CN115494850A - Control method of industrial robot - Google Patents
Control method of industrial robot Download PDFInfo
- Publication number
- CN115494850A CN115494850A CN202211346774.0A CN202211346774A CN115494850A CN 115494850 A CN115494850 A CN 115494850A CN 202211346774 A CN202211346774 A CN 202211346774A CN 115494850 A CN115494850 A CN 115494850A
- Authority
- CN
- China
- Prior art keywords
- end effector
- goods
- speed
- transmission
- conveyor belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 239000012636 effector Substances 0.000 claims abstract description 281
- 230000005540 biological transmission Effects 0.000 claims abstract description 228
- 238000011156 evaluation Methods 0.000 claims description 62
- 238000004364 calculation method Methods 0.000 claims description 21
- 230000003044 adaptive effect Effects 0.000 claims description 17
- 238000012216 screening Methods 0.000 claims description 16
- 238000004458 analytical method Methods 0.000 claims description 15
- 238000012937 correction Methods 0.000 claims description 15
- 238000012546 transfer Methods 0.000 claims description 14
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000002950 deficient Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of industrial robot control, and particularly discloses a control method of an industrial robot, which comprises the following steps: the method comprises the steps of acquiring basic parameters of goods to be transported, analyzing the basic parameters of the goods to be transported, dividing a designated end effector grabbing area, analyzing and controlling a designated end effector grabbing position, analyzing and controlling designated end effector operating parameters, adjusting and controlling designated end effector operating parameters, acquiring and controlling designated end effector operating time parameters, acquiring and analyzing conveyor belt transmission parameters and adjusting and controlling conveyor belt transmission parameters.
Description
Technical Field
The invention belongs to the technical field of industrial robot control, and particularly relates to a control method of an industrial robot.
Background
With the rapid development of industry, the demand of society for labor is increasing day by day, and meanwhile, with the continuous advance of intelligent science and automation technology, the further innovation of manufacturing industry is promoted, industrial robots are used as a new technical means capable of replacing labor, and are widely popularized and applied in the industrial field due to the advantages of reducing labor cost, improving production efficiency, having strong environmental adaptability and the like.
Nowadays, the prior art control of a transfer robot has some drawbacks, which are embodied in the following aspects: (1) The transfer robot is usually composed of an execution mechanism, a driving mechanism and a control mechanism, the end effector occupies a main supporting position in the whole operation process as the execution mechanism, the prior art is used and controlled for the end effector, the goods to be transferred in the early stage of use are relatively deficient to carry out targeted analysis, so that the situation that the targeted analysis level is low exists, the end effector which is most adaptive cannot be screened, the adopted end effector cannot be well adapted to the type and the size parameters of the goods to be transferred, the risk of damaging the goods to be transferred is increased, the falling accident rate of the goods is increased to a greater extent, the whole transfer production progress is influenced, and the transfer efficiency of the end effector is not favorably improved.
(2) More at present prior art still pay attention to controlling transfer robot self, more adjust the conveyer belt of the transport goods of waiting to be carried to the transmission for neglecting the running condition according to end effector, the intelligent level has been reduced, lead to there being uncoordinated phenomenon between the actual transmission rate of conveyer belt and goods transmission interval and end effector's the running condition, make end effector can not realize fast, accurate and stable goods snatch, not only influenced the even running of whole transport flow, and increased the energy consumption of transport flow to a certain extent.
Disclosure of Invention
In order to overcome the disadvantages in the background art, embodiments of the present invention provide a control method for an industrial robot, which can effectively solve the problems related to the background art.
The purpose of the invention can be realized by the following technical scheme: a control method of an industrial robot, comprising the steps of: s1, acquiring basic parameters of goods to be carried: basic parameters of the goods to be transported are obtained, wherein the basic parameters comprise the type of the goods, the size parameters and the weight.
S2, analyzing basic parameters of the goods to be carried: and screening to obtain each end effector to be selected according to the basic parameters of the goods to be transported, evaluating the transport matching coefficient corresponding to each end effector to be selected according to the basic parameters, and extracting to obtain the appointed end effector.
S3, designating the grabbing area division of the end effector: and acquiring the central point of the base of the transfer robot, acquiring the maximum grabbing diameter of the transfer robot, dividing the maximum grabbing diameter as a reference division interval, and dividing the reference division interval to obtain a target grabbing area of the appointed end effector.
S4, specifying the grabbing position of the end effector for analysis control: and further acquiring the target goods according to the target grabbing area of the appointed end effector, analyzing to obtain the position of the appointed end effector for grabbing the target goods in a matching manner, and controlling and grabbing the target goods.
S5, operation parameter analysis of the designated end effector: the method comprises the steps of obtaining a grabbing process of a designated end effector for target goods, further analyzing operation parameters of the designated end effector, wherein the operation parameters comprise a transmission speed, a placing speed and a rotating speed, and accordingly evaluating the transmission speed, the placing speed and the rotating speed suitable index of the designated end effector respectively.
S6, specifying the adjustment and control of the operation parameters of the end effector: and adjusting and controlling the operation parameters of the appointed end effector according to the transmission speed, the placing speed and the suitable index of the rotating speed of the appointed end effector.
S7, obtaining the operation time length parameter of the appointed end effector: and further acquiring the operation duration parameters of the appointed end effector based on the grabbing process of the appointed end effector to the target goods, wherein the operation duration parameters comprise transmission duration, placing duration and rotation duration.
S8, acquiring and analyzing transmission parameters of the conveyor belt: and acquiring transmission parameters of the conveyor belt according to the operation time length parameter of the appointed end effector, wherein the transmission parameters comprise a transmission speed and a goods transmission interval, and estimating the transmission speed of the conveyor belt and a goods transmission interval suitability estimation coefficient according to the transmission parameters.
S9, transmission parameter adjustment control of the conveyor belt: and adjusting and controlling the transmission parameters of the conveyor belt according to the transmission speed of the conveyor belt and the goods transmission interval suitability evaluation coefficient.
As a further method, the specific process of evaluating the transport matching coefficient corresponding to each end effector to be selected is as follows: s21: according to the goods type of the goods to be transported, the goods to be transported are matched with the adaptive end effectors corresponding to the set various goods types, and the adaptive end effectors corresponding to the goods to be transported are obtained.
