CN112775992A - Conveyor belt tracking robot control system and control method thereof - Google Patents
Conveyor belt tracking robot control system and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for 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
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention provides a conveyor belt tracking robot control system and a control method thereof, which are characterized by comprising a conveyor belt and an encoder, wherein the first step is as follows: the robot comprises a conveyor belt, a photoelectric switch, an encoder, a controller and a controller, wherein the conveyor belt is placed in a reachable working area of the robot, the photoelectric switch is arranged on the conveyor belt and used for detecting whether a workpiece passes through the conveyor belt or not so as to realize workpiece positioning, the encoder is arranged on the conveyor belt and used for recording the current position of the conveyor belt and calculating the speed of the conveyor belt so as to deduce the position of the workpiece on the conveyor belt, and encoder information is introduced into the controller in an IO (input; step two: calibrating the related parameters through a conveyor belt tracking calibration interface; step three: configuring a conveyor belt tracking basic parameter; after the whole system is calibrated, a user can write a conveyor belt tracking program through a demonstrator so as to realize tracking of a workpiece on a conveyor belt, and the user can configure conveyor belt tracking parameters according to the requirement before teaching the conveyor belt tracking program.
Description
Technical Field
The invention relates to the technical field of automation control, in particular to a control system and a control method for a conveyor belt tracking robot.
Background
With the development of the robot technology, the industrial robot is widely applied to the manufacturing fields of automobiles, 3C and the like, and in order to expand the application range of the industrial robot in the manufacturing industry and continuously improve the application level, an information feedback intelligent robot with certain sensing, judging and deciding functions is researched and developed, which is one of the key development directions of the industrial robot;
in the existing control system of the conveyor belt tracking robot, the measured distance data is transmitted to a target module through two anchor point modules, and the target module transmits the received distance data to an upper computer through a wireless module; the upper computer receives the distance data through the wireless module and calculates the coordinates of the target object according to an algorithm; the upper computer simultaneously displays the real-time position coordinates and the moving track of the target object; the upper computer simultaneously transmits the coordinate information to the server, so that the position coordinates and the moving track of the target object on the conveyor belt which tracks and positions the movement in real time are realized; although the above operation mode can track the workpieces, the conventional conveyor tracking robot control system can only track a single target workpiece, so that the continuous workpieces cannot be tracked, when a plurality of continuous workpieces need to be tracked, a single workpiece needs to be tracked for a plurality of times, and a plurality of continuous workpieces need to be tracked by repeating the operations for a plurality of times, so that the conventional conveyor tracking robot control system cannot track the continuous workpieces, and the work efficiency of the conveyor tracking robot control system is reduced; moreover, the structure of the wireless module in the existing conveyor belt tracking robot control system is complex, when the system is damaged, the interior of the wireless module needs to be checked one by one, and the maintenance cost is high.
Disclosure of Invention
According to the technical problems, the invention provides a conveyor belt tracking robot control system and a control method thereof, which are characterized by comprising a conveyor belt, an encoder, a photoelectric switch, a controller, a robot and a working area, wherein the conveyor belt, the controller and the robot are installed in the working area, the controller is arranged on the front side of the conveyor belt, the robot is arranged on the right side of the controller, the photoelectric switch is installed in the middle of the conveyor belt and is used for detecting whether a workpiece passes through the conveyor belt or not so as to realize workpiece positioning, the encoder is installed at the left end of the conveyor belt and is connected with the controller, the controller is connected with the robot, the encoder is used for recording the current position of the conveyor belt and calculating the speed of the conveyor belt so as to estimate the position of the workpiece on the conveyor belt, and when the robot tracks a target workpiece, the robot control system carries out online prediction and real-time correction on a robot teaching path according to the position fed, the automatic tracking of the target workpiece is realized, the teaching operation difficulty of a user is reduced, a memory sharing mechanism is arranged in the encoder, and the external interface of the controller acquires the information of the conveyor belt encoder in real time through the memory sharing mechanism and puts the information into the shared memory so that the robot planning module can be called conveniently;
