CN113910300A - Robot tail end collision avoidance method - Google Patents
Robot tail end collision avoidance method Download PDFInfo
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- CN113910300A CN113910300A CN202111238787.1A CN202111238787A CN113910300A CN 113910300 A CN113910300 A CN 113910300A CN 202111238787 A CN202111238787 A CN 202111238787A CN 113910300 A CN113910300 A CN 113910300A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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Abstract
The invention belongs to the technical field of industrial automatic production and discloses a robot tail end collision avoidance method. The robot tail end is provided with a working tool, and the robot tail end anti-collision method comprises the following steps: wrapping the outer part of the tail end of the operation tool by using a connecting piece, wherein the connecting piece is of a cylinder structure; obtaining the position of an axis coordinate system of the connecting piece and an external interference area; and judging whether the interference between the axis coordinate system position of the connecting piece and the external interference area occurs or not, and if so, stopping the operation of the tail end of the robot. Utilize the connecting piece can wrap up the operation instrument end of isostructure and shape, whether can appear interfering through the axis coordinate system position and the outside of judging the connecting piece between interfering the region, realize colliding the detection to the external world to realize the terminal anticollision function of operation instrument of arbitrary structure easily, avoid having played guard action, increase of service life because of the damage that the rigidity collision caused appears.
Description
Technical Field
The invention relates to the technical field of industrial automatic production, in particular to a robot tail end collision prevention method.
Background
With the rapid development of industrial automation, industrial robots are widely used in manufacturing. In an actual engineering project, if different types of operation are required, a plurality of operation tools can be additionally arranged at the tail end of the robot so as to meet the requirements of different working conditions.
However, different operation tools are additionally arranged at the tail end of the robot, interference between the robot and external equipment is inevitable, and if rigid collision occurs, alarm shutdown of the robot is caused, so that production efficiency is affected.
Disclosure of Invention
The invention aims to provide a robot tail end anti-collision method which is used for protecting the tail end of a machine and has strong applicability.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot end collision avoidance method, wherein a working tool is arranged at the robot end, the robot end collision avoidance method comprises the following steps:
wrapping the outer part of the tail end of the operation tool by using a connecting piece, wherein the connecting piece is of a cylinder structure;
obtaining the position of an axis coordinate system of the connecting piece and an external interference area;
and judging whether the interference between the axis coordinate system position of the connecting piece and the external interference area occurs or not, and if so, stopping the operation of the tail end of the robot.
Preferably, the acquiring the external interference region includes the following steps;
establishing a model of an external interference region, wherein the model of the external interference region is of a cuboid structure;
determining the external interference region as BT＝[xmin ymin zmin；xmax ymax zmax]Wherein, in the step (A),
p1 and P2 are the two diagonal vertices of the model of the outer interference region, respectively.
Preferably, the step of obtaining the axis coordinate system position of the connecting piece comprises the following steps;
acquiring a position of a robot joint corresponding to a work tool;
acquiring the position of a working tool at the tail end of the robot according to the position of the joint of the robot;
and after the position of the axis coordinate system of the connecting piece is calibrated, solving the axis position of the connecting piece according to the position of the working tool at the tail end of the robot.
Preferably, the judging whether the interference between the axis coordinate system position of the connecting piece and the external interference area occurs includes the following steps:
determining a main view area of the external interference area;
judging whether the axis coordinate system position of the connecting piece and the main view area of the external interference area have an overlapping area in the Z direction, if so, determining that interference occurs between the connecting piece and the top view area of the external interference area, and if not, determining that no interference occurs between the connecting piece and the external interference area.
Determining that interference occurs between the connector and a top-down region of the external interference region;
dividing a plane where the overlooking area is located into different functional areas by utilizing a contour extension line of the overlooking area of the external interference area, wherein each functional area comprises an interference area, an outer side area and an outer corner area, the interference area refers to an area surrounded by the overlooking area of the external interference area, the outer side area refers to an area which is attached to the side edge of the overlooking area of the external interference area and is far away from the interference area, one outer corner area is arranged between every two adjacent outer side areas, and the outer corner area refers to an area which is attached to a right-angled point of the overlooking area of the external interference area and is far away from the interference area;
and determining whether the axis coordinate system position of the connecting piece and the overlooking area of the external interference area interfere or not according to the axis coordinate system position of the connecting piece and the relative positions of the interference area, the outer side area and the outer corner area.