S22: based on the size parameters of the goods to be transported, wherein the size parameters comprise length, width and height, the size parameters which are suitable for grabbing the goods and belong to each adaptive end effector corresponding to the goods to be transported are obtained, the adaptive end effectors which belong to the size parameters which accord with the goods to be transported are obtained through screening and are marked as the end effectors to be selected, and the transportation matching coefficients corresponding to the end effectors to be selected are calculated according to the size parameters, and the calculation formula is as follows:
wherein alpha is i Expressed as a transport matching coefficient, L, corresponding to the ith candidate end effector i0 、W i0 And H i0 Respectively expressed as the length, the width and the height of the ith end effector to be selected suitable for grabbing the goods, l ', w ' and h ' respectively expressed as the length, the width and the height of the goods to be transported, and delta 1 、δ 2 And delta 3 The transport matching correction factors are respectively expressed as preset length, width and height, i is expressed as the number of each end effector to be selected, and i =1, 2.
As a further method, the extracting obtains the specified end effector by the specific process: and sequentially sequencing the conveying matching coefficients corresponding to the end effectors to be selected from large to small, extracting the end effectors to be selected to which the conveying matching coefficient with the first rank belongs, and recording the end effectors as the designated end effectors.
As a further method, the analyzing step obtains a position where the designated end effector is adapted to grasp the target cargo, and the specific process is as follows: s41: and based on the target grabbing area of the appointed end effector, when a certain to-be-transported goods is transferred to the target grabbing area of the appointed end effector, marking the to-be-transported goods as target goods.
S42: the method comprises the following steps of scanning a three-dimensional image of a target cargo to obtain a three-dimensional image of the target cargo, extracting an upper elevation center point of the target cargo to be used as a designated grabbing position reference point, marking a lower elevation center point of a designated end effector as a grabbing reference point, further extracting the interval between the designated grabbing position reference point and the grabbing reference point, and accordingly calculating a suitable grabbing evaluation coefficient of the target cargo, wherein the calculation formula is as follows:
wherein epsilon is expressed as a suitable grab evaluation coefficient, JG, for the target cargo 0 Expressed as a reference spacing set for the proper gripping of the goods, jg "expressed as the spacing of the datum point of the designated gripping position from the gripping reference point, χ 1 Expressed as the appropriate capture assessment correction factor for the set capture interval, e is expressed as a natural constant.
S43: and comparing the suitable grabbing evaluation coefficient of the target goods with the set suitable grabbing evaluation coefficient threshold, and when the suitable grabbing evaluation coefficient of the target goods is within the suitable grabbing evaluation coefficient threshold range, controlling the grabbing of the target goods by controlling the grabbing reference point of the appointed end effector to the appointed grabbing position datum point of the target goods.
As a further method, the evaluating specifies a suitable index of drive speed, placement speed, and swing speed for the end effector by: s51: extracting size parameters of the target goods, further acquiring the volume of the target goods, extracting the weight of the target goods, further matching the size parameters with standard transmission speeds of various goods, corresponding to various goods weights, of various set end effectors, obtaining standard transmission speeds of the target goods, corresponding to the weights of the target goods, of various end effectors, extracting standard transmission speeds of the target goods, corresponding to the weights of the target goods, of the specified end effectors, and recording the standard transmission speeds as specified standard transmission speeds of the target goods.
S52: acquiring the predefined transmission speed of the appointed end effector, further comparing the predefined transmission speed with the appointed standard transmission speed of the target cargo, and calculating the transmission speed suitability index of the appointed end effector, wherein the calculation formula is as follows:
wherein eta cd Expressed as the transmission speed fitness index, V, for a given end effector 0 "designated standard drive speed for target cargo," v "designates a predefined drive speed for a designated end effector, γ 1 Indicated as a suitable correction value for the set transmission speed.
S53: and acquiring a placing area of the target goods, positioning the placing area to the central point of the upper end surface of the placing area of the target goods, further extracting the distance between the central point of the upper end surface of the placing area of the target goods and the horizontal ground, and recording the distance as the placing height distance of the target goods.
S54: the placing height interval of the target goods is matched with the appropriate placing speed corresponding to various placing height intervals of the set goods to obtain the appropriate placing speed corresponding to the target goods, the placing speed of the appointed end effector is extracted within a preset time period, and accordingly the appropriate placing speed index of the appointed end effector is calculated, and the calculation formula is as follows:
wherein mu fz Expressed as a placement speed fitness index, V, for a given end effector Is suitable for Expressed as the corresponding proper placement speed, v, of the target cargo fz Expressed as the speed of placement, gamma, of the given end effector within a preset time period 2 Indicated as a suitable correction value for the set placement speed.
S55: extracting the rotation path of the appointed end effector, extracting the length of the rotation path of the appointed end effector in a set time period, further acquiring the rotation speed of the appointed end effector in the set time period, and combining the rotation speed with a preset rotation speedThe standard rotating speed of the appointed end effector is compared, and the rotating speed suitability index of the appointed end effector is calculated, wherein the calculation formula is as follows:
wherein
Expressed as the appropriate index of the speed of rotation, V, of a given end effector Chinese character hui Expressed as the standard slewing velocity, v, of the given end effector hz Expressed as the speed of rotation, gamma, of a given end effector over a set period of time 3 Expressed as a suitable correction factor for the speed of rotation.
As a further method, the adjusting and controlling of the operation parameters of the designated end effector specifically comprises the following steps: s61: and matching the transmission speed suitability index of the appointed end effector with the adjusted transmission speed belonging to the set various transmission speed suitability index intervals, further acquiring the adjusted transmission speed belonging to the appointed end effector, and accordingly adjusting and controlling the transmission speed of the appointed end effector.
S62: and matching the proper placing speed index of the appointed end effector with the adjusted placing speed belonging to the set proper placing speed index intervals of various placing speeds, further acquiring the adjusted placing speed belonging to the appointed end effector, and adjusting and controlling the placing speed of the appointed end effector according to the adjusted placing speed.
S63: and matching the suitable index of the rotation speed of the appointed end effector with the adjusted rotation speed belonging to the set suitable index intervals of various rotation speeds, further acquiring the adjusted rotation speed belonging to the appointed end effector, and accordingly adjusting and controlling the rotation speed of the appointed end effector.
As a further method, the evaluation of the transmission speed of the conveyor belt and the suitability evaluation coefficient of the goods transmission interval is specifically carried out by the following steps: s81: and further acquiring the single operation time length of the appointed end effector according to the transmission time length, the placing time length and the rotation time length of the appointed end effector.
S82: and based on the transmission speed of the conveyor belt, obtaining the adaptive transmission distance of the conveyor belt in the single operation time length of the appointed end effector.
S83: acquiring the actual transmission distance of the conveyor belt in the single operation time of the appointed end effector, and calculating the transmission speed suitability evaluation coefficient of the conveyor belt according to the actual transmission distance, wherein the calculation formula is as follows:
wherein σ denotes a conveyance speed suitability evaluation coefficient of the conveyor belt, JL denotes an adapted conveyance pitch of the conveyor belt in a single operation period of the specified end effector, JL denotes an actual conveyance pitch of the conveyor belt in a single operation period of the specified end effector, λ 1 And expressing the suitability evaluation factor corresponding to the transmission speed of the set transmission interval.
