CN111958587B - Method and system for multi-mechanical arm cooperative operation - Google Patents
Method and system for multi-mechanical arm cooperative operation Download PDFInfo
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- CN111958587B CN111958587B CN202010634343.9A CN202010634343A CN111958587B CN 111958587 B CN111958587 B CN 111958587B CN 202010634343 A CN202010634343 A CN 202010634343A CN 111958587 B CN111958587 B CN 111958587B
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a method and a system for multi-mechanical arm cooperative operation, wherein the method comprises the steps of arranging a sensor at the tail end of each mechanical arm, acquiring a data set at the tail end of each mechanical arm through the sensor, calculating the distance between the tail ends of two adjacent mechanical arms through the acquired data set, comparing the distance between the tail ends of the two adjacent mechanical arms with a distance threshold value, and driving the two mechanical arms to move according to the result; the system comprises a detection module, a storage module, a processing module and a computer program stored in the storage module and executable on the processing module. The invention avoids the phenomenon that two adjacent mechanical arms interfere with each other, greatly reduces the probability of errors in calculation, and better ensures the accuracy of mechanical arm movement. The invention is suitable for the field of mechanical arms.
Description
Technical Field
The disclosure relates to the technical field of mechanical arms, in particular to a method and a system for multi-mechanical-arm cooperative operation.
Background
The industrial robot arm is widely applied to the industrial field as a multi-joint manipulator or a multi-degree-of-freedom mechanical device, has certain automation, and can realize various industrial processing and manufacturing functions by reliable self power energy and control capability. Due to the large number of applications of industrial machine arms, corresponding problems ensue. In some dense application areas, the number of the used industrial robots is large, the types are complicated, the processing tasks are multiple and fine, and the problem of mutual interference among the industrial robots is increasingly prominent.
Disclosure of Invention
The present disclosure is directed to a method and system for multi-robot cooperative operation, which solves one or more of the problems of the prior art and provides at least one of the advantages of the present disclosure.
In a first aspect, a method for multi-robot collaborative work is provided, where the method includes the following steps:
assume that the robot arm numbers are A, respectively x The distance between the mechanical arm and the tail ends of two adjacent mechanical arms is M respectively x-1 ， M x The value range of x is a natural number which is more than or equal to 1 and less than or equal to n, n is the number of the mechanical arms, and the value range of n is a natural number which is more than or equal to 2;
s100: arranging a sensor at the tail end of each mechanical arm;
s200: acquiring a data set of the tail end of each mechanical arm through a sensor;
s300: calculating the distance between the two adjacent mechanical arm ends through the acquired data set:
when two adjacent mechanical arms A x And a mechanical arm A x+1 Is a distance M between the ends x When the distance is less than the distance threshold value L, the mechanical arm A is driven x And a mechanical arm A x+1 Move in the opposite direction of the original moving direction;
when two adjacent mechanical arms A x End of and robot arm A x+1 Is a distance M between the ends x When the distance is greater than the distance threshold value L, the mechanical arm A is recovered x And a mechanical arm A x+1 Moving to the respective original movement directions;
when two adjacent mechanical arms A x End of and robot arm A x+1 Is a distance M between the ends x When the distance is equal to the distance threshold value L, the mechanical arm A is stopped x And a mechanical arm A x+1 The movement of (2).
Specifically, the mechanical arm comprises a movable joint, an arm and a tail end, wherein the tail end is a movable tail end of the mechanical arm.
In particular, the data set comprises the number of first counted pulses N in the sensor 1 Counting the number of pulses N for the second time 2 …, number of pulses I I Wherein I is a natural number greater than 1.
Specifically, the value range of the distance threshold L is greater than or equal to 0.3 m and less than or equal to 1 m.
Specifically, in step S300, the calculation formula of the distance is D = [ c (N) 1 +N 2 +⋯+N I )T]a/2I, wherein c is the propagation speed of light waves in vacuum or a medium, and the value of c is 3x10 8 M/s, T is the period of the pulse in the sensor.
In another aspect, the present disclosure further provides a system for multi-robot collaborative work, where the system includes a detection module, a storage module, a processing module, and a computer program stored in the storage module and executable on the processing module, where:
the detection module is used for acquiring a data set of the tail end of each mechanical arm;
the storage module is used for storing the data set of the tail end of each mechanical arm acquired by the detection module;
the processing module is used for processing the data set of each mechanical arm tail end stored by the storage module and then sending out instructions.