Preferably, if the cross section of the connecting piece is of a circular structure, the position of the circle center of the connecting piece is determined by utilizing the position of an axis coordinate system of the connecting piece;
when the circle center position of the connecting piece is positioned in the interference area, determining the axis coordinate system position of the connecting piece and the overlooking area of the external interference area to generate interference;
when the circle center position of the connecting piece is not located in the interference area, if the circle center position of the connecting piece is located in the outer area and the distance from the circle center position of the connecting piece to the side edge of the overlooking area closest to the circle center position of the connecting piece is smaller than the radius of the connecting piece, the axis coordinate system position of the connecting piece and the overlooking area of the outer interference area are determined to be interfered.
Preferably, when the circle center position of the connecting piece is not located in the interference area, if the circle center position of the connecting piece is located in the outer corner area and the distance from the circle center position of the connecting piece to the vertex of the overlooking area closest to the circle center position of the connecting piece is smaller than the radius of the connecting piece, the axis coordinate system position of the connecting piece and the overlooking area of the outer interference area are determined to be interfered.
Preferably, if the cross section of the connecting piece is of an oblong structure, the two axis coordinate system positions of the connecting piece are used for determining the simplified line segment of the connecting piece;
and if the four vertexes of the interference area are positioned on the same side of the simplified line segment of the connecting piece, and the minimum value of the shortest distances from the four vertexes of the interference area to the simplified line segment is smaller than the radius of the connecting piece, determining the position of the axis coordinate system of the connecting piece and the interference of the overlooking area of the external interference area.
Preferably, if the four vertexes of the interference area are positioned at two sides of the simplified line segment of the connecting piece, judging whether an overlapping area exists between the simplified line segment of the connecting piece and the interference area, if so, determining that the axis coordinate system position of the connecting piece and the overlooking area of the external interference area interfere;
if not, if the minimum value of the shortest distances from the two end points of the simplified line segment to the four sides of the interference area is smaller than the radius of the connecting piece, determining that the axis coordinate system position of the connecting piece and the overlooking area of the external interference area have interference.
The invention has the beneficial effects that:
according to the robot tail end anti-collision method provided by the invention, the connecting piece is of the cylinder structure, the cylinder structure is simpler in structure and lower in production cost, and the interference condition between the operation tool and external equipment can be conveniently detected due to the fact that the sizes of the upper cross section and the lower cross section of the cylinder structure are the same. Through setting up the outside of connecting piece parcel in the operation instrument end, realize the terminal cladding of operation instrument, play the terminal effect of protection operation instrument, avoid the condition that the rigidity collided to appear between the terminal of operation instrument and the external equipment. Utilize the connecting piece can wrap up the operation instrument end of isostructure and shape, whether can appear interfering through the axis coordinate system position and the outside of judging the connecting piece between interfering the region, realize colliding the detection to the external world to realize the terminal anticollision function of operation instrument of arbitrary structure easily, avoid having played guard action, increase of service life because of the damage that the rigidity collision caused appears.
Drawings
FIG. 1 is a schematic structural diagram of a robot end collision avoidance method according to the present invention, in which the connecting member has a single-cylinder structure;
FIG. 2 is a schematic structural diagram of a robot end collision avoidance method of the present invention in which the connecting member is a double-cylinder translational body;
FIG. 3 is a schematic diagram of a model structure of an external interference region in the robot end collision avoidance method of the present invention;
FIG. 4 is a top view of a model of an external interference zone in the robot end collision avoidance method of the present invention;
FIG. 5 is a schematic diagram illustrating the front-view interference determination of the external interference area and the single-cylinder structure in the robot end collision avoidance method according to the present invention;
FIG. 6 is a schematic diagram of the front-view interference determination of the external interference region and the double-cylinder translation body in the robot end collision avoidance method of the present invention;
FIG. 7 is a schematic diagram illustrating the top-down interference determination of the external interference area and the single-cylinder structure in the robot end collision avoidance method of the present invention;
FIG. 8 is a schematic diagram of a dual-cylinder translation body corresponding to a simplified line segment in a top view in the robot end collision avoidance method of the present invention;
FIG. 9 is a schematic diagram of the top-view interference determination of the external interference area and the double-cylinder translational body in the robot end collision avoidance method of the present invention;
FIG. 10 is a schematic diagram of a robot end collision avoidance method of the present invention using a coarse wrap approach;
fig. 11 is a schematic diagram of the robot end collision avoidance method of the present invention using a fine wrapping approach.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In order to ensure the optimal configuration of resources, in the existing industrial automation production, a working tool can be arranged at the tail end of the robot, and different working tools are additionally arranged at the tail end of the robot, so that different types of operation can be completed by using one robot, and the utilization rate of the robot is improved.
