CN113799123A - Manipulator anti-collision control method and system, intelligent terminal and storage medium - Google Patents
Manipulator anti-collision control method and system, intelligent terminal and storage medium Download PDFInfo
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- CN113799123A CN113799123A CN202111004974.3A CN202111004974A CN113799123A CN 113799123 A CN113799123 A CN 113799123A CN 202111004974 A CN202111004974 A CN 202111004974A CN 113799123 A CN113799123 A CN 113799123A
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The application relates to a manipulator anti-collision control method, a manipulator anti-collision control system, an intelligent terminal and a storage medium, wherein the method comprises the steps of obtaining maximum safe displacement values of a first manipulator and a second manipulator; acquiring a first braking distance of a first manipulator and a second braking distance of a second manipulator; acquiring a first working parameter of a first manipulator and a second working parameter of a second manipulator; obtaining a prediction result based on the first working parameter, the second working parameter, the first braking distance, the second braking distance and the maximum safe displacement value; and outputting a braking instruction when the collision is generated as a result of the prediction. Extra hardware equipment does not need to be installed on the manipulator, and the manipulator is controlled to brake when the collision is predicted to occur according to the prediction result through obtaining parameters and calculating. This application has and has reduced the hardware cost under the prerequisite of the probability that is convenient for reduce and bumps with orbital manipulator, is convenient for reduce manufacturing cost's effect.
Description
Technical Field
The invention relates to the field of manipulator control, in particular to a manipulator anti-collision control method, a manipulator anti-collision control system, an intelligent terminal and a storage medium.
Background
A robot is an automatic operation device which can imitate certain motions of a human hand and an arm and is used for grabbing, carrying and/or operating a tool according to a fixed program, and is one of indispensable devices in automatic and intelligent production. With the development of science and technology, more and more industries use manipulators to perform regular production actions. In order to meet production requirements or environmental requirements, or to save costs, it is often seen that a plurality of robots share a rail for movement and operation. The risk of collision between different manipulators on the same track due to program error or misoperation of workers is brought along.
In order to avoid the mutual collision of the robot arms, a distance sensing device is generally mounted on the robot arms. And when the distance between the two manipulators is too close, the protection is triggered, so that at least one manipulator stops moving, and the collision risk is avoided.
With respect to the related art in the above, the inventors consider that the distance sensing means mounted on the robot increases the hardware cost, thereby increasing the production cost.
Disclosure of Invention
The invention provides a manipulator anti-collision control method, a manipulator anti-collision control system, an intelligent terminal and a storage medium, aiming at reducing hardware cost and further reducing production cost on the premise of conveniently reducing the probability of collision with a track manipulator.
In a first aspect, the application provides a manipulator anti-collision control method, which adopts the following technical scheme:
a manipulator collision avoidance control method comprises the following steps:
acquiring maximum safe displacement values of a first manipulator and a second manipulator;
acquiring a first braking distance of a first manipulator and a second braking distance of a second manipulator;
acquiring a first working parameter of a first manipulator and a second working parameter of a second manipulator;
obtaining a prediction result based on the first working parameter, the second working parameter, the first braking distance, the second braking distance and the maximum safe displacement value;
and outputting a braking instruction when the collision is generated as a result of the prediction.
By adopting the technical scheme, extra hardware does not need to be installed on the mechanical arm, the prediction result can be obtained by acquiring various parameters of the first mechanical arm and the second mechanical arm, and the braking instruction is output when the prediction result is that collision can occur. On one hand, the mechanical arms on the same track are not easy to collide with each other, so that the service life of the mechanical arms is prolonged, the reliability of the mechanical arms is improved, and the probability of safety accidents is reduced; on the other hand, hardware cost is convenient to reduce, and therefore production cost is convenient to reduce.
Optionally, the first working parameter includes a first motion state, a first motion direction, a first current displacement value, and a first target displacement value of the first manipulator;
the second working parameters comprise a second motion state, a second motion direction, a second current displacement value and a second target displacement value of the second manipulator;
the step of obtaining a prediction based on the first operating parameter, the second operating parameter, the first stopping distance, the second stopping distance, and the maximum safety displacement value comprises:
obtaining a motion relation between the first manipulator and the second manipulator based on the first motion state, the second motion state, the first motion direction and the second motion direction; the motion relation comprises opposite motion, first same-direction motion, second same-direction motion, first static motion of the first manipulator being static and second static motion of the second manipulator being static;
when the motion relation is opposite motion, if the sum of the first current displacement value, the first braking distance, the second current displacement value and the second braking distance is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur;
when the motion relation is a first same-direction motion, if the sum of the first current displacement value, the second current displacement value and the second braking distance is larger than or equal to the maximum safe displacement value, the prediction result is that collision can occur;
when the motion relation is a second equidirectional motion, if the sum of the first current displacement value, the first braking distance and the second current displacement value is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur;
when the motion relationship is first static motion, if the sum of the second target displacement value and the first current displacement value is greater than or equal to the maximum safe displacement value, and the sum of the first current displacement value, the second current displacement value and the second braking distance is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur;
and when the motion relationship is second static motion, if the sum of the first target displacement value and the second current displacement value is greater than or equal to the maximum safe displacement value, and the sum of the first current displacement value, the first braking distance and the second current displacement value is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur.