S84: the method comprises the steps of obtaining the intervals among goods to be transported which are transported in a conveyor belt, further extracting the average interval of the goods to be transported which are transported in the conveyor belt, and marking the average interval as the goods transport interval of the conveyor belt.
S85: the actual transmission time length of the goods to be carried corresponding to the goods transmission interval of the conveyor belt is extracted, the actual transmission time length is compared with the single operation time length of the appointed end effector, and the goods transmission interval suitability evaluation coefficient of the conveyor belt is calculated, wherein the calculation formula is as follows:
wherein beta is expressed as a cargo conveying interval suitability evaluation coefficient of the conveyor belt, T 0 Expressed as a single run length, t, of the specified end effector sj The goods conveying interval, denoted as conveyor belt, corresponds to the actual conveying time, lambda, of the goods to be handled 2 And expressing the suitability evaluation influence coefficient corresponding to the goods transmission interval to which the set goods transmission time belongs.
As a further method, the adjusting and controlling of the transmission parameters of the conveyor belt comprises the following specific processes: s91: and comparing the transmission speed suitability evaluation coefficient of the conveyor belt with the adjusted transmission speed to which the set various transmission speed suitability evaluation coefficient thresholds belong, screening to obtain the adjusted transmission speed to which the conveyor belt belongs, and adjusting and controlling the transmission speed of the conveyor belt according to the adjusted transmission speed.
S92: and comparing the adjusted transmission speed of the conveyor belt with a set limited range to which the adjusted transmission speed belongs, if the adjusted transmission speed of the conveyor belt exceeds the set limited range to which the adjusted transmission speed belongs, comparing the cargo transmission interval suitability evaluation coefficient of the conveyor belt with the cargo adjusted transmission intervals to which the set various cargo transmission interval suitability evaluation coefficient thresholds belong, further screening to obtain the cargo adjusted transmission intervals to which the conveyor belt belongs, and accordingly adjusting and controlling the cargo transmission intervals of the conveyor belt.
Compared with the prior art, the embodiment of the invention at least has the following beneficial effects: (1) According to the method, the end effectors to be selected are obtained by screening according to the analysis of the basic parameters of the goods to be transported, the transport matching coefficients corresponding to the end effectors to be selected are evaluated, and the specified end effectors are obtained by extraction, so that the defect that the goods to be transported are subjected to targeted analysis in the early stage of use due to the shortage of the prior art is overcome, the targeted analysis level is improved, the most suitable end effectors can be obtained by screening, the adopted end effectors can be well adapted to the goods type and size parameters of the goods to be transported, the risk of damaging the goods to be transported is reduced, the falling accident rate of the goods is reduced to a greater extent, negative effects on the whole transport production progress are avoided, and the transport efficiency of the end effectors is improved effectively.
(2) According to the invention, the operation duration parameter of the appointed end effector is obtained, and the transmission speed of the conveyor belt and the adaptive evaluation coefficient of the goods transmission interval are evaluated, so that the adjustment control of the transmission speed of the conveyor belt and the goods transmission interval is realized, the intelligent level is improved, the defect that the conveyor belt for transmitting goods to be transported is adjusted according to the operation condition of the end effector is effectively overcome, the phenomenon that the actual transmission speed of the conveyor belt and the goods transmission interval are inconsistent with the operation condition of the end effector is avoided, the end effector can realize rapid, accurate and stable goods grabbing, the influence on the stable operation of the whole transportation process is reduced, and the energy consumption of the transportation process is reduced to a certain extent.
(3) The invention also respectively evaluates the appropriate indexes of the transmission speed, the placing speed and the rotating speed of the appointed end effector, and then adjusts and controls the transmission speed, the placing speed and the rotating speed of the appointed end effector, thereby effectively improving the accuracy and the comprehensiveness of the speed control of the end effector, ensuring the stability and the safety of the end effector in grabbing and placing goods and further improving the goods carrying and operating quality of the end effector.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a flow chart illustrating the steps of the method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Referring to fig. 1, the present invention provides a control method of an industrial robot, including the steps of: s1, basic parameters of goods to be carried are obtained: basic parameters of the goods to be handled are obtained, wherein the basic parameters comprise the type of the goods, the size parameters and the weight.
It should be noted that the types of goods include general goods, valuable goods and fragile goods.
S2, analyzing basic parameters of the goods to be carried: and screening to obtain each end effector to be selected according to the basic parameters of the goods to be transported, evaluating the transport matching coefficient corresponding to each end effector to be selected according to the basic parameters, and extracting to obtain the appointed end effector.
Specifically, the specific process of evaluating the conveying matching coefficient corresponding to each end effector to be selected is as follows: s21: according to the goods type of the goods to be transported, the goods to be transported are matched with the adaptive end effectors corresponding to the set various goods types, and the adaptive end effectors corresponding to the goods to be transported are obtained.
S22: based on the size parameters of the goods to be transported, wherein the size parameters comprise length, width and height, the size parameters which are suitable for grabbing the goods and belong to each adaptive end effector corresponding to the goods to be transported are obtained, the adaptive end effectors which belong to the size parameters which accord with the goods to be transported are obtained through screening and are marked as the end effectors to be selected, and the transportation matching coefficients corresponding to the end effectors to be selected are calculated according to the size parameters, and the calculation formula is as follows:
wherein alpha is i Expressed as a transport matching coefficient, L, corresponding to the ith candidate end effector i0 、W i0 And H i0 Respectively expressed as the length, the width and the height of the ith end effector to be selected suitable for grabbing the goods, l ', w ' and h ' respectively expressed as the length, the width and the height of the goods to be transported, and delta 1 、δ 2 And delta 3 The transport matching correction factors are respectively expressed as preset length, width and height, i is expressed as the number of each end effector to be selected, and i =1, 2.
Specifically, the extracting obtains the specified end effector by the specific process of: and sequentially sequencing the conveying matching coefficients corresponding to the end effectors to be selected from large to small, extracting the end effectors to be selected to which the conveying matching coefficient with the first rank belongs, and recording the end effectors as the designated end effectors.
In the embodiment of the invention, each end effector to be selected is obtained by screening according to the analysis of the basic parameters of the goods to be transported, the transport matching coefficient corresponding to each end effector to be selected is evaluated, and the appointed end effector is obtained by extraction, so that the defect that the prior art is deficient in carrying out targeted analysis on the goods to be transported in the earlier stage of use is overcome, the targeted analysis level is improved, the most suitable end effector can be obtained by screening, the adopted end effector can be well adapted to the goods type and the size parameters of the goods to be transported, the risk of damaging the goods is reduced, the falling accident rate of the goods is reduced to a greater extent, the negative influence on the whole transport production progress is avoided, and the transport efficiency of the end effector is favorably improved.