Due to the fact that different work tools are different in size and shape, if the work tool is large in size, the problem that the work tool and external equipment are in rigid collision easily occurs, and service life is affected. In order to solve the problem, the existing method is to install a passive flexible wrist at the tail end of the robot and reduce the damage caused by collision by using an elastic mode, but the matching with an operation space cannot be completely met, and the collision still can inevitably occur.
In order to solve the problem, the present embodiment provides a robot end collision avoidance method, including the following steps:
the method comprises the following steps that firstly, a connecting piece is wrapped outside the tail end of the operation tool, wherein the connecting piece is of a cylinder structure;
as shown in fig. 1-2, the connecting member is wrapped outside the end of the working tool, wherein the connecting member is a cylindrical structure, the cylindrical structure is simple in structure and low in production cost, and the interference between the working tool and external equipment can be conveniently detected due to the fact that the dimensions of the upper cross section and the lower cross section of the cylindrical structure are the same. Through setting up the outside of connecting piece parcel in the operation instrument end, realize the terminal cladding of operation instrument, play the terminal effect of protection operation instrument, avoid the condition that the rigidity collided to appear between the terminal of operation instrument and the external equipment. Can dismantle to connect in the operation instrument end through the one end that sets up the connecting piece, can freely change the connecting piece according to the operation operating mode of difference, and is free nimble, the installation and the dismantlement of being convenient for.
Secondly, obtaining the position of an axis coordinate system of the connecting piece and an external interference area;
because the connecting piece is of a cylindrical structure, the sizes of the upper cross section and the lower cross section of the connecting piece are the same, and the position of an axis coordinate system of the connecting piece is relatively easy to acquire. Although the link plays a role of protecting the end of the work tool, since the link is covered at the end of the work tool, if the robot collides with the outside and the link directly collides with the outside, the relative position between the position of the link and the outside needs to be considered, and for this purpose, an external interference region, which is a region included in an object or a workpiece that may interfere with the link, needs to be acquired to determine the relative positional relationship.
And step three, judging whether the interference between the axis coordinate system position of the connecting piece and the external interference area occurs or not, and if so, stopping the operation of the tail end of the robot.
If interference occurs between the position of the axis coordinate system of the connecting piece and the external interference area, the connecting piece is likely to collide with the external interference area, and at the moment, the operation of the tail end of the robot is stopped, so that rigid collision is avoided; if there is no interference between the position of the axis coordinate system of the link and the external interference area, meaning that the link may not collide with the external interference area, the robot tip may continue to operate.
The robot terminal anti-collision method provided by the embodiment can wrap the operation tool terminals with different structures and shapes by utilizing the connecting piece, and can realize the collision detection to the outside by judging whether the interference can occur between the axis coordinate system position of the connecting piece and the external interference area, thereby easily realizing the operation tool terminal anti-collision function with any structure, avoiding the damage caused by the occurrence of rigid collision, playing a role in protection and prolonging the service life.
In order to obtain the position of the axis coordinate system of the connecting piece, the connecting piece of the cylindrical structure is firstly introduced. The connecting members are classified into different types according to their cross-sectional shapes.
First, as shown in fig. 1, the cross section of the connecting piece is a circular structure, that is, the connecting piece is specifically a single-cylinder structure, if the operation tool is a finger of the manipulator, the connecting piece is equivalent to a finger stall of the finger, the operation flexibility of the finger is not affected while the finger is protected, and the practicability is stronger. For this type of connector, the connector has only one axis, and the identifier tool1 is the location of the axis coordinate system of the connector.