By adopting the technical scheme, different judgment conditions are set for different motion relations, but the judgment standard is unchanged, namely the judgment standard is always compared with the maximum safe displacement value, so that the method is beneficial to simplifying the complexity of an anti-collision control program, and is simple and feasible.
Optionally, one end of the track close to the first manipulator is taken as a first origin; taking one end of the track, which is far away from the first manipulator, as a second origin;
the obtaining of the first current displacement value comprises:
taking the distance from the current position of the first manipulator to the first origin as the first current displacement value;
the step of obtaining the first target displacement value comprises:
taking the distance from the target position of the first manipulator to the first origin as the first target displacement value;
the obtaining of the second current displacement value comprises:
taking the distance from the current position of the second manipulator to the second origin as the second current displacement value;
the step of obtaining the second target displacement value comprises:
and taking the position of the second manipulator target position to the second origin as the second target displacement value.
By adopting the technical scheme, when the displacement value is calculated, the first manipulator calculates by taking the first origin as the reference point, and the second manipulator calculates by taking the second origin as the reference point. And the first origin is located the track and is close to one side of first manipulator, and the second origin is located the track and is close to one side of second manipulator, is convenient for simplify the algorithm, reduces the error rate to be convenient for reduce the probability of colliding with orbital manipulator.
Optionally, the step of acquiring the first braking distance of the first manipulator includes:
acquiring a preset first maximum moving speed of a first manipulator;
acquiring preset first braking time of a first manipulator;
obtaining the first braking distance by M1= V1 × T1/2; wherein M1 is the first braking distance; v1 is the first maximum moving speed; t1 is the first braking time;
the step of acquiring a second braking distance of the second manipulator includes:
acquiring a preset second maximum moving speed of the second manipulator;
acquiring preset second braking time of a second manipulator;
the second braking distance is obtained by M2= V2 × T2/2; wherein M2 is the second braking distance; v2 is the second maximum moving speed; t2 is the second braking time.
By adopting the technical scheme, the first braking distance is obtained by calculating the first maximum moving speed, and the second braking distance is obtained by calculating the second maximum moving speed. The first braking distance and the second braking distance are the maximum braking distances, so that on one hand, the calculation is convenient to simplify; and on the other hand, the probability of collision with the orbital manipulator is further reduced.
Optionally, the step of obtaining the motion relationship between the first manipulator and the second manipulator based on the first motion state, the second motion state, the first motion direction, and the second motion direction includes:
acquiring a current first motion state and a first motion direction of a first manipulator; the first motion state comprises motion and rest, and the first motion direction comprises approaching to the second manipulator and departing from the second manipulator;
acquiring a current second motion state and a second motion direction of a second manipulator; the second motion state comprises motion and static, and the second motion direction comprises approaching to the first manipulator and departing from the first manipulator;
when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, and the second motion state of the second manipulator is motion, and the second motion direction is close to the first manipulator, the motion relation is opposite motion;
when the first motion state of the first manipulator is motion and the first motion direction is far away from the second manipulator, and the second motion state of the second manipulator is motion and the second motion direction is close to the first manipulator, the motion relation is first same-direction motion;
when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, and the second motion state of the second manipulator is motion, and the second motion direction is far away from the first manipulator, the motion relation is second equidirectional motion;
when the first motion state of the first manipulator is static, the second motion state of the second manipulator is motion, and the second motion direction is close to the first manipulator, the motion relation is first static motion;
when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, and the second motion state of the second manipulator is static, the motion relation is second static motion.
Through adopting above-mentioned technical scheme, after acquireing the motion state and the direction of motion of first manipulator and second manipulator, can release the motion relation, need not to increase hardware equipment such as sensor to be convenient for under the prerequisite that need not to increase the hardware cost, reduce the probability of bumping with the track manipulator.
Optionally, the step of outputting a braking command includes:
when the motion relation is opposite motion, outputting a first braking instruction for controlling the first manipulator to brake and a second braking instruction for controlling the second manipulator to brake;
when the motion relation is a first same-direction motion, outputting a second braking instruction for controlling the second manipulator to brake, or outputting a first braking instruction for controlling the first manipulator to brake and a second braking instruction for controlling the second manipulator to brake;
when the motion relation is a second equidirectional motion, outputting a first braking instruction for controlling the first manipulator to brake, or outputting a first braking instruction for controlling the first manipulator to brake and a second braking instruction for controlling the second manipulator to brake;
when the motion relation is first static motion, outputting a second braking instruction for controlling the second manipulator to brake;
and when the motion relation is the second static motion, outputting a first braking instruction for controlling the first manipulator to brake.