S3, designating the grabbing area division of the end effector: and acquiring the central point of the base of the transfer robot, acquiring the maximum grabbing diameter of the transfer robot, dividing the maximum grabbing diameter as a reference division interval, and dividing the reference division interval to obtain a target grabbing area of the appointed end effector.
It should be noted that, the dividing to obtain the target grasping area of the designated end effector specifically includes: and taking the central point of the base of the transfer robot as a dividing central point and the reference dividing interval as a dividing radius, further acquiring the working area of the transfer robot, positioning the working area to the area where the conveyor belt is located from the working area, and taking the working area as a target grabbing area of the appointed end effector.
S4, specifying the grabbing position of the end effector for analysis control: and further acquiring the target goods according to the target grabbing area of the appointed end effector, analyzing to obtain the position of the appointed end effector for grabbing the target goods in a matching manner, and controlling and grabbing the target goods.
Specifically, the analyzing step obtains a position where the designated end effector is adapted to grasp the target cargo, and includes the following specific steps: s41: and when a certain to-be-transported goods is transmitted to the target grabbing area of the appointed end effector based on the target grabbing area of the appointed end effector, marking the to-be-transported goods as the target goods.
S42: the target goods are scanned in a three-dimensional image mode, the three-dimensional image of the target goods is obtained, and the central point of the upper vertical face of the target goods is extractedThe center point of the lower vertical surface of the designated end effector is taken as a designated grabbing position reference point, the center point of the lower vertical surface of the designated end effector is taken as a grabbing reference point, the interval between the designated grabbing position reference point and the grabbing reference point is further extracted, and accordingly, a suitable grabbing evaluation coefficient of the target cargo is calculated, and the calculation formula is as follows:
wherein epsilon is expressed as a suitable grab evaluation coefficient, JG, for the target cargo 0 Expressed as a set reference interval suitable for grabbing goods, jg' expressed as an interval of a specified grabbing position datum point from a grabbing reference point, χ 1 Expressed as the appropriate capture assessment correction factor for the set capture interval, e is expressed as a natural constant.
S43: and comparing the suitable grabbing evaluation coefficient of the target goods with the set suitable grabbing evaluation coefficient threshold, and when the suitable grabbing evaluation coefficient of the target goods is within the suitable grabbing evaluation coefficient threshold range, controlling the grabbing of the target goods by controlling the grabbing reference point of the specified end effector to the specified grabbing position datum point of the target goods.
S5, operation parameter analysis of the designated end effector: the method comprises the steps of obtaining a grabbing process of a designated end effector for target goods, further analyzing operation parameters of the designated end effector, wherein the operation parameters comprise a transmission speed, a placing speed and a rotating speed, and accordingly evaluating the transmission speed, the placing speed and the rotating speed suitable index of the designated end effector respectively.
Specifically, the evaluation specifies appropriate indices of drive speed, placement speed, and swing speed for the end effector by: s51: extracting size parameters of the target goods, further acquiring the volume of the target goods, extracting the weight of the target goods, further matching the size parameters with standard transmission speeds of various goods, corresponding to various goods weights, of various set end effectors, obtaining standard transmission speeds of the target goods, corresponding to the weights of the target goods, of various end effectors, extracting standard transmission speeds of the target goods, corresponding to the weights of the target goods, of the specified end effectors, and recording the standard transmission speeds as specified standard transmission speeds of the target goods.
S52: acquiring the predefined transmission speed of the appointed end effector, further comparing the predefined transmission speed with the appointed standard transmission speed of the target cargo, and calculating the transmission speed suitability index of the appointed end effector, wherein the calculation formula is as follows:
wherein eta cd Expressed as the transmission speed fitness index, V, for a given end effector 0 "designated standard drive speed for target cargo," v "designated end effector predefined drive speed, γ 1 Indicated as a suitable correction value for the set transmission speed.
S53: and acquiring a placing area of the target goods, positioning the placing area to the central point of the upper end surface of the placing area of the target goods, further extracting the distance between the central point of the upper end surface of the placing area of the target goods and the horizontal ground, and recording the distance as the placing height distance of the target goods.
S54: matching the placing height interval of the target goods with the proper placing speed corresponding to various placing height intervals of the set goods to obtain the proper placing speed corresponding to the target goods, extracting the placing speed of the appointed end effector within a preset time period, and calculating the proper placing speed index of the appointed end effector according to the proper placing speed index, wherein the calculation formula is as follows:
wherein mu fz Expressed as a placement speed fitness index, V, for a given end effector Is suitable for Expressed as the corresponding proper placement speed, v, of the target cargo fz Expressed as the speed of placement, gamma, of the given end effector within a preset time period 2 Indicated as a suitable correction value for the set placement speed.
S55: extracting the rotation path of the designated end effector, extracting the length of the rotation path of the designated end effector in a set time period, further acquiring the rotation speed of the designated end effector in the set time period, and enabling the rotation speed to be matched with a preset designated endComparing the standard rotating speeds of the actuators, and calculating a rotating speed suitability index of the specified end actuator, wherein the calculation formula is as follows:
wherein
Expressed as the appropriate index of the speed of rotation, V, of a given end effector Go back to Expressed as the standard slewing velocity, v, of the given end effector hz Expressed as the speed of rotation, gamma, of a given end effector over a set period of time 3 Expressed as a suitable correction factor for the speed of rotation.
S6, specifying the adjustment and control of the operation parameters of the end effector: and adjusting and controlling the operation parameters of the appointed end effector according to the transmission speed, the placing speed and the suitable index of the rotating speed of the appointed end effector.
Specifically, the adjusting and controlling of the operation parameters of the specified end effector includes the following specific processes: s61: and matching the transmission speed suitability index of the appointed end effector with the adjusted transmission speed belonging to the set various transmission speed suitability index intervals, further acquiring the adjusted transmission speed belonging to the appointed end effector, and accordingly adjusting and controlling the transmission speed of the appointed end effector.
S62: and matching the proper placing speed index of the appointed end effector with the adjusted placing speed belonging to the set proper placing speed index intervals of various placing speeds, further acquiring the adjusted placing speed belonging to the appointed end effector, and adjusting and controlling the placing speed of the appointed end effector according to the adjusted placing speed.
S63: and matching the suitable index of the rotation speed of the appointed end effector with the adjusted rotation speed belonging to the set suitable index intervals of various rotation speeds, further acquiring the adjusted rotation speed belonging to the appointed end effector, and accordingly adjusting and controlling the rotation speed of the appointed end effector.