Secondly, as shown in fig. 2, the cross section of the connecting piece is an oblong structure, that is, the connecting piece is specifically a double-cylinder translational body, which can be considered as a single cylinder vertically placed, so that the axis of the single cylinder keeps balance with the horizontal plane, and then the single cylinder is translated for a distance along the horizontal direction to form the double-cylinder translational body. The two ends of the double-cylinder translation body are both arc-shaped structures without water chestnuts, the structure is smooth, the scraping and rubbing situation is avoided, and the safety is high. For this link, the link has two axes, and the identifiers tool1 and tool2 are the positions of the axis coordinate system of the link.
If the end of the working tool is a straight rod-shaped structure, the straight rod-shaped structure can be embedded into the double-cylinder translation body, and the working tool with the structure is convenient to operate. In addition, if the operation tool is a tool for polishing and the like, a large area of contact with the contact surface is required, the connecting piece is adopted to be a double-cylinder translation body, the bottom surface of the double-cylinder translation body is smooth, and compared with a single cylinder, the effective contact area is increased, and the contact and polishing effects are improved.
Specifically, an XYZ coordinate system is provided at the tip of the work tool, and the purpose thereof is, first, to be able to detect the positional relationship between the work tool and the external device, avoiding the occurrence of a rigid collision; and secondly, the relative positions of the operation tool and the connecting piece during installation are convenient to adjust, so that the installation accuracy is ensured. Wherein the initial position of the tail end of the working tool relative to the top surface of the connecting piece is Z1, the radius of the single cylinder is R1, the height of the single cylinder is h1, and the radius of the two end parts of the double-cylinder translation body is R1.
Further, the step of obtaining the axis coordinate system position of the connecting piece comprises the following steps;
acquiring a position of a robot joint corresponding to a work tool;
acquiring the position of a working tool at the tail end of the robot according to the position of the joint of the robot;
and after the position of the axis coordinate system of the connecting piece is calibrated, solving the axis position of the connecting piece according to the position of the working tool at the tail end of the robot.
Different types of connectors will be described separately below.
When the cross section of the connecting piece is in a circular structure, namely the connecting piece is in a single-cylinder structure, the position of an axis coordinate system of the connecting piece is not calibrated, namely the position of a tool1 tool coordinate system is
Write a robot homogeneous matrix of
Suppose that the current robot joint position is thetaT＝[θ1θ2θ3θ4]Then, according to the positive kinematic equation of the robot end, the position of the robot end is
Wherein R (theta) is the attitude of the robot and P (theta) is the position of the robot.
From the conversion relationship, the position theta of the robot at the robot joint can be obtainedTWhen the position corresponding to the axis of the tool1 is as
Wherein
Thus, the axis position of the tool1 is
When the cross section of the connecting piece is of an oblong structure, namely the connecting piece is specifically a double-cylinder translation body, the solving method is similar to that of a single-cylinder structure.
That is, the axial position of the corresponding tool1 is
Corresponding to the axial position of the tool2
Further, acquiring the external interference region includes the following steps;
as shown in fig. 3, a model of the external interference region is established, wherein the model of the external interference region is a rectangular parallelepiped structure;
determining the external interference region as BT＝[xmin ymin zmin；xmax ymax zmax]Wherein, in the step (A),
p1 and P2 are two diagonal vertices of the model of the external interference region, respectively, and as shown in fig. 4, which is a top view of the external interference region, the four sides of the bottom surface of the model of the external interference region are L1, L2, L3 and L4, respectively.
After respectively determining the axis coordinate system position and the external interference area of the connecting piece, judging whether the axis coordinate system position and the external interference area of the connecting piece are interfered with each other, specifically, judging whether the axis coordinate system position and the external interference area of the connecting piece are interfered with each other comprises the following steps:
because the model of the external interference area is of a three-dimensional structure, the interference judgment is firstly carried out on the main visual area of the external interference area, then the interference judgment is carried out on the overlooking area of the external interference area, and the judgment is respectively carried out according to different visual angles, so that the judgment accuracy is high.