By adopting the technical scheme, different motion relations and different output braking instructions are achieved, normal use of the manipulator is guaranteed, production efficiency is maintained, and production cost is reduced on the premise that the probability of collision with the track manipulator is effectively reduced.
Optionally, the step of acquiring the maximum safe displacement values of the first manipulator and the second manipulator includes:
acquiring a preset minimum distance value between a first manipulator and a second manipulator;
acquiring a track length value between a first origin and a second origin;
and obtaining the maximum safe displacement value based on the minimum distance value and the track length value.
In a second aspect, the application provides a manipulator collision avoidance control system, adopts following technical scheme:
the manipulator anti-collision control system comprises an acquisition module, a collision detection module and a collision detection module, wherein the acquisition module is used for acquiring the maximum safe displacement value of a first manipulator and a second manipulator, the first braking distance of the first manipulator, the second braking distance of the second manipulator, the first working parameter of the first manipulator and the second working parameter of the second manipulator;
the prediction module is used for obtaining a prediction result based on the first working parameter, the second working parameter, the first braking distance, the second braking distance and the maximum safe displacement value;
and the control module is used for outputting a braking instruction when the predicted result is that the collision can occur.
By adopting the technical scheme, the acquisition module is used for acquiring various parameter values of the first manipulator and the second manipulator from a control program of the manipulators, and acquiring a prediction result through the prediction module based on the acquired various parameter values; and if the prediction module obtains that the two mechanical hands collide, outputting a braking instruction. The probability of collision with the orbital manipulator is reduced only through program control, which is beneficial to reducing hardware cost and reducing production cost.
In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
an intelligent terminal comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and carry out any of the methods described above.
By adopting the technical scheme, the corresponding program can be stored and processed, the hardware cost is reduced on the premise of reducing the probability of collision with the track manipulator, and the production cost is reduced.
In a fourth aspect, the present application provides a storage medium, which adopts the following technical solutions:
a storage medium storing a computer program that can be loaded by a processor and that executes any of the methods described above.
By adopting the technical scheme, corresponding programs can be stored, and the hardware cost is reduced on the premise of reducing the probability of collision with the track manipulator, so that the production cost is reduced.
In summary, the following steps:
1. extra hardware equipment does not need to be installed on the manipulator, and the manipulator is controlled to brake when the collision is generated according to the prediction result by acquiring parameters and calculating; on the premise of being convenient for reducing the probability of collision with the track manipulator, the hardware cost is reduced, and the production cost is convenient to reduce.
2. At the in-process that two manipulators removed, the collision condition to two manipulators predicts in real time, and the prediction in-process, the first braking distance and the second braking distance that use are the longest braking distance, and when the manipulator need brake, even deceleration motion is done to the conditional, helps improving the operating stability of manipulator, is difficult for appearing the scram phenomenon to be convenient for prolong the life-span of manipulator, the article of manipulator centre gripping also is difficult for impairedly, and the reliability is higher.
Drawings
Fig. 1 is a flowchart of a manipulator collision avoidance control method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a robot anti-collision control method according to an embodiment of the present application when a motion relationship is a relative motion.
Fig. 3 is a schematic diagram illustrating a motion relationship when the robot collision avoidance control method according to the embodiment of the present application is a first homodromous motion.
Fig. 4 is a schematic diagram illustrating a motion relationship when the manipulator collision avoidance control method according to the embodiment of the present application is a second equidirectional motion.
Fig. 5 is a schematic diagram illustrating a motion relationship of a robot collision avoidance control method according to an embodiment of the present application when the motion relationship is a first stationary motion.
Fig. 6 is a schematic diagram illustrating a motion relationship of a second stationary motion in a robot collision avoidance control method according to an embodiment of the present application
Fig. 7 is a structural diagram of a manipulator collision avoidance control system according to an embodiment of the present application.
Description of reference numerals:
1. an acquisition module; 2. a prediction module; 3. and a control module.
Detailed Description
The embodiment of the application discloses a manipulator anti-collision control method. Based on two or more than two manipulators arranged on the same track, for convenience of description, in this embodiment, the adjacent manipulators are respectively referred to as a first manipulator and a second manipulator. In addition, in practical applications, the first manipulator and the second manipulator may be controlled by the same controller, or may be controlled by different controllers. When the controller is controlled by different controllers respectively, the controllers are communicated with each other, data interaction is realized, and the purpose of anti-collision control of the first manipulator and the second manipulator is achieved. Referring to fig. 1, the method includes:
and taking one end of the track close to the first manipulator as a first origin.