In the embodiment of the invention, the transmission speed, the placing speed and the rotating speed of the appointed end effector are adjusted and controlled by respectively evaluating the appropriate indexes of the transmission speed, the placing speed and the rotating speed of the appointed end effector, so that the accuracy and the comprehensiveness of the speed control of the end effector are improved, the stability and the safety of the end effector for grabbing and placing goods can be ensured, and the goods carrying and operating quality of the end effector is improved.
S7, obtaining the operation time length parameter of the appointed end effector: and further acquiring the operation duration parameters of the appointed end effector based on the grabbing process of the appointed end effector to the target goods, wherein the operation duration parameters comprise transmission duration, placing duration and rotation duration.
S8, acquiring and analyzing transmission parameters of the conveyor belt: and acquiring transmission parameters of the conveyor belt according to the operation time length parameter of the appointed end effector, wherein the transmission parameters comprise a transmission speed and a goods transmission interval, and estimating the transmission speed of the conveyor belt and a goods transmission interval suitability estimation coefficient according to the transmission parameters.
Specifically, the evaluation of the transmission speed of the conveyor belt and the suitability evaluation coefficient of the goods transmission interval comprises the following specific processes: s81: and further acquiring the single operation time length of the appointed end effector according to the transmission time length, the placing time length and the rotation time length of the appointed end effector.
It should be noted that the single operation duration of the specified end effector is obtained by accumulating the transmission duration, the placement duration, and the rotation duration of the specified end effector.
S82: and based on the conveying speed of the conveyor belt, obtaining the adaptive conveying distance of the conveyor belt in the single operation time length of the appointed end effector.
S83: acquiring the actual transmission distance of the conveyor belt in the single operation time of the appointed end effector, and calculating the transmission speed suitability evaluation coefficient of the conveyor belt according to the actual transmission distance, wherein the calculation formula is as follows:
where σ denotes a transmission speed suitability evaluation coefficient of the conveyor belt, and JL denotes a designated end effectorJl represents the actual transport distance, λ, of the conveyor belt during a single run of a given end effector 1 And expressing the suitability evaluation factor corresponding to the transmission speed to which the set transmission interval belongs.
It should be noted that, the actual transfer pitch of the conveyor belt in the single operation duration of the above-mentioned specified end effector is specifically: and taking the central line of the conveyor belt as a reference transmission line, and carrying out random sampling point arrangement to obtain sampling points, and further extracting the actual transmission linear distance of the sampling points in the single operation time of the appointed end effector, and taking the actual transmission linear distance as the actual transmission distance of the conveyor belt in the single operation time of the appointed end effector.
S84: and acquiring the interval between the goods to be carried transmitted in the conveyor belt, further extracting the average interval of the goods to be carried transmitted in the conveyor belt, and marking the average interval as the goods transmission interval of the conveyor belt.
It should be noted that, the above acquiring the interval between the goods to be carried that are conveyed in the conveyor belt specifically includes: the three-dimensional image scanning is carried out on each to-be-carried goods transmitted in the conveying belt, so that three-dimensional images corresponding to each to-be-carried goods transmitted in the conveying belt are obtained, the three-dimensional images are positioned to the central point of the upper end face of each to-be-carried goods, the central points of the upper end faces of the to-be-carried goods are linearly connected, the linear connection distance interval between the central points of the upper end faces of two adjacent to-be-carried goods is sequentially extracted, and then the interval between the to-be-carried goods transmitted in the conveying belt is obtained.
S85: the actual transmission time length of the goods to be carried corresponding to the goods transmission interval of the conveyor belt is extracted, the actual transmission time length is compared with the single operation time length of the appointed end effector, and the goods transmission interval suitability evaluation coefficient of the conveyor belt is calculated, wherein the calculation formula is as follows:
wherein beta is expressed as a cargo conveying interval suitability evaluation coefficient of the conveyor belt, T 0 Expressed as a single run length of a given end effector, t sj Is shown asThe goods transmission interval of the conveyor belt corresponds to the actual transmission time length, lambda, of the goods to be carried 2 And expressing the suitability evaluation influence coefficient corresponding to the goods transmission interval to which the set goods transmission time belongs.
It should be noted that, the actual transmission duration of the goods to be carried is corresponding to the goods transmission interval of the above-mentioned conveyer belt, and it is specifically: according to the goods to be transported transmitted in the conveyor belt, the goods to be transported closest to the tail end of the conveyor belt is taken as the target goods to be transported, the central point of the upper end face of the target goods to be transported is further extracted, the actual transmission time of the central point of the upper end face of the target goods to be transported in the moving interval is further obtained by taking the goods transmission interval of the conveyor belt as the moving interval, and the actual transmission time is taken as the actual transmission time of the goods to be transported corresponding to the goods transmission interval of the conveyor belt.
S9, adjusting and controlling transmission parameters of the conveyor belt: and adjusting and controlling the transmission parameters of the conveyor belt according to the transmission speed of the conveyor belt and the goods transmission interval suitability evaluation coefficient.
Specifically, the adjusting and controlling of the transmission parameters of the conveyor belt comprises the following specific processes: s91: and comparing the transmission speed suitability evaluation coefficient of the conveyor belt with the adjusted transmission speed to which the set various transmission speed suitability evaluation coefficient thresholds belong, screening to obtain the adjusted transmission speed to which the conveyor belt belongs, and adjusting and controlling the transmission speed of the conveyor belt according to the adjusted transmission speed.
S92: and comparing the adjusted transmission speed of the conveyor belt with a set limited range to which the adjusted transmission speed belongs, if the adjusted transmission speed of the conveyor belt exceeds the limited range to which the adjusted transmission speed belongs, comparing the cargo transmission interval suitability evaluation coefficient of the conveyor belt with the cargo adjusted transmission intervals to which the set various cargo transmission interval suitability evaluation coefficient thresholds belong, screening to obtain the cargo adjusted transmission intervals to which the conveyor belt belongs, and accordingly adjusting and controlling the cargo transmission intervals of the conveyor belt.