Determining a main visual area of the external interference area, wherein the main visual area refers to a plane where the X direction and the Z direction are located;
judging whether an overlapping area exists between the connecting piece and a main visual area of the external interference area in the Z-axis direction, if so, determining a top view area of the external interference area, wherein the top view area refers to a plane where the X direction and the Y direction are located, and if not, determining that no interference exists between the connecting piece and the external interference area.
And judging whether the axis coordinate system position of the connecting piece and the overlooking area of the external interference area interfere or not, if so, stopping the operation of the tail end of the robot, and if not, determining that no interference exists between the axis coordinate system position of the connecting piece and the external interference area.
As shown in fig. 5, the main view area of the external interference area divides the robot working range into work areas of 0-2 # different, where the work area 0 is the interference area, and the work areas 1 and 2 are non-interference areas.
If the cross section of the connecting piece is a circular structure, namely the connecting piece is a single cylinder structure, the relationship is judged according to the main view interference of the external interference area and the single cylinder, and the following three conditions can exist: the link identified as t2 is located in working area No. 0, which has an overlap with the interference area, meaning that a collision will occur; the identifier t1 is located in the work area No. 2, the connector number work area of the identifier t3, and the identifiers t1 and t3 have no overlapping portions with the interference region, meaning that no collision occurs.
As shown in fig. 6, if the cross section of the connecting member is an oblong structure, that is, the connecting member is a double-cylinder translational body, the relationship may be determined according to the main-view interference between the external interference region and the double-cylinder translational body, and there may be the following three cases: the portion of the link identified at t1 is located in working area No. 0, which has an overlap with the interference area, meaning that a collision will occur; the identifier t2 is located in the work area No. 2, the connector number work area of the identifier t3, and the identifiers t1 and t3 have no overlapping portions with the interference region, meaning that no collision occurs.
For the judgment of the overlook area, the step of judging whether the axis coordinate system position of the connecting piece and the overlook area of the external interference area interfere or not comprises the following steps:
as shown in fig. 7, a plane in which the top view area is located is divided into different functional areas by using an outline extension line of the top view area of the external interference area, and the functional areas include an interference area, an outer side area and an outer corner area, wherein the interference area refers to an area surrounded by the top view area of the external interference area, namely, a functional area No. 0; the outer side areas refer to areas which are attached to the side edges of the overlooking area of the external interference area and are far away from the interference area, namely a No. 1 functional area, a No. 2 functional area, a No. 3 functional area and a No. 4 functional area, an outer corner area is arranged between every two adjacent outer side areas, and the outer corner areas refer to areas which are attached to right-angle points of the overlooking area of the external interference area and are far away from the interference area, namely a No. 5 functional area, a No. 6 functional area, a No. 7 functional area and a No. 8 functional area;
and determining whether the axis coordinate system position of the connecting piece and the overlooking area of the external interference area interfere or not according to the axis coordinate system position of the connecting piece and the relative positions of the interference area, the outer side area and the outer corner area.
If the cross section of the connecting piece is in a circular structure, namely the connecting piece is in a single-cylinder structure, the position of the center of a circle of the connecting piece, namely the axial position of the single-cylinder tool1, is determined by utilizing the axial coordinate system position of the connecting piece
The position of the center of the circle is determined.
According to the top-view interference judging relation between the external interference area and the single cylinder, the following five cases c 1-c 5 can exist:
c1 lies entirely within functional region No. 0, and c4 and c4 lie partially within functional region No. 0, meaning that c1, c4 and c5 have overlapping portions with the interference region; c2 is located within zone 1 and at a relatively greater distance from zone 0, c3 is located within zone 8 and at a relatively lesser distance from zone 0, and there is no overlap of c2 and c3 with the interference region.
When the circle center position of the connecting piece is positioned in the interference area, determining that the axis coordinate system position of the connecting piece and the overlooking area of the external interference area interfere with each other, in other words, the circle center of the c1 single cylinder is completely positioned in the functional area No. 0, so that the single cylinder and the external interference area interfere with each other;
when the circle center position of the connecting piece is not located in the interference area, if the circle center position of the connecting piece is located in the outer area and the distance from the circle center position of the connecting piece to the side edge of the overlooking area closest to the circle center position of the connecting piece is smaller than the radius of the connecting piece, the axis coordinate system position of the connecting piece and the overlooking area of the outer interference area are determined to be interfered.