The approach of the rail to the first robot is relative to the approach of the second robot. Because the positions of the two manipulators on the same rail cannot be interchanged, relative to the position of the second manipulator on the rail, one end close to the first manipulator is always the same end of the rail and does not change along with the change of the position of the first manipulator on the rail.
In this embodiment, the first origin, that is, the end of the track close to one end of the first manipulator, may be regarded as the 0 position corresponding to the first manipulator during calculation, so as to facilitate calculation of the first current displacement value and the like. The first origin may be any point on the track, and the first origin is used to define a final position that can be reached when the first robot moves in a direction away from the second robot, that is, the 0 position of the first robot.
And taking one end of the track close to the second manipulator as a second origin.
It is understood that the method for determining or establishing the second origin is the same as that of the first origin, and since the end of the track close to the second manipulator is always the same end of the track and does not change with the position of the second manipulator on the track, the second origin can also be understood as the end of the track far from the first manipulator. That is, in this embodiment, the second origin refers to a position of the track near the end of the second manipulator, and during calculation, the end can be regarded as a 0 position corresponding to the second manipulator, so as to facilitate calculation of the distance value between the second current displacement value and the like.
The second origin may be any point on the trajectory, and the second origin defines a final position that can be reached when the second robot moves in a direction away from the first robot, that is, the 0 position of the second robot. It should be noted that the first origin and the second origin cannot coincide, and the first origin should be located at a side close to the first manipulator and the second origin should be located at a side close to the second manipulator; when first manipulator and second manipulator all are located between first initial point and the second initial point promptly, no matter where first manipulator and second manipulator are located, one side that second manipulator was kept away from to first manipulator is first initial point all the time, and one side that first manipulator was kept away from to second manipulator is the second initial point all the time.
And S100, acquiring the maximum safe displacement value of the first manipulator and the second manipulator.
Specifically, in an embodiment, S100 specifically includes:
and S110, acquiring a preset minimum distance value between the first manipulator and the second manipulator.
The minimum distance value is determined according to an actual production environment and/or production requirements, for example, both the first manipulator and the second manipulator are used for moving a large article, and when the distance value between the first manipulator and the second manipulator is the minimum distance value, the article on the first manipulator should not contact with the article on the second manipulator, so as to ensure the stability of article moving. In addition, when the minimum pitch value satisfies the above condition, the movable distance of the first robot and/or the second robot on the track should be increased as much as possible. If the distance between the first manipulator and the second manipulator is larger than 20 cm, the articles on the first manipulator and the second manipulator do not contact. The minimum pitch value may be set to 22 cm or 25 cm at this time.
And S120, acquiring a track length value between the first origin and the second origin.
And taking the first origin as a zero point, calculating a distance value from the first origin to the second origin along the track, wherein the distance value obtained when the second origin is reached is the length value of the track. Since the first origin may be any point of the track and the second origin may be any point of the track, the track length value may not be equal to the real length value of the track. For example, the real length of the track is 5 meters, and the length of the track between the first origin and the second origin may be 4 meters or 4.8 meters. In the present embodiment, for convenience of description and calculation, the first origin and the second origin are respectively end points of two end heads of the track.
And S130, obtaining a maximum safe displacement value based on the minimum distance value and the track length value.
Specifically, the maximum safety shift value is obtained by D = L-K. Wherein D is the maximum safe displacement value; l is the track length value; k is the minimum spacing value.
In another embodiment, the specific steps of S100 include:
and S110, acquiring a preset minimum distance value between the first manipulator and the second manipulator.
S140, driving the first manipulator and the second manipulator to positions with a minimum distance value, acquiring a moving distance of the first manipulator from a first origin to a current position, and acquiring a moving distance of the second manipulator from a second origin to the current position;
and S150, adding the two moving distances to obtain a maximum safe displacement value.
S200, acquiring a first working parameter of the first manipulator and a second working parameter of the second manipulator.
The first operating parameter includes a first motion state, a first motion direction, a first current displacement value, and a first target displacement value. Wherein the first motion state comprises motion and rest; the first direction of motion includes approaching the second robot and departing the second robot.
The second operating parameters include a second motion state, a second motion direction, a second current displacement value, and a second target displacement value. Wherein the second motion state comprises motion and stationary; the second direction of motion includes approaching the first manipulator and departing the first manipulator.
It will be understood that the first and second directions of movement can also be defined as forward and backward, or left and right, or up and down. Specifically, the two end heads of the same track where the first manipulator and the second manipulator are located are taken as references, and the manipulator moves towards the direction close to one of the end heads, so that the manipulator is considered to be forward, leftward or upward; moving in a direction closer to the other end is considered to be rearward, rightward, or downward. It is sufficient to distinguish the moving direction of the manipulator.