Specifically, the detection module comprises a transmitting unit and a receiving unit, wherein the transmitting unit is used for transmitting signals to the tail ends of two adjacent mechanical arms, and the receiving unit is used for receiving the signals transmitted to the tail ends of two adjacent mechanical arms by the transmitting unit.
Specifically, the processing module comprises a single chip microcomputer and a clock oscillation module, and the clock oscillation module is used for controlling a counter in the single chip microcomputer.
Preferably, the system further comprises a display module, and the display module is used for displaying the calculation result and the instruction of the processing module.
The beneficial effect of this disclosure does: the invention provides a method and a system for multi-mechanical arm cooperative operation, which avoid the phenomenon that two adjacent mechanical arms interfere with each other to influence normal operation, and simultaneously, use a method of pulse counting for many times, greatly reduce the probability of errors in calculation and better ensure the accuracy of mechanical arm movement.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the technology claimed.
Drawings
The foregoing and other features of the present disclosure will become more apparent from the detailed description of the embodiments shown in conjunction with the drawings in which like reference characters designate the same or similar elements throughout the several views, and it is apparent that the drawings in the following description are merely some examples of the present disclosure and that other drawings may be derived therefrom by those skilled in the art without the benefit of any inventive faculty, and in which:
fig. 1 is a flowchart illustrating a method for cooperative operation of multiple robots according to an embodiment of the present disclosure;
fig. 2 is a functional block diagram of a system for cooperative operation of multiple robots according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The components of embodiments of the present disclosure, generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present disclosure, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
First, some terms in the present disclosure are explained so as to be easily understood by those skilled in the art.
And (3) cooperative operation: the cooperative work has been translated in foreign text into a collective Operation. The broad meaning is that multiple people collaborate to complete a certain work.
Counting pulses: the pulses sent each time by the counter are called counting pulses.
Fig. 1 is a flowchart of a method for multi-robot cooperative work according to an embodiment of the present disclosure, and with reference to fig. 1, according to an aspect of the present disclosure, a method for multi-robot cooperative work is provided, where the method includes the following steps:
assume that the robot arm numbers are A, respectively x The distance between the mechanical arm and the tail ends of two adjacent mechanical arms is M respectively x-1 ， M x The value range of x is a natural number which is more than or equal to 1 and less than or equal to n, n is the number of the mechanical arms, and the value range of n is a natural number which is more than or equal to 2;
s100: arranging a sensor at the tail end of each mechanical arm;
s200: acquiring a data set of the tail end of each mechanical arm through a sensor;
s300: calculating the distance between the two adjacent mechanical arm ends through the acquired data set:
when two adjacent mechanical arms A x And a mechanical arm A x+1 Is a distance M between the ends x When the distance is less than the distance threshold value L, the mechanical arm A is driven x And a mechanical arm A x+1 Move in the opposite direction of the original moving direction;
when two adjacent mechanical arms A x End of and robot arm A x+1 Is a distance M between the ends x When the distance is greater than the distance threshold value L, the mechanical arm A is recovered x And a mechanical arm A x+1 Moving to the respective original movement directions;
when two adjacent mechanical arms A x End of and robot arm A x+1 Is a distance M between the ends x When the distance is equal to the distance threshold value L, the mechanical arm A is stopped x And a mechanical arm A x+1 The movement of (2).
In one embodiment, the mechanical arm comprises a movable joint, an arm and a tail end, and the tail end is a movable tail end of the mechanical arm.
In one embodiment, the sensor is a photosensor, and the data set includes the number of first counted pulses N in the photosensor 1 Counting the number of pulses N for the second time 2 …, number of pulses I I Wherein I is a natural number greater than 1.
In an embodiment, the distance threshold L has a value range of 0.3 m or more and 1 m or less.
As an embodiment, in step S300, the distance is calculatedThe formula is D = [ c (N) 1 +N 2 +⋯+N I )T]and/2I, wherein c is the propagation speed of the light wave in a vacuum or medium, the value of c is 3x108 m/s, and T is the period of the pulse in the sensor.