In other words, if the center of the single cylinder is located in the functional area No. 1, the functional area No. 2, the functional area No. 3 and the functional area No. 4, whether interference occurs is judged according to the distance between the center of the single cylinder and the side edges L1, L2, L3 and L4, and if the distance between the center of the connecting piece and the side edge of the overlooking area closest to the center of the connecting piece is smaller than the radius of the connecting piece, the distance between the center of the single cylinder and the side edges L1, L2, L3 and L4 is closer, the single cylinder and the interference area have interference; if the distance from the center of the connecting piece to the side of the top view area closest to the connecting piece is greater than or equal to the radius of the connecting piece, the fact that the distance between the center of the single cylinder and the side L1, L2, L3 and L4 is relatively far means that the single cylinder and the interference area do not interfere.
When the circle center position of the connecting piece is not located in the interference area, if the circle center position of the connecting piece is located in the outer corner area and the distance from the circle center position of the connecting piece to the vertex of the overlooking area closest to the circle center position is smaller than the radius of the connecting piece, determining that the axis coordinate system position of the connecting piece and the overlooking area of the outer interference area are interfered.
In other words, if the circle center of the single cylinder is in the function area No. 5, the function area No. 6, the function area No. 7 and the function area No. 8, whether interference occurs is judged according to the distance between the circle center of the single cylinder and the vertex of the overlooking area, and if the distance between the circle center position of the connecting piece and the vertex of the overlooking area closest to the circle center position is smaller than the radius of the connecting piece, the distance between the circle center of the single cylinder and the vertex of the overlooking area is relatively short, and the single cylinder and the interference area have interference; if the distance from the circle center of the connecting piece to the vertex of the overlooking area closest to the circle center of the connecting piece is larger than or equal to the radius of the connecting piece, the fact that the distance between the circle center of the single cylinder and the vertex is relatively long means that the single cylinder does not interfere with the interference area.
As shown in fig. 8, if the cross section of the connecting piece is an oblong structure, when the top-view interference determination relationship between the external interference area and the double-cylinder translation body is performed, the two axis coordinate system positions of the connecting piece are used to determine the simplified line segment of the connecting piece. In other words, from a top view of a double cylindrical translation body, c1C2 are two circle centers of the double-cylinder translation body, and are simplified into a simplified line segment c12, and two end points of the simplified line segment are the circle centers. Axial position of double-cylinder translation body tool1
tool2 axial position
Together determine the location of the simplified line segment.
As shown in fig. 9, after the dual-cylinder translation body is simplified, the dual-cylinder translation body and the external interference area may have several situations, where the simplified line segment a passes through the function area No. 0, the simplified line segment B is respectively disposed in the function area No. 1, the function area No. 4, and the function area No. 8, the simplified line segment C is located in the function area No. 1, and the simplified line segment D is located in the function area No. 2.
And if the four vertexes of the interference area are positioned on the same side of the simplified line segment of the connecting piece, and the minimum value of the shortest distances from the four vertexes of the interference area to the simplified line segment is smaller than the radius of the connecting piece, determining the position of the axis coordinate system of the connecting piece and the interference of the overlooking area of the external interference area.
In other words, for the simplified line segment B, the four vertexes of the interference region are located on the same side of the simplified line segment B of the connecting piece, whether interference occurs is judged according to the distance between the simplified line segment B and the vertexes of the overlooking region, and if the minimum value of the shortest distances from the four vertexes of the interference region to the simplified line segment is smaller than the radius of the connecting piece, the distance between the simplified line segment and the vertexes of the overlooking region is relatively short, and the double-cylinder translation body and the interference region have interference; if the minimum value of the shortest distances from the four vertexes of the interference area to the simplified line segment is larger than or equal to the radius of the connecting piece, the distance between the simplified line segment and the vertex of the overlooking area is far, and the double-cylinder translation body does not interfere with the interference area.