And acquiring the first motion state and the second motion state are known by acquiring motion parameters in a preset manipulator control program. It is understood that the control program of the robot needs to be set to control the operation of the robot, and the control program includes a movement control program of the robot, i.e. when, in what direction, with what acceleration, how long, and where the robot reaches. The first motion state can be known only by acquiring parameters in a movement control program preset by the first manipulator; for example, when the first working parameter of the first manipulator is acquired, the movement control parameter of the first manipulator is not acquired, and the first motion state is static; conversely, the first motion state is motion. The second motion state, the first motion direction and the second motion direction are all the same as the first motion state, and are not described again.
The obtaining of the first current displacement value comprises:
and S210, taking the distance from the current position of the first manipulator to the first origin as a first current displacement value.
The distance from the current position to the first origin refers to a distance that the first manipulator moves from the current position to the first origin, and the distance is a first current displacement value. Specifically, for the servo manipulator, the manipulator is provided with a photoelectric encoder, and the current position and the current moving speed of the manipulator on the track can be known by acquiring parameters generated by the photoelectric encoder. For other types of manipulators, the current position of the manipulator can be known by setting coordinate values.
The step of obtaining the first target displacement value comprises:
and S220, taking the distance from the target position of the first manipulator to the first origin as a first target displacement value.
The target position of the first manipulator can be known by acquiring a preset movement control program of the first manipulator.
The obtaining step of the second current displacement value comprises the following steps:
and S230, taking the distance from the current position of the second manipulator to the second origin as a second current displacement value.
The step of obtaining the second target displacement value comprises:
and S240, taking the position from the target position of the second manipulator to the second origin as a second target displacement value.
The method for acquiring the current position of the second manipulator, the method for calculating the second current displacement value and the method for acquiring the target position of the second manipulator are the same as those of the first manipulator, and are not repeated. It should be noted that the execution sequence among S210, S220, S230, and S240 is not required, and may be executed simultaneously or in any order.
And S300, acquiring a first braking distance of the first manipulator and a second braking distance of the second manipulator.
Wherein, the step of obtaining the first braking distance of the first manipulator comprises:
and S310, acquiring a preset first maximum moving speed and a preset first braking time of the first manipulator.
The first maximum moving speed represents a maximum moving speed that the first manipulator can reach during the moving process. Namely, when the moving speed of the first manipulator reaches the first maximum moving speed, the preset moving control program of the first manipulator automatically controls the first manipulator to move at a constant speed, and the first manipulator does not accelerate any more. The first brake time represents the time it takes for the first manipulator to brake from the start to a speed of zero. It is understood that the first maximum moving speed and the first braking time are indispensable parameters in the preset movement control program of the first manipulator, and therefore, the first maximum moving speed and the first braking time can be directly obtained.
And S320, obtaining a first braking distance through M1= V1T 1/2.
Wherein M1 is a first braking distance; v1 is the first maximum moving speed; t1 is the first braking time. And calculating to obtain a first braking distance based on the uniform acceleration movement formula, wherein the first braking distance is the deceleration distance from uniform deceleration movement to rest of the first manipulator. In addition, since V1 is the first maximum moving speed, M1 is actually the maximum braking distance of the first robot, which facilitates calculation and reduces the error rate of the prediction result.
The step of acquiring the second stopping distance of the second manipulator includes:
and S330, acquiring a preset second maximum moving speed and a preset second braking time of the second manipulator.
And S340, obtaining a second braking distance through M2= V2 × T2/2.
Wherein M2 is the second stopping distance; v2 is the second maximum moving speed; t2 is the second braking time. The second stopping distance, i.e., the deceleration distance of the second robot from the uniform deceleration movement to the standstill, is the maximum stopping distance of the second robot in practice because V2 is the second maximum moving speed, M2.
S400, obtaining a prediction result based on the first working parameter, the second working parameter, the first braking distance, the second braking distance and the maximum safe displacement value.
Specifically, the specific step of S400 includes:
and S410, obtaining the motion relation between the first manipulator and the second manipulator based on the first motion state, the second motion state, the first motion direction and the second motion direction.
Wherein, the specific step of S410 comprises:
s411, acquiring a current first motion state and a first motion direction of a first manipulator; and acquiring the current second motion state and the second motion direction of the second manipulator.
Most specifically, since the control method in the embodiment of the present application monitors the motion conditions of the first manipulator and the second manipulator in real time, it is necessary to acquire the current motion states and motion directions of the first manipulator and the second manipulator.
And S412, when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, the second motion state of the second manipulator is motion, and the second motion direction is close to the first manipulator, the motion relation is opposite motion.
And S413, when the first motion state of the first manipulator is motion, the first motion direction is far away from the second manipulator, and the second motion state of the second manipulator is motion, and the second motion direction is close to the first manipulator, the motion relation is first same-direction motion.
