CN112372640A - Anti-collision operation method for multiple mechanical arms - Google Patents
Anti-collision operation method for multiple mechanical arms Download PDFInfo
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- CN112372640A CN112372640A CN202011371097.9A CN202011371097A CN112372640A CN 112372640 A CN112372640 A CN 112372640A CN 202011371097 A CN202011371097 A CN 202011371097A CN 112372640 A CN112372640 A CN 112372640A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention relates to the technical field of automatic control equipment, and discloses an anti-collision operation method for multiple mechanical arms, which comprises the following steps: forming a conflict list; judging whether the current mechanical arm has a relevant mechanical arm in the corresponding conflict list, and if not, executing the current mechanical arm action; otherwise: judging whether the associated mechanical arms in the conflict list have conflicts or not according to the motion data of the current mechanical arm, if not, executing the current mechanical arm action, otherwise: judging the motion data of the associated mechanical arm, and after judging whether the motion data of the associated mechanical arm exists, enabling the current mechanical arm to relieve the conflict, if so, sending an instruction, controlling the associated mechanical arm to perform evasive action, and waiting for returning; and if the associated mechanical arm finishes the evasive action and correctly returns to the finish instruction, executing the current mechanical arm action. According to the invention, through reasonably controlling the operation process of the mechanical arm, the collision is avoided and the efficient action is realized when the mechanical arm moves.
Description
Technical Field
The invention relates to the technical field of relevant laboratory equipment, in particular to an anti-collision operation method for multiple mechanical arms.
Background
In laboratory automation equipment, the utilization ratio of mechanical arm is very high, provides the action such as transport, fine manipulation for laboratory automation equipment operation and supports, realizes a large amount of operations such as transport, liquid processing, spiral cover of container.
The movement of the mechanical arms occupies necessary space, when the number of the mechanical arms is large, the movements of the mechanical arms conflict with each other, if the operation is improper, a correct experimental process cannot be completed, even equipment is damaged, and safety accidents are caused.
However, the laboratory space is limited, and the trend of miniaturization of the equipment needs to be met, which presents a technical challenge for the simultaneous operation of a plurality of mechanical arms.
Disclosure of Invention
The invention aims to solve the problems and provides an anti-collision operation method for multiple mechanical arms, which avoids collision and realizes efficient action when the mechanical arms move by reasonably controlling the operation flow of the mechanical arms.
The technical scheme adopted by the invention is as follows:
an anti-collision operation method for multiple mechanical arms is characterized by comprising the following steps:
(1) establishing a motion coordinate range database of each mechanical arm and associated mechanical arm data which may conflict with each other to form a conflict list;
(2) judging whether the current mechanical arm has a relevant mechanical arm in the corresponding conflict list, and if not, executing the current mechanical arm action; otherwise:
(3) judging whether the associated mechanical arms in the conflict list have conflicts or not according to the motion data of the current mechanical arm, if not, executing the current mechanical arm action, otherwise:
(4) judging the motion data of the associated mechanical arm, and after judging whether the motion data of the associated mechanical arm exists, enabling the current mechanical arm to relieve the conflict, if so, sending an instruction, controlling the associated mechanical arm to perform evasive action, and waiting for returning;
(5) if the associated mechanical arm finishes the evasive action and correctly returns to the finishing instruction, executing the current mechanical arm action, otherwise:
(6) and returning the error information of the current mechanical arm over-range operation.
Further, before executing the current mechanical arm action, executing a step of checking whether the current mechanical arm is locked, and if the current mechanical arm is locked, executing the mechanical arm quitting operation.
Further, after the current mechanical arm action is executed, the data of the current mechanical arm is returned to the system.
Further, when the associated robot arm in the step (4) performs the avoidance operation, the same step as the current robot arm is also executed, and when the error information that the associated robot arm is out of range in operation is returned, it indicates that the avoidance operation is not correctly returned to the completion instruction.
Further, in the step (3), the motion data of the current mechanical arm is judged according to the step number of the motor.
The invention has the beneficial effects that:
(1) performing a conflict check before the mechanical arm moves by establishing a mechanical arm movement database;
(2) when conflict occurs, the conflict is automatically judged and removed;
(3) the number of steps of the mechanical arm driving motor can be used for quickly judging.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention.
Detailed Description
The following describes in detail a specific embodiment of the anti-collision operation method for multiple robots of the present invention with reference to the accompanying drawings.
The anti-collision operation method of the multiple mechanical arms comprises the following steps:
(1) establishing a motion coordinate range database of each mechanical arm and associated mechanical arm data which may conflict with each other to form a conflict list;
(2) judging whether the current mechanical arm has a relevant mechanical arm in the corresponding conflict list, and if not, executing the current mechanical arm action; otherwise:
(3) judging whether the associated mechanical arms in the conflict list have conflicts or not according to the motion data of the current mechanical arm, if not, executing the current mechanical arm action, otherwise:
(4) judging the motion data of the associated mechanical arm, and after judging whether the motion data of the associated mechanical arm exists, enabling the current mechanical arm to relieve the conflict, if so, sending an instruction, controlling the associated mechanical arm to perform evasive action, and waiting for returning;
(5) if the associated mechanical arm finishes the evasive action and correctly returns to the finishing instruction, executing the current mechanical arm action, otherwise:
(6) and returning the error information of the current mechanical arm over-range operation.
Referring to fig. 1, the collision and collision determination process of the robot arm will be described in detail.
And establishing motion data of each associated mechanical arm, storing the motion data into a system database, and determining a conflict list of each mechanical arm. And then inputting the motion data of the current mechanical arm, namely the xyz coordinate value, into the system. Firstly, carrying out conventional judgment, namely judging whether the current mechanical arm exceeds a defined movement limit, if so, reporting an error, carrying out data key log processing, and feeding back to an operator or a maintainer.
And then judging whether the current mechanical arm has a conflict list, if not, indicating that the mechanical arm does not generate conflict, and directly executing related actions. And if the conflict list exists, comparing the motion coordinate values of the associated mechanical arm and the current mechanical arm in the conflict list, and judging whether the conflict is possible or not through conflict calculation. In the conflict calculation process, when the step number of the mechanical arm motion motors which conflict with each other is judged to reach the physical limit, the two mechanical arms can be judged to conflict currently. At this time, the mechanical arm which is already in the moving state moves in advance, the evasive action is executed after the movement is finished, and then the collision mechanical arm moves again.
And if no conflict exists, returning the coordinate value of the current mechanical arm after executing the motion to the system, performing conflict calculation on data under the coordinate value, and then executing a preset action.
If the conflict exists, judging the deadlock state of the mechanical arm, if the mechanical arm is in conflict deadlock, executing mechanical arm yielding, removing the deadlock, and returning an error log. And if the deadlock does not exist, waiting for the associated mechanical arm to perform a preset action, and then performing conflict calculation and action execution.
Similarly, when the associated mechanical arm moves, the judgment is also carried out according to the same mode of the current mechanical arm. Until safe operation.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. An anti-collision operation method for multiple mechanical arms is characterized in that: the method comprises the following steps:
(1) establishing a motion coordinate range database of each mechanical arm and associated mechanical arm data which may conflict with each other to form a conflict list;
(2) judging whether the current mechanical arm has a relevant mechanical arm in the corresponding conflict list, and if not, executing the current mechanical arm action; otherwise:
(3) judging whether the associated mechanical arms in the conflict list have conflicts or not according to the motion data of the current mechanical arm, if not, executing the current mechanical arm action, otherwise:
(4) judging the motion data of the associated mechanical arm, and after judging whether the motion data of the associated mechanical arm exists, enabling the current mechanical arm to relieve the conflict, if so, sending an instruction, controlling the associated mechanical arm to perform evasive action, and waiting for returning;
(5) if the associated mechanical arm finishes the evasive action and correctly returns to the finishing instruction, executing the current mechanical arm action, otherwise:
(6) and returning the error information of the current mechanical arm over-range operation.
2. The multi-robot anti-collision operation method according to claim 1, wherein: and before executing the action of the current mechanical arm, executing a step of checking whether the current mechanical arm is locked, and if the current mechanical arm is locked, executing the concession operation of the mechanical arm.
3. The multi-robot anti-collision operation method according to claim 1, wherein: and after the current mechanical arm action is executed, returning the data of the current mechanical arm to the system.
4. The multi-robot anti-collision operation method according to any one of claims 1 to 3, wherein: and (4) when the associated mechanical arm in the step (4) performs the avoiding action, executing the same step of the current mechanical arm, and when the error information that the associated mechanical arm runs out of the range is returned, indicating that the avoiding action does not return to the completion instruction correctly.
5. The multi-robot anti-collision operation method according to any one of claims 1 to 3, wherein: in the step (3), the motion data of the current mechanical arm is judged through the step number of the motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011371097.9A CN112372640A (en) | 2020-11-30 | 2020-11-30 | Anti-collision operation method for multiple mechanical arms |
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| CN202011371097.9A CN112372640A (en) | 2020-11-30 | 2020-11-30 | Anti-collision operation method for multiple mechanical arms |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113827270A (en) * | 2021-08-24 | 2021-12-24 | 深圳市德力凯医疗设备股份有限公司 | Instruction conflict resolution method, ultrasound device, and computer-readable storage medium |
| CN117381805A (en) * | 2023-12-13 | 2024-01-12 | 成都航空职业技术学院 | Mechanical arm operation control method and system for conflict handling |
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| CN113827270A (en) * | 2021-08-24 | 2021-12-24 | 深圳市德力凯医疗设备股份有限公司 | Instruction conflict resolution method, ultrasound device, and computer-readable storage medium |
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| CN117381805A (en) * | 2023-12-13 | 2024-01-12 | 成都航空职业技术学院 | Mechanical arm operation control method and system for conflict handling |
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Application publication date: 20210219 |