If the four vertexes of the interference area are positioned at the two sides of the simplified line segment of the connecting piece, judging whether an overlapping area exists between the simplified line segment of the connecting piece and the interference area, and if so, determining that the axis coordinate system position of the connecting piece and the overlooking area of the external interference area are interfered;
in other words, the four vertices of the interference area are located on two sides of the simplified line segment a, the simplified line segment C, and the simplified line segment D of the connector, i.e., for the simplified line segment a, the simplified line segment C, and the simplified line segment D, the four vertices of the interference area are not located on the same side but on two sides thereof, and if there is an overlapping area between the simplified line segment a and the functional area No. 0 of the connector, it means that interference occurs. If no overlapping area exists between the simplified line segment A of the connecting piece and the functional area No. 0, further judgment is carried out.
When four vertexes of the interference area are positioned on two sides of the simplified line segment of the connecting piece, if the minimum value of the shortest distances from the two endpoints of the simplified line segment to the four sides of the interference area is smaller than the radius of the connecting piece, determining that the axis coordinate system position of the connecting piece and the overlooking area of the external interference area are interfered.
In other words, for the simplified line segment D, the four vertexes of the interference region are located at two sides of the simplified line segment D of the connecting piece, whether interference occurs is judged according to the distance between the simplified line segment D and the vertexes of the overlooking region, and if the minimum value of the shortest distances from the four vertexes of the interference region to the simplified line segment D is smaller than the radius of the connecting piece, it means that the distance between the simplified line segment and the vertexes of the overlooking region is relatively short, and the double-cylinder translation body and the interference region have interference; for the simplified line segment C, four vertexes of the interference area are positioned on two sides of the simplified line segment C of the connecting piece, whether interference occurs or not is judged according to the distance between the simplified line segment C and the vertexes of the overlooking area, and if the minimum value of the shortest distances from the four vertexes of the interference area to the simplified line segment C is larger than or equal to the radius of the connecting piece, the distance between the simplified line segment C and the vertexes of the overlooking area is relatively far, and the double-cylinder translation body does not interfere with the interference area.
Further, the external wrapping for the work tool tip may also have both a coarse wrapping and a fine wrapping.
For rough wrapping, as shown in fig. 10, if the end of the work tool is the end of the lead screw, a single cylinder a may be used for wrapping, and a larger single cylinder B may be used for wrapping three rod segments with 120 ° included angles.
As shown in fig. 11, for the rough wrapping mode, if the end of the working tool is the end of the lead screw, a single cylinder a can be used for wrapping, three double-cylinder translational bodies B, C and D can be used for wrapping for three connecting rod portions with included angles of 120 °, a single cylinder E can be used for wrapping at the tip portion of one connecting rod, and a single cylinder F can be used for wrapping at the suction nozzle portion of the other connecting rod.
When the interference relationship between the whole working tool and the external interference region is judged, the whole working tool is wrapped by the plurality of basic modules, whether the working tool interferes with the external interference region is determined by judging the interference relationship between each basic wrapping module and the external interference region, if one basic wrapping module interferes with the external interference region, the interference between the working tool and the external interference region is indicated, and if not, the interference between the working tool and the external interference region is not indicated.
In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are based on the orientations and positional relationships shown in the drawings and are used for convenience in description and simplicity in operation, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be constructed in a particular operation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A robot end collision avoidance method in which a work tool is provided at a robot end, characterized by comprising the steps of:
wrapping the outer part of the tail end of the operation tool by using a connecting piece, wherein the connecting piece is of a cylinder structure;
obtaining the position of an axis coordinate system of the connecting piece and an external interference area;
and judging whether the interference between the axis coordinate system position of the connecting piece and the external interference area occurs or not, and if so, stopping the operation of the tail end of the robot.
2. The robot tip collision avoidance method of claim 1, wherein the acquiring an external interference zone comprises the steps of;
establishing a model of an external interference region, wherein the model of the external interference region is of a cuboid structure;
determining the external interference region as BT＝[xmin ymin zmin；xmax ymax zmax]Wherein P is1 T＝[xmin ymin zmin]，
P1 and P2 are the two diagonal vertices of the model of the outer interference region, respectively.
3. The robot tip bumper method of claim 1, wherein the obtaining an axis coordinate system position of a link comprises the steps of;
acquiring a position of a robot joint corresponding to a work tool;
acquiring the position of a working tool at the tail end of the robot according to the position of the joint of the robot;
and after the position of the axis coordinate system of the connecting piece is calibrated, solving the axis position of the connecting piece according to the position of the working tool at the tail end of the robot.