The first co-directional movement, i.e. both the first manipulator and the second manipulator, moves in a direction close to the first origin.
And S414, when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, the second motion state of the second manipulator is motion, and the second motion direction is far away from the first manipulator, the motion relation is second equidirectional motion.
The second equidirectional motion, namely the first manipulator and the second manipulator move towards the direction close to the second origin.
S415, when the first motion state of the first manipulator is stationary, the second motion state of the second manipulator is motion, and the second motion direction is close to the first manipulator, the motion relationship is the first stationary motion.
The first static motion is that the first manipulator is motionless, and the second manipulator moves towards the direction close to the first manipulator.
And S416, when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, and the second motion state of the second manipulator is static, the motion relation is second static motion.
The second stationary motion is that the second manipulator is stationary and the first manipulator moves in a direction closer to the second manipulator.
And S417, when the first motion state of the first manipulator is motion and the first motion direction is away from the second manipulator, the second motion state of the second manipulator is motion and the second motion direction is away from the first manipulator, and the motion relation is reverse motion.
And S420, when the motion relation is opposite motion, if the sum of the first current displacement value, the first braking distance, the second current displacement value and the second braking distance is larger than or equal to the maximum safe displacement value, the prediction result is that collision can occur.
Referring to FIG. 2, namely, when the values (S1 + M1) + (S2 + M2) ≧ D, the predicted result is that collision will occur, otherwise, the predicted result is that collision will not occur. Wherein S1 is the first current displacement value; m1 is a first braking distance; s2 is the second current displacement value; m2 is the second braking distance; d is the maximum safe displacement value.
And S430, when the motion relationship is the first same-direction motion, if the sum of the first current displacement value, the second current displacement value and the second braking distance is larger than or equal to the maximum safe displacement value, the predicted result is that collision can occur.
Referring to FIG. 3, that is, when S1+ (S2 + M2) ≧ D, the prediction result is collision, otherwise, the prediction result is no collision.
And S440, when the motion relation is the second equidirectional motion, if the sum of the first current displacement value, the first braking distance and the second current displacement value is greater than or equal to the maximum safe displacement value, the predicted result is that collision occurs.
Referring to FIG. 4, at (S1 + M1) + S2 ≧ D, the prediction result is collision, otherwise the prediction result is no collision.
S450, when the motion relation is the first static motion, if the sum of the second target displacement value and the first current displacement value is larger than or equal to the maximum safe displacement value, and the sum of the first current displacement value, the second current displacement value and the second braking distance is larger than or equal to the maximum safe displacement value, the prediction result is that collision can occur. And if the sum of the second target displacement value and the first current displacement value is smaller than the maximum safe displacement value, the sum of the first current displacement value, the second current displacement value and the second braking distance is not calculated any more, and the prediction result judges that the collision cannot occur.
Referring to FIG. 5, when K2+ S1 ≧ D, if S1+ (S2 + M2) ≧ D, a collision is predicted to occur. If S1+ (S2 + M2) < D, no collision is predicted.
If K2+ S1 < D, it is predicted that no collision will occur. Where K2 is the second target displacement value. This kind of judgement mode is convenient for be suitable for the second manipulator and starts earlier, and the condition of starting behind the first manipulator helps reducing the calculated amount, improves the adaptability.
And S460, when the motion relationship is the second static motion, if the sum of the first target displacement value and the second current displacement value is greater than or equal to the maximum safe displacement value, and the sum of the first current displacement value, the first braking distance and the second current displacement value is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur. And if the sum of the first target displacement value and the second current displacement value is smaller than the maximum safe displacement value, the sum of the first current displacement value, the first braking distance and the second current displacement value is not calculated any more, and the prediction result judges that the collision cannot occur.
Referring to FIG. 6, in the case of K1+ S2. gtoreq.D, (S1 + M1) + S2. gtoreq.D, it is predicted that a collision will occur. If (S1 + M1) + S2 < D, it is predicted that no collision will occur.
If K1+ S2 < D, it is predicted that no collision will occur. Where K1 is the first target displacement value. This kind of judgement mode is convenient for be suitable for the first manipulator and starts the condition after the second manipulator, helps reducing the calculated amount, improves the adaptability.
And S470, when the movement relation is reverse movement, predicting that collision does not occur.
Referring to fig. 1, in S500, when a collision is predicted to occur, a brake command is output.
In an embodiment, the specific step of S500 includes:
and S510, outputting a first braking instruction for controlling the first manipulator to brake and a second braking instruction for controlling the second manipulator to brake when the motion relation is opposite motion.
And S520, when the motion relation is the first same-direction motion, outputting a second brake command for controlling the second manipulator to brake, or outputting a first brake command for controlling the first manipulator to brake and a second brake command for controlling the second manipulator to brake.
