTCP。
Thus, in step S40, the orientation of the environmental reference 20 relative to the initial orientation or a corresponding transformation may be determinedOdTw：
OdTW＝TCP＝BTTCP∙OdTB
Now, the robot may be moved out of the platform pose in step S50. In step S50, the robot may later reenter the stage pose by means of metrology detection in order to enter the machining pose (S) or to machine the workpiece 20 with the tool 16.
Likewise, in step S50, the robot may also enter another stage pose to either enter (in the stage pose) a machining pose (S), or to machine the workpiece 20 with the tool 16. As mentioned at the outset, for a transform with a correspondenceOdTB*≠OdTBMay be entered through in the following mannerWTTPreset machining posture: i.e. determining or effecting a respective other pose or a respective transformation of the robot arm relative to the platformBTtcp*Or controlling the robot arm accordingly, the transformation being an environmental reference attitude relative to the initial attitude using the environmental reference 20 determined in step S40 or a corresponding transformationOdTwAnd is obtained as follows:
WTT∙OdTW＝BTtcp*∙OdTB*。
as mentioned above, this method requires that the tool or robotic reference 16 be specifically or three-dimensionally oriented with respect to the workpiece or environmental reference 20, and the above-described embodiments are exemplary illustrations of the vertical and mutually aligned inner and upper edges of the tool 16 on the workpiece 20.
However, this is not possible with rotationally symmetric tools. Fig. 5 shows an exemplary tool 16' which is rotationally symmetrical about a central axis perpendicular to the drawing plane of fig. 5.
Therefore, a method according to another embodiment of the present invention is applied here, which will be described below with reference to fig. 4 and 5. Here, features corresponding to each other are identified by the same reference numerals so that reference can be made to the previous description, only the differences being discussed below.
In step S10, the platform 11 is navigated to and stopped in the platform pose shown in fig. 5, again depending on the range of action of the robot arm 14. In this case, by determining the transformation odTBThe wheel sensor 12 of (a) quantitatively detects the posture of the platform 11 with respect to the initial posture.
Subsequently, in step S20, the controller 18 is again switched to the gravity compensation mode, in which the robotic arm is flexibly adjusted. In this state, the tool 16 is manually guided to the environmental reference 20 so that the coordinate systems TCP, W have the same origin.
For this purpose, the user places, for example, the tip of the conical tool 16' on a corner of the workpiece 20, where the x-axis and the y-axis xTCP、yTCPCan be arbitrarily rotated with respect to the environmental reference or the workpiece 20 or with respect to the tool-specific coordinate system W, as shown in fig. 5. Again, this is merely an example of a definite three-dimensional positioning and arbitrary orientation of the tool or robotic reference 16 relative to the workpiece or environmental reference 20.
In step S30, the six-dimensional arm pose of the tool or robot reference 16 relative to the platform 11 is again detected by means of the angle sensors in the joints 15, which arm pose determines the transformationBTTCP。
In an additional step S35, the workpiece or environmental reference 20 is now oriented in a predetermined direction, in this example along the left edge of the workpiece or environmental reference 20 in fig. 5 or along the x-axis x of the tool-specific coordinate system WwManually guided movement of the tool or the robot reference 16' into a further arm position shown in fig. 5, which determines the transformationBT'TCP。
In step S45, instead of step S40, the environmental reference attitude or the corresponding transformation of the environmental reference 20 with respect to the initial attitude may be determined from the platform attitude detected by the metrology in step S10 and the two-arm attitude in steps S30, S35OdTwIn particular the x-axis x of the environmental reference 20wWith respect to the direction of the initial posture (as) the difference parallel to the origin of coordinates of the coordinate system TCP or the difference in the positions of the taper tip of the tool 16' in the two arm postures, the origin of coordinates of the tool-specific coordinate system W is determined as the origin of coordinates of the coordinate system TCP or the position of the taper tip of the tool 16 in the arm posture of step S30 (see also fig. 3), and the y-axis y of the environmental reference 20wThe direction relative to the initial pose (as) is parallel to the y-axis of the coordinate system Od.
It is thus possible to set: the environmental reference object 20 or the coordinate system W is parallel to the initial pose, or the coordinate system Od or the surface of the work object 20 is parallel to the support plane or the travel plane of the platform 11.
Alternatively, in a variant, a rotationally symmetrical tool or a rotationally symmetrical robot reference 16' can also be placed on the workpiece or environmental reference 20 in a predetermined direction of its rotational symmetry axis (e.g. perpendicular to the surface of the workpiece or environmental reference 20). Subsequently, the direction of the z-axis of the environmental reference object 20 or the coordinate system W with respect to the initial posture or the coordinate system Od may be determined (as the z-axis parallel to the coordinate system TCP or the rotational symmetry axis in the arm posture of step S30).
Now in step S50, the robot may be moved out of the platform pose again. The robot can enter this stage position again or another stage position again later in step S50 by means of metrology detection in order to enter a machining position or to machine the workpiece 20 with the tool 16.
In particular, when the robot enters the platform position after a long distance, for example, during which other workstations have been used, and/or repeatedly, errors can occur, in particular due to numerical drift of the metrology detection.