Fig. 2 is a schematic functional module diagram of a system for cooperative work of multiple mechanical arms according to an embodiment of the present disclosure, and referring to fig. 2, the system includes a detection module, a storage module, a processing module, and a computer program stored in the storage module and executable on the processing module, where:
the detection module is used for acquiring a data set of the tail end of each mechanical arm;
the storage module is used for storing the data set of the tail end of each mechanical arm acquired by the detection module;
the processing module is used for processing the data set of each mechanical arm tail end stored by the storage module and then sending out instructions.
As an implementation manner, the detection module includes a transmitting unit and a receiving unit, the transmitting unit is configured to send a signal to the ends of two adjacent mechanical arms, and the receiving unit is configured to receive the signal sent by the transmitting unit to the ends of two adjacent mechanical arms.
As an implementation manner, the processing module includes a single chip microcomputer and a clock oscillation module, and the clock oscillation module is used for controlling a counter in the single chip microcomputer.
Preferably, the system further comprises a display module, and the display module is used for displaying the calculation result and the instruction of the processing module.
As another embodiment, the Processing module may also be a Central Processing Unit (CPU), or 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, discrete Gate or transistor logic device, discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processing module is the control center of the multi-arm cooperative system, and various interfaces and lines are used to connect the various parts of the entire multi-arm cooperative system.
The storage module can be used for storing the computer program and/or the module, and the processing module realizes various functions of the system with the multiple mechanical arms working in cooperation by running or executing the computer program and/or the module stored in the storage module and calling data stored in the storage module. The storage module may mainly include a storage program area and a storage data area, where the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required by at least one function, and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory 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 as effectively covering the intended scope of the disclosure by providing a broad, potential interpretation of such claims in view of the prior art with reference to the appended claims. 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 (1)
1. A method for multi-mechanical arm cooperative operation is characterized by comprising the following steps:
assume that the arm is numbered A x The mechanical armThe distances between the tail ends of two adjacent mechanical arms are respectively M x-1 ，M x The value range of x is a natural number which is more than or equal to 1 and less than or equal to n, n is the number of the mechanical arms, and the value range of n is a natural number which is more than or equal to 2;
s100: arranging a sensor at the tail end of each mechanical arm;
s200: acquiring a data set of the tail end of each mechanical arm through a sensor;
s300: calculating the distance between the two adjacent mechanical arm ends through the acquired data set:
when two adjacent mechanical arms A x And a mechanical arm A x+1 Is a distance M between the ends x When the distance is less than the distance threshold value L, the mechanical arm A is driven x And a mechanical arm A x+1 Move in the opposite direction of the original moving direction;
when two adjacent mechanical arms A x End of and robot arm A x+1 Is a distance M between the ends x When the distance is greater than the distance threshold value L, the mechanical arm A is recovered x And a mechanical arm A x+1 Moving to the respective original movement directions;
when two adjacent mechanical arms A x End of and robot arm A x+1 Is a distance M between the ends x When the distance is equal to the distance threshold value L, the mechanical arm A is stopped x And a mechanical arm A x+1 The movement of (2);
the data set comprises the number of pulses N counted for the first time in the sensor 1 Counting the number of pulses N for the second time 2 …, number of pulses I I Wherein I is a natural number greater than 1;
in step S300, the distance is calculated as D ═ c (N) 1 +N 2 +…+N I )T]a/2I, wherein c is the propagation speed of light waves in vacuum or a medium, and the value of c is 3x10 8 M/s, T is the period of the pulse in the sensor; the mechanical arm comprises a movable joint, an arm and a tail end, wherein the tail end is a movable tail end of the mechanical arm; the value range of the distance threshold value L is more than or equal to 0.3 m and less than or equal to 1 m.
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| JPS594278B2 (en) * | 1976-06-18 | 1984-01-28 | 株式会社日立製作所 | Collision avoidance method for multi-arm robots |
| JPS5311457A (en) * | 1976-07-15 | 1978-02-01 | Hitachi Ltd | Device for detecting approached double arms of robot |
| CN101352854B (en) * | 2008-07-17 | 2011-01-26 | 上海交通大学 | Remote operation planar redundant manipulator automated guided intelligent element, system and method |
| CN108638065B (en) * | 2018-05-15 | 2021-04-16 | 河南科技学院 | Double-arm cooperative control system of explosive-handling robot |
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