And S530, when the motion relation is the second equidirectional motion, outputting a first braking instruction for controlling the first manipulator to brake, or outputting a first braking instruction for controlling the first manipulator to brake and a second braking instruction for controlling the second manipulator to brake.
And S540, when the motion relation is the first static motion, outputting a second braking instruction for controlling the second manipulator to brake.
And S550, outputting a first braking instruction for controlling the first manipulator to brake when the motion relation is the second static motion.
In another embodiment, the specific step of S500 includes:
and S560, outputting a first brake instruction for controlling the first manipulator to brake and a second brake instruction for controlling the second manipulator to brake.
The motion relation of the first manipulator and the second manipulator is not considered any more, the first braking instruction and the second braking instruction are output simultaneously, the first manipulator and the second manipulator are controlled to brake, and the probability of collision of the two manipulators is reduced to the maximum extent.
It should be noted that, when the two manipulators move in a back-to-back relationship, there is no possibility of collision between the two manipulators, so that a control command is not output.
And when the collision is predicted to occur, an alarm instruction is also output.
Specifically, the alarm instruction can be used for controlling an alarm to give an alarm, and alarm information can be displayed on an intelligent terminal such as a computer. So that the relevant personnel can know the collision condition of the mechanical arm and record the phenomenon.
The implementation principle of the manipulator anti-collision control method in the embodiment of the application is as follows: and predicting whether two manipulators on the same track collide with each other by using various parameters in a movement control program of the manipulators. When the predicted result is that collision will occur, a braking instruction and an alarm instruction are output, so that the mechanical arm is protected conveniently, and the production safety is improved.
The embodiment of the application also discloses a manipulator anti-collision control system, which refers to fig. 7 and comprises an acquisition module 1, a prediction module 2 and a control module 3. The obtaining module 1 is configured to obtain a maximum safe displacement value of the first manipulator and the second manipulator, a first braking distance of the first manipulator, a second braking distance of the second manipulator, a first working parameter of the first manipulator, and a second working parameter of the second manipulator. The prediction module 2 is used for obtaining a prediction result based on the first working parameter, the second working parameter, the first braking distance, the second braking distance and the maximum safe displacement value. The control module 3 is used for outputting a braking instruction when the predicted result is that the collision can happen.
The embodiment of the application also discloses an intelligent terminal which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute the manipulator anti-collision control method.
The embodiment of the application also discloses an intelligent terminal which stores a computer program capable of being loaded by the processor and executing the manipulator anti-collision control method.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A manipulator anti-collision control method is characterized by comprising the following steps:
acquiring maximum safe displacement values of a first manipulator and a second manipulator;
acquiring a first braking distance of a first manipulator and a second braking distance of a second manipulator;
acquiring a first working parameter of a first manipulator and a second working parameter of a second manipulator;
obtaining a prediction result based on the first working parameter, the second working parameter, the first braking distance, the second braking distance and the maximum safe displacement value;
and outputting a braking instruction when the collision is generated as a result of the prediction.
2. The manipulator collision avoidance control method according to claim 1, characterized in that: the first working parameters comprise a first motion state, a first motion direction, a first current displacement value and a first target displacement value of the first manipulator;
the second working parameters comprise a second motion state, a second motion direction, a second current displacement value and a second target displacement value of the second manipulator;
the step of obtaining a prediction based on the first operating parameter, the second operating parameter, the first stopping distance, the second stopping distance, and the maximum safety displacement value comprises:
obtaining a motion relation between the first manipulator and the second manipulator based on the first motion state, the second motion state, the first motion direction and the second motion direction; the motion relation comprises opposite motion, first same-direction motion, second same-direction motion, first static motion of the first manipulator being static and second static motion of the second manipulator being static;
when the motion relation is opposite motion, if the sum of the first current displacement value, the first braking distance, the second current displacement value and the second braking distance is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur;
when the motion relation is a first same-direction motion, if the sum of the first current displacement value, the second current displacement value and the second braking distance is larger than or equal to the maximum safe displacement value, the prediction result is that collision can occur;
when the motion relation is a second equidirectional motion, if the sum of the first current displacement value, the first braking distance and the second current displacement value is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur;
when the motion relationship is first static motion, if the sum of the second target displacement value and the first current displacement value is greater than or equal to the maximum safe displacement value, and the sum of the first current displacement value, the second current displacement value and the second braking distance is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur;
and when the motion relationship is second static motion, if the sum of the first target displacement value and the second current displacement value is greater than or equal to the maximum safe displacement value, and the sum of the first current displacement value, the first braking distance and the second current displacement value is greater than or equal to the maximum safe displacement value, the prediction result is that collision can occur.