In the embodiment of the invention, the operation duration parameter of the appointed end effector is obtained, and the transmission speed of the conveyor belt and the suitability evaluation coefficient of the goods transmission interval are evaluated, so that the adjustment control of the transmission speed of the conveyor belt and the goods transmission interval is carried out, the intelligent level is improved, the defect that the conveyor belt for transmitting goods to be transported is adjusted according to the operation condition of the end effector is neglected in the prior art is effectively overcome, the phenomenon that the actual transmission speed of the conveyor belt and the goods transmission interval are inconsistent with the operation condition of the end effector is avoided, the end effector can realize rapid, accurate and stable goods grabbing, the influence on the stable operation of the whole transportation process is reduced, and the energy consumption of the transportation process is reduced to a certain extent.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (8)
1. A method for controlling an industrial robot, characterized by the steps of:
s1, acquiring basic parameters of goods to be carried: acquiring basic parameters of goods to be carried, wherein the basic parameters comprise goods types, size parameters and weight;
s2, analyzing basic parameters of the goods to be carried: according to basic parameters of goods to be transported, screening to obtain each end effector to be selected, evaluating a transport matching coefficient corresponding to each end effector to be selected according to the basic parameters, and extracting to obtain a designated end effector;
s3, designating the grabbing area division of the end effector: acquiring a central point of a base of the transfer robot, acquiring the maximum grabbing diameter of the transfer robot, dividing the maximum grabbing diameter as a reference division interval, and dividing the reference division interval to obtain a target grabbing area of a designated end effector;
s4, specifying the grabbing position of the end effector for analysis and control: according to the target grabbing area of the appointed end effector, further obtaining target goods, analyzing the target goods to obtain the position of the appointed end effector for grabbing the target goods in a matching mode, and controlling the grabbing of the target goods;
s5, operation parameter analysis of the designated end effector: acquiring a grabbing process of a target cargo by a designated end effector, and further analyzing operation parameters of the designated end effector, wherein the operation parameters comprise a transmission speed, a placing speed and a rotating speed, and accordingly, the transmission speed, the placing speed and the rotating speed suitable index of the designated end effector are respectively evaluated;
s6, specifying the adjustment and control of the operation parameters of the end effector: adjusting and controlling the operation parameters of the appointed end effector according to the transmission speed, the placing speed and the suitable index of the rotating speed of the appointed end effector;
s7, obtaining the operation time length parameter of the appointed end effector: acquiring an operation duration parameter of the appointed end effector based on a grabbing process of the appointed end effector to the target goods, wherein the operation duration parameter comprises transmission duration, placing duration and rotation duration;
s8, acquiring and analyzing transmission parameters of the conveyor belt: acquiring transmission parameters of the conveyor belt according to the operation time length parameter of the designated end effector, wherein the transmission parameters comprise transmission speed and goods transmission interval, and accordingly evaluating the transmission speed of the conveyor belt and the goods transmission interval suitability evaluation coefficient;
s9, transmission parameter adjustment control of the conveyor belt: and adjusting and controlling the transmission parameters of the conveyor belt according to the transmission speed of the conveyor belt and the goods transmission interval suitability evaluation coefficient.
2. A control method of an industrial robot according to claim 1, characterized in that: the specific process of evaluating the conveying matching coefficient corresponding to each end effector to be selected is as follows:
s21: according to the goods type of the goods to be transported, the goods to be transported are matched with the adaptive end effectors corresponding to the set various goods types, and the adaptive end effectors corresponding to the goods to be transported are obtained;
s22: based on the size parameters of the goods to be carried, wherein the size parameters comprise length, width and height, and the goods to be carried are obtainedThe corresponding adaptive end effectors belong to size parameters suitable for grabbing goods, the adaptive end effectors corresponding to the size parameters of the goods to be transported are obtained through screening and are marked as the to-be-selected end effectors, and the transportation matching coefficients corresponding to the to-be-selected end effectors are calculated according to the to-be-selected end effectors, wherein the calculation formula is as follows:
wherein alpha is i Expressed as a transport matching coefficient, L, corresponding to the ith candidate end effector i0 、W i0 And H i0 Respectively expressed as the length, the width and the height of the ith end effector to be selected suitable for grabbing the goods, l ', w ' and h ' respectively expressed as the length, the width and the height of the goods to be carried, and delta 1 、δ 2 And delta 3 The transport matching correction factors are respectively expressed as preset length, width and height, i is expressed as the number of each end effector to be selected, and i =1, 2.
3. A control method of an industrial robot according to claim 1, characterized in that: the specific process of extracting the appointed end effector is as follows: and sequentially sequencing the conveying matching coefficients corresponding to the end effectors to be selected from large to small, extracting the end effectors to be selected to which the conveying matching coefficient with the first rank belongs, and recording the end effectors as designated end effectors.
4. A control method of an industrial robot according to claim 1, characterized in that: the analysis obtains the position of the appointed end effector for grabbing the target goods in a matching way, and the specific process is as follows:
s41: when a certain to-be-transported goods is transmitted to the target grabbing area of the appointed end effector based on the target grabbing area of the appointed end effector, marking the to-be-transported goods as the target goods;
s42: the target goods are scanned in a three-dimensional image mode, the three-dimensional image of the target goods is obtained, and the central point of the upper vertical face of the target goods is extractedThe center point of the lower vertical surface of the designated end effector is taken as a designated grabbing position reference point, the center point of the lower vertical surface of the designated end effector is taken as a grabbing reference point, the interval between the designated grabbing position reference point and the grabbing reference point is further extracted, and accordingly, a suitable grabbing evaluation coefficient of the target cargo is calculated, and the calculation formula is as follows:
wherein epsilon is expressed as a suitable grab evaluation coefficient, JG, of the target cargo 0 Expressed as a reference spacing set for the proper gripping of the goods, jg "expressed as the spacing of the datum point of the designated gripping position from the gripping reference point, χ 1 Expressing a suitable grabbing evaluation correction factor corresponding to the set grabbing interval, and expressing e as a natural constant;
s43: and comparing the suitable grabbing evaluation coefficient of the target goods with the set suitable grabbing evaluation coefficient threshold, and when the suitable grabbing evaluation coefficient of the target goods is within the suitable grabbing evaluation coefficient threshold range, controlling the grabbing of the target goods by controlling the grabbing reference point of the specified end effector to the specified grabbing position datum point of the target goods.