4. The robot tip collision avoidance method of claim 1, wherein the determining whether there is interference between the axis coordinate system position of the link and the external interference zone comprises the steps of:
determining a main view area of the external interference area;
judging whether the position of an axis coordinate system of the connecting piece and a main visual area of an external interference area interfere with each other or not, if so, stopping the operation of the tail end of the robot, and if not, determining a overlooking area of the external interference area;
and judging whether the axis coordinate system position of the connecting piece and the overlooking area of the external interference area interfere or not, if so, stopping the operation of the tail end of the robot, and if not, determining that no interference exists between the axis coordinate system position of the connecting piece and the external interference area.
5. The robot end collision avoidance method of claim 4, wherein the determining whether the axis coordinate system position of the link and the main viewing zone of the external interference zone interfere comprises the steps of:
and judging whether an overlapping area exists between the connecting piece and the main visual area of the external interference area in the Z-axis direction, if so, determining that the interference exists between the connecting piece and the main visual area of the external interference area, and if not, determining that the interference does not exist between the connecting piece and the main visual area of the external interference area.
6. The robot tip collision avoidance method of claim 4, wherein said determining whether the axis coordinate system position of the link and the top view area of the external interference area interfere comprises the steps of:
dividing a plane where the overlooking area is located into different functional areas by utilizing a contour extension line of the overlooking area of the external interference area, wherein each functional area comprises an interference area, an outer side area and an outer corner area, the interference area refers to an area surrounded by the overlooking area of the external interference area, the outer side area refers to an area which is attached to the side edge of the overlooking area of the external interference area and is far away from the interference area, one outer corner area is arranged between every two adjacent outer side areas, and the outer corner area refers to an area which is attached to a right-angled point of the overlooking area of the external interference area and is far away from the interference area;
and determining whether the axis coordinate system position of the connecting piece and the overlooking area of the external interference area interfere or not according to the axis coordinate system position of the connecting piece and the relative positions of the interference area, the outer side area and the outer corner area.
7. The robot tail end collision avoidance method according to claim 6, wherein if the cross section of the connecting piece is a circular structure, the position of the center of a circle of the connecting piece is determined by using the position of an axis coordinate system of the connecting piece;
when the circle center position of the connecting piece is positioned in the interference area, determining the axis coordinate system position of the connecting piece and the overlooking area of the external interference area to generate interference;
when the circle center position of the connecting piece is not located in the interference area, if the circle center position of the connecting piece is located in the outer area and the distance from the circle center position of the connecting piece to the side edge of the overlooking area closest to the circle center position of the connecting piece is smaller than the radius of the connecting piece, the axis coordinate system position of the connecting piece and the overlooking area of the outer interference area are determined to be interfered.
8. The robot end collision avoidance method of claim 7, wherein when the center position of the connecting member is not located in the interference region, if the center position of the connecting member is located in the outer corner region and the distance from the center position of the connecting member to the vertex of the top view region closest thereto is smaller than the radius of the connecting member, it is determined that the axis coordinate system position of the connecting member and the top view region of the outer interference region interfere with each other.
9. The robot tip collision avoidance method of claim 6, wherein if the cross section of the link is an oblong structure, determining a simplified line segment of the link using two axis coordinate system positions of the link;
and if the four vertexes of the interference area are positioned on the same side of the simplified line segment of the connecting piece, and the minimum value of the shortest distances from the four vertexes of the interference area to the simplified line segment is smaller than the radius of the connecting piece, determining the position of the axis coordinate system of the connecting piece and the interference of the overlooking area of the external interference area.
10. The robot end collision avoidance method of claim 9, wherein if four vertices of the interference region are located on both sides of the simplified line segment of the connecting member, determining whether there is an overlapping region between the simplified line segment of the connecting member and the interference region, if so, determining that the axis coordinate system position of the connecting member and the top view region of the external interference region interfere;
if not, if the minimum value of the shortest distances from the two end points of the simplified line segment to the four sides of the interference area is smaller than the radius of the connecting piece, determining that the axis coordinate system position of the connecting piece and the overlooking area of the external interference area have interference.
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