3. The manipulator collision avoidance control method according to claim 2, characterized in that: taking one end of the track close to the first manipulator as a first origin; taking one end of the track, which is far away from the first manipulator, as a second origin;
the obtaining of the first current displacement value comprises:
taking the distance from the current position of the first manipulator to the first origin as the first current displacement value;
the step of obtaining the first target displacement value comprises:
taking the distance from the target position of the first manipulator to the first origin as the first target displacement value;
the obtaining of the second current displacement value comprises:
taking the distance from the current position of the second manipulator to the second origin as the second current displacement value;
the step of obtaining the second target displacement value comprises:
and taking the position of the second manipulator target position to the second origin as the second target displacement value.
4. The manipulator collision avoidance control method according to claim 3, characterized in that: the step of acquiring the first braking distance of the first manipulator includes:
acquiring a preset first maximum moving speed of a first manipulator;
acquiring preset first braking time of a first manipulator;
obtaining the first braking distance by M1= V1 × T1/2; wherein M1 is the first braking distance; v1 is the first maximum moving speed; t1 is the first braking time;
the step of acquiring a second braking distance of the second manipulator includes:
acquiring a preset second maximum moving speed of the second manipulator;
acquiring preset second braking time of a second manipulator;
the second braking distance is obtained by M2= V2 × T2/2; wherein M2 is the second braking distance; v2 is the second maximum moving speed; t2 is the second braking time.
5. The manipulator collision avoidance control method according to claim 3, characterized in that: the step of obtaining the motion relationship between the first manipulator and the second manipulator based on the first motion state, the second motion state, the first motion direction and the second motion direction includes:
acquiring a current first motion state and a first motion direction of a first manipulator; the first motion state comprises motion and rest, and the first motion direction comprises approaching to the second manipulator and departing from the second manipulator;
acquiring a current second motion state and a second motion direction of a second manipulator; the second motion state comprises motion and static, and the second motion direction comprises approaching to the first manipulator and departing from the first manipulator;
when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, and the second motion state of the second manipulator is motion, and the second motion direction is close to the first manipulator, the motion relation is opposite motion;
when the first motion state of the first manipulator is motion and the first motion direction is far away from the second manipulator, and the second motion state of the second manipulator is motion and the second motion direction is close to the first manipulator, the motion relation is first same-direction motion;
when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, and the second motion state of the second manipulator is motion, and the second motion direction is far away from the first manipulator, the motion relation is second equidirectional motion;
when the first motion state of the first manipulator is static, the second motion state of the second manipulator is motion, and the second motion direction is close to the first manipulator, the motion relation is first static motion;
when the first motion state of the first manipulator is motion, the first motion direction is close to the second manipulator, and the second motion state of the second manipulator is static, the motion relation is second static motion.
6. The manipulator collision avoidance control method according to claim 2, characterized in that: the step of outputting a braking command includes:
when the motion relation is opposite motion, outputting a first braking instruction for controlling the first manipulator to brake and a second braking instruction for controlling the second manipulator to brake;
when the motion relation is a first same-direction motion, outputting a second braking instruction for controlling the second manipulator to brake, or outputting a first braking instruction for controlling the first manipulator to brake and a second braking instruction for controlling the second manipulator to brake;
when the motion relation is a second equidirectional motion, outputting a first braking instruction for controlling the first manipulator to brake, or outputting a first braking instruction for controlling the first manipulator to brake and a second braking instruction for controlling the second manipulator to brake;
when the motion relation is first static motion, outputting a second braking instruction for controlling the second manipulator to brake;
and when the motion relation is the second static motion, outputting a first braking instruction for controlling the first manipulator to brake.
7. The manipulator collision avoidance control method according to claim 3, characterized in that: the step of obtaining the maximum safe displacement values of the first manipulator and the second manipulator comprises:
acquiring a preset minimum distance value between a first manipulator and a second manipulator;
acquiring a track length value between a first origin and a second origin;
and obtaining the maximum safe displacement value based on the minimum distance value and the track length value.
8. The utility model provides a manipulator collision avoidance control system which characterized in that: the device comprises an acquisition module (1) for acquiring the maximum safe displacement value of a first manipulator and a second manipulator, a first brake distance of the first manipulator, a second brake distance of the second manipulator, a first working parameter of the first manipulator and a second working parameter of the second manipulator;
a prediction module (2) for obtaining a prediction result based on the first operating parameter, the second operating parameter, the first braking distance, the second braking distance and the maximum safety displacement value;
and the control module (3) is used for outputting a braking instruction when the collision is predicted to occur.
9. The utility model provides an intelligent terminal which characterized in that: comprising a memory and a processor, said memory having stored thereon a computer program which can be loaded by said processor and which executes the method according to any of claims 1 to 7.
10. A storage medium, characterized by: a computer program which can be loaded by a processor and which performs the method according to any one of claims 1 to 7.
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