5. A control method of an industrial robot according to claim 1, characterized in that: the evaluation specifies proper indexes of transmission speed, placing speed and rotation speed of the end effector, and the specific process comprises the following steps:
s51: extracting size parameters of the target goods, further acquiring the volume of the target goods, extracting the weight of the target goods, further matching the size parameters with standard transmission speeds of various goods to which various end effectors correspond to the weight of the various goods, acquiring standard transmission speeds of the various end effectors corresponding to the volume of the target goods to which the weight of the target goods belongs, extracting standard transmission speeds of the specified end effectors corresponding to the volume of the target goods to which the weight of the target goods belongs from the standard transmission speeds, and recording the standard transmission speeds as the specified standard transmission speeds of the target goods;
s52: obtaining a predefined transmission speed of the designated end effector and comparing the predefined transmission speed with a designated standard transmission speed of the target cargoAnd calculating a transmission speed suitability index of the specified end effector by the following calculation formula:
wherein eta cd Expressed as the transmission speed fitness index, V, for a given end effector 0 "designated standard drive speed for target cargo," v "designated end effector predefined drive speed, γ 1 An appropriate correction value corresponding to the set transmission speed;
s53: acquiring a placement area of the target goods, positioning the placement area to the center point of the upper end surface of the placement area of the target goods, further extracting the distance between the center point of the upper end surface of the placement area of the target goods and the horizontal ground, and recording the distance as the placement height distance of the target goods;
s54: matching the placing height interval of the target goods with the proper placing speed corresponding to various placing height intervals of the set goods to obtain the proper placing speed corresponding to the target goods, extracting the placing speed of the appointed end effector within a preset time period, and calculating the proper placing speed index of the appointed end effector according to the proper placing speed index, wherein the calculation formula is as follows:
wherein mu fz Expressed as a placement speed fitness index, V, for a given end effector Is suitable for Expressed as the corresponding proper placement speed, v, of the target cargo fz Expressed as the speed of placement, gamma, of the given end effector within a preset time period 2 A suitable correction value corresponding to the set placing speed is expressed;
s55: extracting a rotation path of the appointed end effector, extracting the length of the rotation path of the appointed end effector in a set time period, further acquiring the rotation speed of the appointed end effector in the set time period, comparing the rotation speed with a preset standard rotation speed of the appointed end effector, and calculating a rotation speed suitability index of the appointed end effector, wherein the calculation formula is as follows:
wherein
Expressed as the appropriate index of the speed of rotation, V, of a given end effector Go back to Expressed as the nominal slew velocity, v, of the given end effector hz Expressed as the speed of rotation, gamma, of a given end effector over a set period of time 3 Expressed as a suitable correction factor for the speed of rotation.
6. A control method of an industrial robot according to claim 1, characterized in that: the operation parameters of the appointed end effector are adjusted and controlled, and the specific process is as follows:
s61: matching the transmission speed suitability index of the appointed end effector with the adjustment transmission speed belonging to various set transmission speed suitability index intervals, further acquiring the adjustment transmission speed belonging to the appointed end effector, and accordingly adjusting and controlling the transmission speed of the appointed end effector;
s62: matching the proper placing speed index of the appointed end effector with the adjusted placing speeds of various preset proper placing speed index intervals, further acquiring the adjusted placing speed of the appointed end effector, and accordingly adjusting and controlling the placing speed of the appointed end effector;
s63: matching the rotating speed suitable index of the appointed end effector with the adjusted rotating speed belonging to the set various rotating speed suitable index intervals, further obtaining the adjusted rotating speed belonging to the appointed end effector, and adjusting and controlling the rotating speed of the appointed end effector according to the adjusted rotating speed.
7. A control method of an industrial robot according to claim 1, characterized in that: the method comprises the following specific steps of evaluating the transmission speed of the conveyor belt and the suitability evaluation coefficient of the goods transmission interval:
s81: acquiring the single operation time length of the appointed end effector according to the transmission time length, the placing time length and the rotation time length of the appointed end effector;
s82: based on the transmission speed of the conveyor belt, the adaptive transmission distance of the conveyor belt in the single operation time of the appointed end effector is further obtained;
s83: acquiring the actual transmission distance of the conveyor belt in the single operation time of the appointed end effector, and calculating the transmission speed suitability evaluation coefficient of the conveyor belt according to the actual transmission distance, wherein the calculation formula is as follows:
where σ denotes a conveyance speed suitability evaluation coefficient of the conveyance belt, JL denotes an adapted conveyance pitch of the conveyance belt in a single operation period of the prescribed end effector, JL denotes an actual conveyance pitch of the conveyance belt in a single operation period of the prescribed end effector, λ 1 An adaptability evaluation factor corresponding to the transmission speed represented as the set transmission interval;
s84: acquiring intervals among the goods to be transported transmitted in the conveyor belt, further extracting the average interval of the goods to be transported transmitted in the conveyor belt, and marking the average interval as the goods transmission interval of the conveyor belt;
s85: the actual transmission time length of the goods to be carried corresponding to the goods transmission interval of the conveyor belt is extracted, the actual transmission time length is compared with the single operation time length of the appointed end effector, and the goods transmission interval suitability evaluation coefficient of the conveyor belt is calculated, wherein the calculation formula is as follows:
wherein beta is expressed as a cargo conveying interval suitability evaluation coefficient of the conveyor belt, T 0 Expressed as a single run length of a given end effector, t sj The goods conveying interval, denoted as conveyor belt, corresponds to the actual conveying time, lambda, of the goods to be handled 2 And expressing the suitability evaluation influence coefficient corresponding to the goods transmission interval to which the set goods transmission time belongs.