To compensate for this, the methods described above with reference to fig. 2, 3 may be performed periodically and the transformation o may be updated or corrected accordinglydTw。
Alternatively, in one embodiment, when the platform pose is first detected in step S10, a reference pose of the platform 11 relative to the environment of the platform (see fig. 1) may additionally be detected in the map or coordinate system M by means of the sensor 13, which determines the transformation (S)MTB。
Now, if the platform 11 is re-navigated into the platform pose again by map or according to the coordinate system M in step S60 (see fig. 4), the platform contrast pose detected here with respect to the initial pose metrology should coincide with the platform pose detected in step S10 without position and angle errors in the metrology detection. Accordingly, position errors and angle errors of the metrology detection may be determined and corrected in step S60 from the difference of the platform pose detected in step S10 and the platform contrast pose detected in step S60, in particular by applying a corresponding correction offset.
To further improve the accuracy of this correction, in one embodiment, the platform 11 is stopped in the reference posture in step S60, the control device 18 is switched to gravity compensation mode, and the tool 16 or 16' is manually guided to the environmental reference 20, whereby the coordinate systems TCP, W will have the same origin as described above.
Now, the arm contrast posture of the robot arm with respect to the stage detected here should coincide with the arm posture detected in step S30 in the case where there is no positional error in the metrology detection. Accordingly, the position error of the metrology detection can be determined and corrected (more accurately) from the difference of the arm posture detected in step S30 and the arm contrast posture detected in step S60.
From the above, it can be derived in particular that in one embodiment the coordinate system can correspond to a reference or a pose, in particular a robot arm-specific, in particular end effector-specific, coordinate system of a robot reference, a tool (receiving part) -specific coordinate system of an environmental reference, and/or an initial coordinate system of a metrology detection initial pose, and to a pose transformation, in particular a transformation of an environmental reference poseOdTwArm (comparative) posture changeBT(')TCPMeasuring and detecting platform (comparison) posture changeOdTBTransformation of the reference posture of the platform 11MTBAnd/or a preset change of the processing postureWTT。
Furthermore, it should be expressly pointed out that the transformation from the first coordinate system to the second coordinate system mentioned here can of course always be realized by a (simulated or inverted) transformation from the second coordinate system to the first coordinate system in the sense of the present invention.
Although exemplary embodiments have been illustrated in the foregoing description, it should be noted that many variations are possible. It should also be noted that the exemplary embodiments are only examples, and should not be construed as limiting the scope, applicability, or configuration in any way. Rather, the foregoing description will enable one skilled in the art to practice the teachings of the conversion to at least one exemplary embodiment, wherein various changes, particularly in matters of function and arrangement of parts described herein may be made without departing from the scope of the present invention, such as may be found in the claims and the equivalents thereof.
List of reference numerals
11 moving platform
12 vehicle wheel (sensor)
13 (scanning) sensor
14 robot arm
15 Joint
16 end-effector, in particular a tool (visually unambiguously orientable)
16' end effector, in particular a tool with a rotational axis of symmetry
18 controller
20 workpiece (environmental reference)
B platform-specific coordinate system
M map (coordinate system)
Od metrology inspection initial pose/coordinate system
T (target) processing attitude
TCP is specific to the end effector/tool coordinate system (robot reference)
W is specific to the coordinate system of the object (environmental reference).
Claims (12)
1. A method for operating a mobile robot with a mobile platform (11) on which an articulated robot arm (14) is arranged, wherein the method comprises the following steps:
-manually guiding (S20) a robot reference (16; 16'; TCP) of the flexibly adjusted robot arm to an environmental reference (20; W);
-detecting (S30) an arm pose of the robotic arm relative to the platform for a robotic reference guided to an environmental reference, and metrologically detecting (S10) a platform pose of the platform relative to an initial pose (Od) of the platform; and
-controlling (S50) the robot in accordance with the detected arm and platform postures.
2. Method according to claim 1, characterized in that it comprises the following steps:
-determining (S40; S45) an environmental reference posture of the environmental reference relative to the initial posture, from the detected arm posture and platform posture,
wherein the robot is controlled (S50) according to the determined attitude of the environmental reference object and at least one machining attitude (T) preset relative to the environmental reference object.
3. Method according to the preceding claim, characterized in that it comprises the following steps:
-re-entering (S50) the platform pose and/or at least one other platform pose without re-manually guiding the robotic reference to the environmental reference; and then subsequently
-controlling (S50) the robotic arm according to the determined environmental reference attitude and the at least one machining attitude.
4. Method according to any of the preceding claims, characterized in that the robot reference is guided to the environmental reference as follows: that is, the robot reference guided to the environmental reference is made to have a preset direction with respect to the environmental reference.
5. Method according to any of the preceding claims, characterized in that it comprises the following steps:
-manually guided moving (S35) the robotic reference guided to the environmental reference in a direction pre-set with respect to said environmental reference; and
-detecting (S35) at least one further arm pose of the robotic arm relative to the platform for a robotic reference moving in a pre-set direction;
wherein the robot is controlled (S50) in dependence of the detected further arm posture, in particular the environmental reference object posture is determined (S45) in dependence of the detected further arm posture.
6. Method according to any of the preceding claims, characterized in that it comprises the following steps:
-detecting (S10) a reference pose of the platform with respect to the environment of the platform for the platform pose by means of a scan of the environment, in particular by means of a map (M) of the environment;
-re-navigating (S60) the platform to the reference pose by means of the scan, in particular a map;
-metrologically detecting (S60) a platform contrast pose of the platform relative to the initial pose, for a platform navigated to a reference pose; and is
-correcting (S60) the environmental reference pose as a function of the platform pose and the platform contrast pose.
7. Method according to the preceding claim, characterized in that it comprises the following steps:
-manually re-guiding (S60) a robotic reference of a flexibly adjusted robotic arm to the environmental reference with the platform navigated to the reference pose;
-detecting (S60) an arm contrast pose of the robotic arm relative to the platform for a robotic reference redirected to the environmental reference; and are
-correcting (S60) the environmental reference posture in dependence of the arm posture and the arm contrast posture.
8. Method according to any of the preceding claims, characterized in that the robot reference is visually unambiguously orientable (16) or has an axis of rotational symmetry (16').
9. Method according to any of the preceding claims, characterized in that the platform is navigated into the platform pose according to the reach of the robot arm and/or the platform is stopped in the platform pose while a robot reference of a flexibly adjusted robot arm is manually guided to the environmental reference.
10. A system (12, 13, 18) for operating a mobile robot, which system is designed for carrying out the method according to one of the preceding claims and/or has:
-means (18) for flexibly adjusting the robot arm (14) for manually guiding the robot reference (16; 16'; TCP) to the environmental reference (20; W);
-means (12) for detecting an arm pose of the robotic arm relative to a platform and for metrologically detecting a platform pose of an initial pose of the platform relative to the platform for a robotic reference guided to an environmental reference; and
-for controlling the robotic device (18) in dependence of the detected arm and platform postures.
11. An arrangement with a mobile robot (11, 14-16; 16') and a system (12, 13, 18) for operating a mobile robot according to any of the preceding claims.
12. A computer program product comprising program code stored on a medium readable by a computer, for performing the method according to any of the preceding claims.
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| DE102017009939.1A DE102017009939B4 (en) | 2017-10-25 | 2017-10-25 | Method and system for operating a mobile robot |
| DE102017009939.1 | 2017-10-25 | ||
| PCT/EP2018/076380 WO2019081155A1 (en) | 2017-10-25 | 2018-09-28 | Method and system for operating a mobile robot |
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| EP3509800A4 (en) | 2016-09-06 | 2019-09-18 | Advanced Intelligent Systems Inc. | Mobile work station for transporting a plurality of articles |
| WO2019157587A1 (en) | 2018-02-15 | 2019-08-22 | Advanced Intelligent Systems Inc. | Apparatus for supporting an article during transport |
| US10745219B2 (en) | 2018-09-28 | 2020-08-18 | Advanced Intelligent Systems Inc. | Manipulator apparatus, methods, and systems with at least one cable |
| US10751888B2 (en) | 2018-10-04 | 2020-08-25 | Advanced Intelligent Systems Inc. | Manipulator apparatus for operating on articles |
| US10966374B2 (en) | 2018-10-29 | 2021-04-06 | Advanced Intelligent Systems Inc. | Method and apparatus for performing pruning operations using an autonomous vehicle |
| US10645882B1 (en) | 2018-10-29 | 2020-05-12 | Advanced Intelligent Systems Inc. | Method and apparatus for performing pruning operations using an autonomous vehicle |
| US10676279B1 (en) | 2018-11-20 | 2020-06-09 | Advanced Intelligent Systems Inc. | Systems, methods, and storage units for article transport and storage |
| CN111588273B (en) * | 2020-06-16 | 2022-04-26 | 深圳市羡鱼动力技术有限公司 | Method and device for resetting position of movement mechanism of cooking robot to zero |
| DE102021200600A1 (en) | 2021-01-22 | 2022-07-28 | Kuka Deutschland Gmbh | Planning a path of a driverless mobile robot |
| CN113561183B (en) * | 2021-07-26 | 2023-09-22 | 上海大学 | Robot arm target point online tracking method and system based on pose tracking system |
| CN114952861B (en) * | 2022-06-27 | 2024-05-03 | 西南交通大学 | Robot kinematics parameter error accurate identification method based on pose measurement data |
| EP4321307A1 (en) * | 2022-08-08 | 2024-02-14 | Siemens Aktiengesellschaft | Method for operating a modular robot, modular robot, collision protection system, computer program product |
| CN116442225B (en) * | 2023-04-18 | 2023-11-07 | 北京思灵机器人科技有限责任公司 | Robot tail end positioning method, positioning device and electronic equipment |
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| DE102017009939B4 (en) | 2021-07-01 |
| EP3700718A1 (en) | 2020-09-02 |
| DE102017009939A1 (en) | 2019-04-25 |
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