the invention is commonly used for automatically grabbing a moving target workpiece, and the moving speed of the robot is required to be consistent with the running speed of the target workpiece in the process of grabbing the workpiece by the robot; the controller acquires the position of the encoder in real time by introducing a real-time algorithm in the planning process, corrects the planned path of the robot in real time according to the position of the encoder, so as to realize the tracking of a target workpiece, and ensures the stable running of the robot by introducing a robot start adjustment parameter and a robot stop adjustment parameter by considering the area point and the stop point in the path of the robot;
the automatic grabbing of the tracking workpiece of the conveyor belt also puts high requirements on the precision of the robot, and the controller for controlling the motion of the robot marks the position of the conveyor belt and introduces a controller delay compensation factor, so that the precision of the robot in the grabbing process is ensured;
the method is realized by adopting layering on a planning algorithm, namely a geometric interpolation layer, a dynamics interpolation layer and an online execution layer, the method is realized by introducing conveyor belt encoder data into the geometric layer, predicting the position of the robot online for the reference of the dynamics interpolation layer, determining the running speed of the robot according to the dynamics information of the robot, ensuring that the running speed of the robot is in the maximum executable speed range of a motor, dynamically correcting the track of the robot by the dynamics interpolation layer according to sensor data introduced by the geometric interpolation layer, and then sending the generated data to the execution layer, so that the dynamic tracking of the robot on a target is realized, and the tracking precision of the robot is greatly improved due to the introduction of an online prediction mechanism in the motion planning process of the robot, so that the workpiece on a conveyor belt is automatically tracked;
the invention leads the robot to have a buffer zone mechanism by introducing the tracking workpiece buffer zone into the application layer, so that the robot can record the data of a plurality of workpiece targets at the same time, and can continuously track the plurality of targets as long as the current workpiece does not exceed the maximum tracking range set by a user and the range needs to be within the reachable space range of the robot.
The operation steps of the invention are as follows:
the method comprises the following steps: the robot comprises a controller, a conveyor belt, a photoelectric switch, an encoder and a robot, wherein the conveyor belt is placed in a reachable working area of the robot, the photoelectric switch is arranged on the conveyor belt and used for detecting whether a workpiece passes through the conveyor belt or not so as to realize workpiece positioning, the encoder is arranged on the conveyor belt and used for recording the current position of the conveyor belt and calculating the speed of the conveyor belt so as to deduce the position of the workpiece on the conveyor belt, and encoder information is introduced into the controller in an IO (input/output) mode;
step two: calibrating the related parameters through a conveyor belt tracking calibration interface;
step three: configuring a conveyor belt tracking basic parameter;
after the whole system is calibrated, a user can write a conveyor belt tracking program through a demonstrator so as to realize tracking of a workpiece on a conveyor belt, and the user can configure conveyor belt tracking parameters according to the requirement before teaching the conveyor belt tracking program.
The invention has the beneficial effects that: on the basis of the universality of the existing controller, the encoder is added, and the position information acquired in the tracking process of the conveyor belt is processed; according to the invention, the tracking workpiece buffer area is introduced into the application layer, so that the robot can record the target data of a plurality of workpieces at the same time, as long as the current workpiece does not exceed the maximum tracking range set by a user, and the range is required to be within the reachable space range of the robot, the continuous tracking of the plurality of target workpieces can be realized, and the working efficiency is improved;
according to the method, position information is fed back by an encoder and is introduced into the motion planning process of the calculation robot, dynamic interpolation is guided, meanwhile, an offset path required by the robot in the next planning period is predicted on line, and workpiece movement data is introduced into the motion planning of the robot through a prediction mechanism, so that the robot can automatically track workpieces on a conveyor belt;
according to the invention, by adopting a memory sharing mechanism, the external interface of the controller acquires the information of the conveyor belt encoder in real time through the memory sharing mechanism and puts the information into the shared memory so as to be convenient for the robot planning module to call;
the invention can realize the simultaneous tracking of a plurality of workpieces which do not exceed the tracking range by adopting a buffer zone mechanism.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the construction of the conveyor belt of the present invention;
FIG. 3 is a tracking flow chart of the present invention;
FIG. 4 is a diagram illustrating the base coordinate positions of the calibration conveyor according to the present invention.
The system comprises a conveyor belt 1, an encoder 2, a photoelectric switch 3, a workpiece 4, a controller 5, a robot 6 and a working area 7.
Detailed Description
Example 1
The invention provides a conveyor belt tracking robot control system and a control method thereof, and is characterized by comprising a conveyor belt 1, an encoder 2, a photoelectric switch 3, a controller 5, a robot 6 and a working area 7, wherein the conveyor belt 1, the controller 5 and the robot 6 are installed in the working area 7, the controller 5 is arranged on the front side of the conveyor belt 1, the robot 6 is arranged on the right side of the controller 5, the photoelectric switch 3 is installed in the middle of the conveyor belt 1 and is used for detecting whether a workpiece 4 passes through the conveyor belt 1 or not so as to realize the positioning of the workpiece 4, the encoder 2 is installed at the left end of the conveyor belt 1 and is connected with the controller 5, the controller 5 is connected with the robot 6, the encoder 2 is used for recording the current position of the conveyor belt 1 and calculating the speed of the conveyor belt 1 so as to estimate the position of the workpiece 4 on the conveyor belt 1, and when the robot 6 tracks a target workpiece 4, the robot 6 performs online pre-prediction on a teaching The detection and real-time correction are carried out, so that the target workpiece 4 is automatically tracked, the teaching operation difficulty of a user is reduced, a memory sharing mechanism is arranged in the encoder 2, and the external interface of the controller 5 acquires the information of the encoder 2 of the conveyor belt 1 in real time through the memory sharing mechanism and puts the information into the shared memory so that a planning module of the robot 6 can be called conveniently;
the invention is commonly used for automatically grabbing a moving target workpiece 4, which requires that the moving speed of the robot 6 is consistent with the running speed of the target workpiece 4 when the robot 6 grabs the workpiece 4; the controller 5 acquires the position of the encoder 2 in real time by introducing a real-time algorithm in the planning process, corrects the planned path of the robot 6 in real time according to the position of the encoder 2, so as to realize the tracking of the target workpiece 4, and in addition, the robot 6 starts adjusting parameters and stops adjusting parameters by introducing the robot 6 in consideration of area points and stop points in the path of the robot 6, so that the robot 6 is ensured to run stably;
the automatic grabbing of the tracked workpiece 4 by the conveyor belt 1 also puts high requirements on the precision of the robot 6, and the controller 5 for controlling the motion of the robot 6 calibrates the position of the conveyor belt 1 and introduces a delay compensation factor of the controller 5, so that the precision of the robot 6 in the grabbing process is ensured;
the invention adopts layered realization on a planning algorithm, namely a geometric interpolation layer, a dynamic interpolation layer and an online execution layer respectively, introduces data of a coder 2 of a conveyor belt 1 into the geometric layer, and predict the position of the robot 6 on line for the reference of the dynamic interpolation layer, the dynamic interpolation layer mainly determines the running speed of the robot 6 according to the dynamic information of the robot 6 to ensure that the running speed of the robot 6 is in the maximum executable speed range of the motor, the dynamic interpolation layer dynamically corrects the track of the robot 6 according to the sensor data introduced by the geometric interpolation layer, and then sends the generated data to the execution layer, thereby realizing the dynamic tracking of the robot 6 to the target, because an online prediction mechanism is introduced in the motion planning process of the robot 6, the tracking precision of the robot 6 is greatly improved, and the automatic tracking of the workpieces 4 on the conveyor belt 1 is realized;
according to the invention, the buffer zone for tracking the workpiece 4 is introduced into the application layer, so that the robot 6 has a buffer zone mechanism, the robot 6 can record the target data of a plurality of workpieces 4 at the same time, and as long as the current workpiece 4 does not exceed the maximum tracking range set by a user, the range is required to be within the reachable space range of the robot 6, and the continuous tracking of a plurality of targets can be realized.
The operation steps of the invention are as follows:
the method comprises the following steps: the automatic positioning device comprises a controller 5, a conveyor belt 1, a photoelectric switch 3, an encoder 2 and a robot 6, wherein the conveyor belt 1 is placed in a reachable working area 7 of the robot 6, the photoelectric switch 3 is installed on the conveyor belt 1 and used for detecting whether a workpiece 4 passes through or not so as to realize positioning of the workpiece 4, the encoder 2 is installed on the conveyor belt 1 and used for recording the current position of the conveyor belt 1 and calculating the speed of the conveyor belt 1 so as to deduce the position of the workpiece 4 on the conveyor belt 1, and information of the encoder 2 is introduced into the controller 5 in an IO (input/output) mode;
step two: calibrating the related parameters by tracking a calibration interface through the conveyor belt 1;
step three: configuring a tracking basic parameter of a conveyor belt 1;
after the whole system is calibrated, a user can write a tracking program of the conveyor belt 1 through the demonstrator so as to realize tracking of the workpiece 4 on the conveyor belt 1, and the user can configure tracking parameters of the conveyor belt 1 according to the requirement before teaching of the tracking program of the conveyor belt 1.
Example 2
Before the invention is used, the invention is installed, and the steps are as follows: the system comprises a controller 55, a conveyor belt 1, a photoelectric switch 3, an encoder 2 and a robot 6, wherein the conveyor belt 1 is placed in a reachable working area 7 of the robot 6, the photoelectric switch 3 is installed on the conveyor belt 1 and used for detecting whether a workpiece 4 passes through or not so as to realize positioning of the workpiece 4, the encoder 2 is installed on the conveyor belt 1 and used for recording the current position of the conveyor belt 1 and calculating the speed of the conveyor belt 1 so as to deduce the position of the workpiece 4 on the conveyor belt 1, and information of the encoder 2 is introduced into the controller 5 in an IO (input/output) mode;
step two: the related parameters are calibrated by tracking the calibration parameters through the conveyor belt 1, and the calibration parameters are respectively described as follows:
when the whole environment is set up, the transmission ratio between the encoder 2 and the conveyor belt 1 is generally unknown, therefore, it is necessary to verify the relationship between the encoder 2 and the conveyor belt 1, place the workpiece 4 on the conveyor belt 1, mark the workpiece 4 with a mark point, select the designated tool and wobj, teaching the marking point through the robot 6, and recording that the current position of the robot 6 is target1, while reading the value count1 of the current encoder 2, starts the conveyor belt 1 and allows the conveyor belt 1 to move a distance, generally greater than 500mm, and ensures that the robot 6 can reach a new mark point position, at the moment, the movement of the conveyor belt 1 is stopped, the tool and wobj adopted when the target1 is taught are selected, the mark point is taught again, the current position of the robot 6 is recorded as the target2, while recording the current encoder 2 value as count2, we can calculate the geometric distance between target2 and target1.
diff ═ sqrt (pow (target2.x-target1.x,2) + pow (target2.y-target1.y,2) + pow (target2.z-target1.z,2)), in units of m
Gear ratio of encoder 2 to conveyor 1:
Gear＝(count2-count1)/diff
the relevant parameters are stored in the encoder 2 position conversion coefficients, whose data type is float type, with a range of values-1000000,1000000.
The upper editing program of the invention is as follows:
ActUnit(“conveyor”)
WaitWObj(wobj1)；
1) starting the conveyor belt 1, starting a program, placing the workpiece 4 on the conveyor belt 1, and stopping the conveyor belt 1 when the workpiece 41 passes through a synchronous switch and the program is executed. And teach the marking point on the workpiece 41 and record target1.
2) The conveyor 1 continues to start and stops, and the same tool and Wobj are used to obtain target2.
3) The above operation is repeated twice to obtain target3 and target 4.
Finally clicking on the calibration interface to determine the base coordinates of the conveyor belt 1 which can be calculated.
Step three: configuring the conveyor belt 1 to track basic parameters:
after the whole system is calibrated, a user can write a tracking program of the conveyor belt 1 through the demonstrator so as to realize the tracking of the workpiece 4 on the conveyor belt 1. Before teaching a tracking program of the conveyor belt 1, a user can also configure tracking parameters of the conveyor belt 1 according to the requirements:
the conveyor belt 1 tracking parameters are explained as follows:
path layer filtering parameter (path _ filter _ order): the data type is int type, the value range is 1-10, the user can modify the data type, and the default value is 5.
Execution layer filter parameter (extract _ filter _ order): the data type is int type, the value range is 1-15, the user can modify the data type, and the default value is 5.
Carousel 1 name (name): the data type is string type, and the user selects through the configured external shaft mechanical unit. The user may modify, but not the mechanical unit of the robotic arm.
Buffer length (start _ window _ width): the data type is float type, the value range is 0.0 to 1000.0, the default value is 100, the unit is mm, the length of the buffer zone set by a user, and when the robot 6 finishes tracking the current target, the first target of the next buffer zone along the running direction of the conveyor belt 1 is tracked.
Minimum tracking distance (min _ dist): the data type is float type, the value range is-50000 to 10000, the default value is-0.1, the unit mm, the user can set, and the parameter is not used at present.
Maximum allowable tracking distance (max _ dist): the data type is float type, with a value range of 10.0 to 100000.0, a default value of 1000 in mm, and a user setting for ensuring that the robot 6 is within the reachable working range, the maximum trackable distance.
The robot 6 starts the adjustment parameter (correction _ vector _ ramp _ length "): the data type is int type, the value range is 2-100, the default value is 20, when the program is started, the robot 6 is used for adjusting parameters, the larger the setting is, the longer the time for the robot 6 to track the upper target is, the more stable the robot 6 runs, and the user can process the target.
Synchronous switching signal: the data type is string type, the user can select according to the configured synchronous switch IO, the default value is null, if the user does not configure, the TPU reports error processing, and the user can process the data.
Waiting for a target signal: the data type is string type, the user can select according to the configured signal of waiting for the workpiece 4, the default value is null, and if the user is not configured, the TPU reports an error and can process the signal.
Discarding the target signal: the data type is string type, the user can choose according to the configured signal of abandoning the work piece 4, the default value is null, if the user does not configure, the TPU reports errors, and the user can process the TPU;
after the whole system is calibrated, a user can write a tracking program of the conveyor belt 1 through the demonstrator so as to realize the tracking of the workpiece 4 on the conveyor belt 1. The user can also configure the tracking parameters of the conveyor belt 1 according to his own needs before teaching the tracking program of the conveyor belt 1.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. While the invention has been described with respect to the above embodiments, it will be understood by those skilled in the art that the invention is not limited to the above embodiments, which are described in the specification and illustrated only to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A conveyor belt tracking robot control system and a control method thereof are characterized by comprising a conveyor belt, a coder, a photoelectric switch, a controller, a robot and a working area, wherein the conveyor belt, the controller and the robot are installed in the working area;
the invention is commonly used for automatically grabbing a moving target workpiece, and the moving speed of the robot is required to be consistent with the running speed of the target workpiece in the process of grabbing the workpiece by the robot; the controller acquires the position of the encoder in real time by introducing a real-time algorithm in the planning process, corrects the planned path of the robot in real time according to the position of the encoder, so as to realize the tracking of a target workpiece, and ensures the stable running of the robot by introducing a robot start adjustment parameter and a robot stop adjustment parameter by considering the area point and the stop point in the path of the robot;
the automatic grabbing of the tracking workpiece of the conveyor belt also puts high requirements on the precision of the robot, and the controller for controlling the motion of the robot marks the position of the conveyor belt and introduces a controller delay compensation factor, so that the precision of the robot in the grabbing process is ensured;
the method is realized by adopting layering on a planning algorithm, namely a geometric interpolation layer, a dynamics interpolation layer and an online execution layer, the method is realized by introducing conveyor belt encoder data into the geometric layer, predicting the position of the robot online for the reference of the dynamics interpolation layer, determining the running speed of the robot according to the dynamics information of the robot, ensuring that the running speed of the robot is in the maximum executable speed range of a motor, dynamically correcting the track of the robot by the dynamics interpolation layer according to sensor data introduced by the geometric interpolation layer, and then sending the generated data to the execution layer, so that the dynamic tracking of the robot on a target is realized, and the tracking precision of the robot is greatly improved due to the introduction of an online prediction mechanism in the motion planning process of the robot, so that the workpiece on a conveyor belt is automatically tracked;
the invention leads the robot to have a buffer zone mechanism by introducing the tracking workpiece buffer zone into the application layer, so that the robot can record the data of a plurality of workpiece targets at the same time, and can continuously track the plurality of targets as long as the current workpiece does not exceed the maximum tracking range set by a user and the range needs to be within the reachable space range of the robot.
2. The system as claimed in claim 1, wherein the encoder is used to record the current position of the conveyor belt and calculate the speed of the conveyor belt, so as to estimate the position of the workpiece on the conveyor belt, and when the robot tracks the target workpiece, the robot control system performs online prediction and real-time correction on the robot teaching path according to the position fed back by the encoder, so as to realize automatic tracking of the target workpiece and reduce the difficulty of teaching operation of the user.
3. A conveyor tracking robot control system and a control method thereof according to claim 1, characterized by the operating steps of the invention as follows:
the method comprises the following steps: the robot comprises a controller, a conveyor belt, a photoelectric switch, an encoder and a robot, wherein the conveyor belt is placed in a reachable working area of the robot, the photoelectric switch is arranged on the conveyor belt and used for detecting whether a workpiece passes through the conveyor belt or not so as to realize workpiece positioning, the encoder is arranged on the conveyor belt and used for recording the current position of the conveyor belt and calculating the speed of the conveyor belt so as to deduce the position of the workpiece on the conveyor belt, and encoder information is introduced into the controller in an IO (input/output) mode;
step two: calibrating the related parameters through a conveyor belt tracking calibration interface;
step three: configuring a conveyor belt tracking basic parameter;
after the whole system is calibrated, a user can write a conveyor belt tracking program through a demonstrator so as to realize tracking of a workpiece on a conveyor belt, and the user can configure conveyor belt tracking parameters according to the requirement before teaching the conveyor belt tracking program.
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Application publication date: 20210511 |