8. A control method of an industrial robot according to claim 1, characterized in that: the specific process of adjusting and controlling the transmission parameters of the conveyor belt comprises the following steps:
s91: comparing the transmission speed suitability evaluation coefficient of the conveyor belt with the adjusted transmission speed to which the set threshold value of each transmission speed suitability evaluation coefficient belongs, further screening to obtain the adjusted transmission speed to which the conveyor belt belongs, and accordingly adjusting and controlling the transmission speed of the conveyor belt;
s92: and comparing the adjusted transmission speed of the conveyor belt with a set limited range to which the adjusted transmission speed belongs, if the adjusted transmission speed of the conveyor belt exceeds the limited range to which the adjusted transmission speed belongs, comparing the cargo transmission interval suitability evaluation coefficient of the conveyor belt with the cargo adjusted transmission intervals to which the set various cargo transmission interval suitability evaluation coefficient thresholds belong, screening to obtain the cargo adjusted transmission intervals to which the conveyor belt belongs, and accordingly adjusting and controlling the cargo transmission intervals of the conveyor belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211346774.0A CN115494850B (en) | 2022-10-31 | 2022-10-31 | Control method of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211346774.0A CN115494850B (en) | 2022-10-31 | 2022-10-31 | Control method of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115494850A true CN115494850A (en) | 2022-12-20 |
| CN115494850B CN115494850B (en) | 2023-08-18 |
Family
ID=85114656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211346774.0A Active CN115494850B (en) | 2022-10-31 | 2022-10-31 | Control method of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115494850B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170173789A1 (en) * | 2015-12-16 | 2017-06-22 | Comau Llc | Adaptable end effector and method |
| CN109901397A (en) * | 2019-03-25 | 2019-06-18 | 西北工业大学 | A kind of mechanical arm inverse kinematics method using particle swarm optimization algorithm |
| JP2019111604A (en) * | 2017-12-22 | 2019-07-11 | セイコーエプソン株式会社 | Control device, robot and robot system |
| DE102018112360B3 (en) * | 2018-05-23 | 2019-09-19 | Franka Emika Gmbh | Area-dependent collision detection for a robot manipulator |
| US20210053216A1 (en) * | 2019-08-21 | 2021-02-25 | Mujin, Inc. | Robotic multi-gripper assemblies and methods for gripping and holding objects |
| CN112809672A (en) * | 2020-12-31 | 2021-05-18 | 安徽飞凯电子技术有限公司 | Target positioning system for mechanical arm |
| KR20210060917A (en) * | 2019-11-19 | 2021-05-27 | 한국전자통신연구원 | Motion programming system and method of articulated robot |
| CN113510713A (en) * | 2021-09-09 | 2021-10-19 | 深圳市优必选科技股份有限公司 | Control method and device for robot cooperative transportation and computer equipment |
| CN114137982A (en) * | 2021-11-29 | 2022-03-04 | 深圳市优必选科技股份有限公司 | Robot motion control method and device, robot control device and storage medium |
| CN114272002A (en) * | 2021-12-21 | 2022-04-05 | 国家康复辅具研究中心 | Hand grasping force evaluation device and motion-mechanics coupling evaluation system and method |
| CN114474067A (en) * | 2022-03-11 | 2022-05-13 | 闻磊 | Intelligent industrial robot execution motion accuracy analysis method based on machine vision |
| CN115026830A (en) * | 2022-06-27 | 2022-09-09 | 湖北勤信恒诚塑胶有限公司 | Industrial robot automation operation intelligent analysis regulation and control system based on machine vision |
-
2022
- 2022-10-31 CN CN202211346774.0A patent/CN115494850B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170173789A1 (en) * | 2015-12-16 | 2017-06-22 | Comau Llc | Adaptable end effector and method |
| JP2019111604A (en) * | 2017-12-22 | 2019-07-11 | セイコーエプソン株式会社 | Control device, robot and robot system |
| DE102018112360B3 (en) * | 2018-05-23 | 2019-09-19 | Franka Emika Gmbh | Area-dependent collision detection for a robot manipulator |
| CN109901397A (en) * | 2019-03-25 | 2019-06-18 | 西北工业大学 | A kind of mechanical arm inverse kinematics method using particle swarm optimization algorithm |
| US20210053216A1 (en) * | 2019-08-21 | 2021-02-25 | Mujin, Inc. | Robotic multi-gripper assemblies and methods for gripping and holding objects |
| CN112703094A (en) * | 2019-08-21 | 2021-04-23 | 牧今科技 | Robotic multi-jaw gripper assembly and method for gripping and holding objects |
| KR20210060917A (en) * | 2019-11-19 | 2021-05-27 | 한국전자통신연구원 | Motion programming system and method of articulated robot |
| CN112809672A (en) * | 2020-12-31 | 2021-05-18 | 安徽飞凯电子技术有限公司 | Target positioning system for mechanical arm |
| CN113510713A (en) * | 2021-09-09 | 2021-10-19 | 深圳市优必选科技股份有限公司 | Control method and device for robot cooperative transportation and computer equipment |
| CN114137982A (en) * | 2021-11-29 | 2022-03-04 | 深圳市优必选科技股份有限公司 | Robot motion control method and device, robot control device and storage medium |
| CN114272002A (en) * | 2021-12-21 | 2022-04-05 | 国家康复辅具研究中心 | Hand grasping force evaluation device and motion-mechanics coupling evaluation system and method |
| CN114474067A (en) * | 2022-03-11 | 2022-05-13 | 闻磊 | Intelligent industrial robot execution motion accuracy analysis method based on machine vision |
| CN115026830A (en) * | 2022-06-27 | 2022-09-09 | 湖北勤信恒诚塑胶有限公司 | Industrial robot automation operation intelligent analysis regulation and control system based on machine vision |
Non-Patent Citations (3)
| Title |
|---|
| HAIYAN SHAO 等: "Structural Design of a Kind of Palletizing Robot with Doubled-drive Mechanical-arm and Large Lifting Force" * |
| 李平;: "一种工业机器人新型末端执行器的研究与设计" * |
| 袁俊杰;姚家强;: "基于调和场的连续型机械臂运动规划" * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115494850B (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112793989B (en) | Intelligent speed regulation method of belt conveyor based on material monitoring | |
| CN109305534A (en) | Coal wharf's belt conveyor self-adaptation control method based on computer vision | |
| CN115026830B (en) | Industrial robot automation operation intelligent analysis regulation and control system based on machine vision | |
| CN115494850A (en) | Control method of industrial robot | |
| CN108190512A (en) | A kind of chain transportation system of electrodeposit metals cathode plate | |
| CN114104655B (en) | Chain line following method and device | |
| CN113426693B (en) | Fruit multistage screening device and screening method | |
| CN113184449B (en) | Intelligent conveying management and control system for metal powder products | |
| JPS5719241A (en) | Control of glove bucket for unloader | |
| CN115504187A (en) | Intelligent speed regulation and protection system for mining belt and control method | |
| CN215052980U (en) | Vibroflotation gravel pile ship with integrated automatic pile forming system | |
| CN115034657A (en) | High-pole illuminating lamp anti-collision monitoring system based on Internet of things | |
| CN113079771B (en) | Self-adaptive measurement and control method and system for distributed feeding type potato seed metering device | |
| CN115026003B (en) | Appearance sorting device and method for electronic component production line | |
| CN112149499A (en) | Wood block direction recognition device based on machine vision technology | |
| CN116902487B (en) | Intelligent monitoring and regulating system for article conveying based on visualization | |
| CN113674233B (en) | Wood optimal selection saw visual detection method based on artificial intelligence | |
| CN217616166U (en) | Industrial automation high-speed sorting equipment | |
| CN214298155U (en) | Carry disk type double-station plate collecting machine | |
| CN115359112B (en) | Stacking control method of high-level material warehouse robot | |
| CN116864440B (en) | Automated handling system, method, apparatus and medium for semiconductor workpieces | |
| TWI815318B (en) | Warehousing automatic sorting system | |
| CN113261527B (en) | Grading and removing device and grading method in waterless keep-alive transportation process | |
| CN110254803B (en) | Full-automatic steel plate tail coil packaging device and method | |
| CN115069592B (en) | Automatic control system for weighing type classifier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230801 Address after: 201, No. 8 Chengding Street, Zhongcun Street, Panyu District, Guangzhou City, Guangdong Province, 510000 Applicant after: Guangzhou Yida Technology Co.,Ltd. Address before: 430021 No. 1, Dandong Road, Jianghan District, Wuhan City, Hubei Province Applicant before: Wuhan Dasheng Hongxin demolition Engineering Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |