CN115494850B - Control method of industrial robot - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- 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]
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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 invention improves the targeted analysis level, can screen and obtain the most adaptive end effector, further enables the adopted end effector to be well adapted to the cargo type and size parameters of the cargo to be carried, reduces the risk of damaging the cargo to be carried, and simultaneously enables the end effector to realize rapid, accurate and stable cargo capture to a certain extent.
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
Along with the rapid development of industry, the demands of society for labor force are increasing, meanwhile, along with the continuous progress of intelligent science and automation technology, further innovation of manufacturing industry is promoted, industrial robots are an emerging technical means capable of replacing labor force, and are widely popularized and applied in the industrial field due to the advantages of being capable of reducing labor cost, improving production efficiency, being high in environment adaptation capability and the like, and in the industrial production today, industrial robots such as welding robots, polishing robots, laser processing robots and carrying robots are widely adopted, wherein the carrying robots can solve the problem of employee loss caused by boring mechanical carrying work, and are one of the mainstream industrial robots in the industrial production.
Today, the prior art also has some drawbacks for controlling the handling robot, in particular in the following aspects: (1) The handling robot is generally composed of an executing mechanism, a driving mechanism and a control mechanism, wherein the end effector is used as the executing mechanism to occupy a main supporting position in the whole operation process, and when the end effector is used and controlled in the prior art, the end effector is deficient in carrying out targeted analysis on goods to be handled in the early stage of use, so that the situation that the targeted analysis level is lower is caused, the most adaptive end effector cannot be obtained through screening, the adopted end effector cannot be well adapted to the type and size parameters of the goods to be handled, the risk of damaging the goods to be handled is increased, the falling accident rate of the goods is improved to a large extent, the whole handling production progress is influenced, and the handling efficiency of the end effector is not beneficial to being effectively improved.
(2) At present, more of the prior art is also focused on controlling the transfer robot, the conveyor belt for transferring the goods to be transferred is regulated according to the operation condition of the end effector, the intelligent level is reduced, the phenomenon of uncoordinated actual transfer speed and goods transfer interval of the conveyor belt and the operation condition of the end effector are caused, the end effector cannot realize rapid, accurate and stable goods grabbing, the stable operation of the whole transfer process is affected, and the energy consumption of the transfer process is increased to a certain extent.
Disclosure of Invention
In order to overcome the defects in the background art, the embodiment of the invention provides a control method of an industrial robot, which can effectively solve the problems related to the background art.
The aim of the invention can be achieved by the following technical scheme: a control method of an industrial robot, comprising the steps of: s1, acquiring basic parameters of goods to be transported: basic parameters of the goods to be transported are obtained, wherein the basic parameters comprise the type, the size parameters and the weight of the goods.
S2, analyzing basic parameters of the goods to be transported: according to basic parameters of goods to be transported, screening to obtain each end effector to be selected, evaluating transport matching coefficients corresponding to each end effector to be selected according to the basic parameters, and extracting to obtain the designated end effector.
S3, appointing end effector grabbing area division: and acquiring a base center point of the transfer robot, acquiring the maximum grabbing diameter of the transfer robot, taking the maximum grabbing diameter as a reference dividing interval, and dividing the maximum grabbing diameter into target grabbing areas of the designated end effector.
S4, designating end effector grabbing position analysis control: according to the target grabbing area of the designated end effector, further acquiring target goods, analyzing the target goods to obtain the position of the designated end effector, which is adapted to grab the target goods, and controlling grabbing of the target goods.
S5, analyzing operation parameters of the designated end effector: and acquiring the grabbing flow of the specified end effector on the target goods, and further analyzing the operation parameters of the specified end effector, wherein the operation parameters comprise a transmission speed, a placement speed and a rotation speed, and accordingly evaluating the transmission speed, the placement speed and the rotation speed suitability index of the specified end effector respectively.
S6, designating end effector operation parameter adjustment control: and adjusting and controlling the operation parameters of the appointed end effector according to the transmission speed, the placement speed and the revolving speed suitability index of the appointed end effector.
S7, acquiring operation duration parameters of the designated end effector: based on the grabbing process of the specified end effector on the target goods, further acquiring the operation duration parameters of the specified end effector, wherein the operation duration parameters comprise transmission duration, placement duration and rotation duration.
S8, acquiring and analyzing transmission parameters of a conveyor belt: and according to the operation duration parameter of the appointed end effector, acquiring the transmission parameters of the conveyor belt, wherein the transmission parameters comprise the transmission speed and the cargo transmission interval, and accordingly evaluating the suitability evaluation coefficient of the transmission speed and the cargo transmission interval of the conveyor belt.
S9, adjusting and controlling transmission parameters of a conveyor belt: and (3) according to the transmission speed of the conveyor belt and the cargo transmission interval suitability evaluation coefficient, adjusting and controlling the transmission parameters of the conveyor belt.
As a further method, the estimating the carrying matching coefficient corresponding to each end effector to be selected comprises the following specific steps: s21: according to the type of the goods to be carried, matching the goods with each adaptive end effector corresponding to the set type of the goods to obtain each adaptive end effector corresponding to the goods to be carried.
S22: based on the size parameters of the goods to be transported, wherein the size parameters comprise length, width and height, the size parameters of the goods to be transported, which are suitable for grabbing the goods, are obtained, the size parameters of the goods to be transported, which are suitable for grabbing the goods, are screened from the size parameters, which are suitable for the size parameters of the goods to be transported, are recorded as the size parameters of the end effectors to be transported, and transport matching coefficients corresponding to the end effectors to be transported are calculated according to the size parameters, wherein the calculation formula is as follows: Wherein alpha is i Expressed as a transport matching coefficient, L, corresponding to the i-th end effector to be selected i0 、W i0 And H i0 Respectively denoted as the length, width and height of the i-th candidate end effector, i ", w", and h ", respectively denoted as the length, width and height of the goods to be handled, delta 1 、δ 2 And delta 3 And the carrying 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, i=1, 2,.
As a further method, the extraction results in a specific end effector, which comprises the following specific processes: and sequentially sequencing the carrying matching coefficients corresponding to the end effectors to be selected according to the sequence from large to small, extracting the end effector to be selected, which belongs to the carrying matching coefficient with the first rank, and recording the end effector as the designated end effector.
As a further method, the analyzing obtains the position where the designated end effector is adapted to grasp the target cargo, and the specific process is as follows: s41: and marking the goods to be carried as target goods when the goods to be carried are transmitted to the target grabbing area of the appointed end effector based on the target grabbing area of the appointed end effector.
S42: scanning the three-dimensional image of the target goods to obtain the three-dimensional image of the target goods, extracting the center point of the upper elevation of the target goods,taking the target goods as a specified grabbing position datum point, marking a lower elevation center point of a specified end effector as a grabbing reference point, further extracting the interval between the specified grabbing position datum point and the grabbing reference point, and calculating a proper grabbing evaluation coefficient of the target goods according to the interval, wherein the calculation formula is as follows:where ε is expressed as a suitable grasp evaluation coefficient for the target cargo, JG 0 Expressed as a set reference interval suitable for gripping goods, jg' expressed as an interval between a specified gripping position datum point and a gripping reference point, χ 1 The appropriate grip evaluation correction factor corresponding to the set grip interval is expressed, and e is expressed as a natural constant.
S43: and comparing the proper grabbing evaluation coefficient of the target cargo with a set proper grabbing evaluation coefficient threshold, and controlling grabbing of the target cargo by controlling the grabbing reference point of the appointed end effector to the appointed grabbing position reference point of the target cargo when the proper grabbing evaluation coefficient of the target cargo is in the range of the proper grabbing evaluation coefficient threshold.
As a further method, the evaluation specifies the drive speed, placement speed, and slew rate suitability index of the end effector by: s51: and extracting the size parameter of the target cargo, further obtaining the volume of the target cargo, extracting the weight of the target cargo, further matching with the standard transmission speed of various cargo volumes corresponding to various cargo weights set by various end effectors, obtaining the standard transmission speed of the target cargo volumes corresponding to the target cargo weights of various end effectors, extracting the standard transmission speed of the target cargo volumes corresponding to the target cargo weights of the designated end effectors from the standard transmission speed, and recording the standard transmission speed as the designated standard transmission speed of the target cargo.
S52: the method comprises the steps of obtaining a predefined transmission speed of a specified end effector, comparing the transmission speed with a specified standard transmission speed of target goods, and calculating a transmission speed suitability index of the specified end effector, wherein the calculation formula is as follows:wherein eta cd Expressed as a drive speed suitability index for a given end effector, V 0 "designated standard drive speed, denoted as target cargo," v "is denoted as a predefined drive speed, gamma, for a designated end effector 1 Indicated as an appropriate correction value corresponding to the set transmission speed.
S53: and acquiring a placement area of the target cargo, positioning the placement area from the placement area to an upper end surface center point to which the placement area of the target cargo belongs, extracting the distance between the upper end surface center point to which the placement area of the target cargo belongs and the horizontal ground, and marking the distance as the placement height distance of the target cargo.
S54: matching the placing height spacing of the target goods with the proper placing speed corresponding to the set various placing height spacing of the goods to obtain the proper placing speed corresponding to the target goods, extracting the placing speed of the appointed end effector in 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 calculating formula is as follows: Wherein mu fz Expressed as a placement speed fitness index for a given end effector, V Fitting for Expressed as the proper placement speed corresponding to the target cargo, v fz Expressed as a set speed of the specified end effector within a preset time period, gamma 2 Indicated as an appropriate correction value corresponding to the set placement speed.
S55: extracting a revolution path of the specified end effector, extracting the revolution path length of the specified end effector in a set time period, further obtaining the revolution speed of the specified end effector in the set time period, comparing the revolution speed with a preset standard revolution speed of the specified end effector, and calculating a revolution speed suitability index of the specified end effector, wherein the calculation formula is as follows:wherein->Expressed as a revolution speed suitability index for a given end effector, V Returning to Expressed as a standard rotational speed of a given end effector, v hz Expressed as a rotational speed of a specified end effector in a set period of time, gamma 3 Indicated as a suitable correction factor for the rotational speed.
As a further method, the adjusting and controlling the operation parameters of the designated end effector comprises the following specific steps: s61: and matching the transmission speed suitability index of the appointed end effector with the adjustment transmission speed which belongs to the set various transmission speed suitability index intervals, further obtaining the adjustment transmission speed which the appointed end effector belongs to, and adjusting and controlling the transmission speed of the appointed end effector according to the adjustment transmission speed.
S62: matching the placement speed suitability index of the specified end effector with the adjustment placement speed which belongs to the set various placement speed suitability index intervals, further obtaining the adjustment placement speed which the specified end effector belongs to, and adjusting and controlling the placement speed of the specified end effector according to the adjustment placement speed.
S63: the revolving speed suitable index of the appointed end effector is matched with the adjusting revolving speed which belongs to the set intervals of various revolving speed suitable indexes, and the adjusting revolving speed which the appointed end effector belongs to is obtained, so that the revolving speed of the appointed end effector is adjusted and controlled.
As a further method, the method for evaluating the transmission speed of the conveyor belt and the cargo transmission interval suitability evaluation coefficient comprises the following specific steps: s81: and further acquiring the single operation time length of the designated end effector according to the transmission time length, the placement time length and the revolution time length of the designated end effector.
S82: based on the transmission speed of the conveyor belt, an adapted transmission distance of the conveyor belt in a single operation duration of the specified end effector is obtained.
S83: the actual transmission distance of the conveyor belt in the single operation time of the appointed end effector is obtained, the transmission speed suitability evaluation coefficient of the conveyor belt is calculated according to the actual transmission distance, and the calculation formula is as follows: Where σ is expressed as a transmission speed suitability evaluation coefficient of the conveyor belt, JL is expressed as an adapted transmission pitch of the conveyor belt in a single operation duration of the specified end effector, JL is expressed as an actual transmission pitch of the conveyor belt in a single operation duration of the specified end effector, λ 1 And the suitability evaluation factor is expressed as the suitability evaluation factor corresponding to the transmission speed to which the set transmission interval belongs.
S84: and acquiring the interval between the goods to be carried, which are transmitted in the conveyor belt, further extracting the average interval of the goods to be carried, which are transmitted in the conveyor belt, and marking the average interval as the goods transmission interval of the conveyor belt.
S85: extracting the actual transmission time length of the goods to be carried corresponding to the goods transmission interval of the conveyor belt, comparing the actual transmission time length with the single operation time length of the appointed end effector, and calculating the goods transmission interval suitability evaluation coefficient of the conveyor belt, wherein the calculation formula is as follows:where β is expressed as a cargo conveyance interval suitability evaluation coefficient of the conveyor belt, T 0 Represented as a single operation duration of a given end effector, t sj Represented by the actual transport duration of the goods to be handled, lambda, corresponding to the goods transport interval of the conveyor belt 2 And the suitability evaluation influence coefficient corresponding to the goods transmission interval to which the set goods transmission time belongs is represented.
As a further method, the adjusting and controlling the transmission parameters of the conveying belt comprises the following specific steps: s91: and comparing the transmission speed suitability evaluation coefficient of the conveyor belt with the adjustment transmission speed which belongs to the set various transmission speed suitability evaluation coefficient thresholds, and further screening to obtain the adjustment transmission speed which belongs to the conveyor belt, thereby adjusting and controlling the transmission speed of the conveyor belt.
S92: and comparing the regulated transmission speed of the conveyor belt with a limit range to which the set regulated transmission speed belongs, and if the regulated transmission speed of the conveyor belt exceeds the limit range to which the regulated transmission speed belongs, comparing the cargo transmission interval suitability evaluation coefficient of the conveyor belt with the cargo regulation transmission interval to which the set various cargo transmission interval suitability evaluation coefficient threshold values belong, and further screening to obtain the cargo regulation transmission interval to which the conveyor belt belongs, thereby regulating and controlling the cargo transmission interval of the conveyor belt.
Compared with the prior art, the embodiment of the invention has at least the following beneficial effects: (1) According to the invention, the basic parameters of the goods to be transported are analyzed, the end effectors to be selected are obtained through screening, the transport matching coefficient corresponding to the end effectors to be selected is evaluated, the appointed end effector is obtained through extracting, 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 effectively overcome, the targeted analysis level is improved, the end effector which is most suitable can be obtained through screening, the adopted end effector can be well adapted to the 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 large extent, the negative influence on the whole transport production progress is avoided, and the transport efficiency of the end effector is effectively improved.
(2) According to the invention, the operation duration parameters of the specified end effector are obtained, the transmission speed of the conveyor belt and the cargo transmission interval suitability evaluation coefficient are evaluated, the transmission speed of the conveyor belt and the cargo transmission interval are adjusted and controlled accordingly, the intelligent level is improved, the defect that the conveyor belt for conveying the cargo to be carried is neglected to be adjusted according to the operation condition of the end effector in the prior art is effectively overcome, the phenomenon that the actual transmission speed of the conveyor belt, the cargo transmission interval and the operation condition of the end effector are uncoordinated is avoided, the end effector can realize rapid, accurate and stable cargo grabbing, the influence on the stable operation of the whole carrying flow is reduced, and the energy consumption of the carrying flow is reduced to a certain extent.
(3) According to the invention, the transmission speed, the placement speed and the rotation speed suitable indexes of the appointed end effector are evaluated respectively, so that the transmission speed, the placement speed and the rotation speed of the appointed end effector are regulated and controlled, the accuracy and the comprehensiveness of the speed control of the end effector are improved, the stability and the safety of the end effector in grabbing and placing cargoes can be ensured, and the cargo carrying operation quality of the end effector is improved.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
FIG. 1 is a flow chart of the steps of the method of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a control method of an industrial robot, comprising the steps of: s1, acquiring basic parameters of goods to be transported: basic parameters of the goods to be transported are obtained, wherein the basic parameters comprise the type, the size parameters and the weight of the goods.
The types of goods include common goods, noble goods and fragile goods.
S2, analyzing basic parameters of the goods to be transported: according to basic parameters of goods to be transported, screening to obtain each end effector to be selected, evaluating transport matching coefficients corresponding to each end effector to be selected according to the basic parameters, and extracting to obtain the designated end effector.
Specifically, the estimating the carrying matching coefficient corresponding to each end effector to be selected includes the following specific steps: s21: according to the type of the goods to be carried, matching the goods with each adaptive end effector corresponding to the set type of the goods to obtain each adaptive end effector corresponding to the goods to be carried.
S22: based on the size parameters of the goods to be transported, wherein the size parameters comprise length, width and height, the size parameters of the goods to be transported, which are suitable for grabbing the goods, are obtained, the size parameters of the goods to be transported, which are suitable for grabbing the goods, are screened from the size parameters, which are suitable for the size parameters of the goods to be transported, are recorded as the size parameters of the end effectors to be transported, and transport matching coefficients corresponding to the end effectors to be transported are calculated according to the size parameters, wherein the calculation formula is as follows:wherein alpha is i Expressed as a transport matching coefficient, L, corresponding to the i-th end effector to be selected i0 、W i0 And H i0 Respectively denoted as the length, width and height of the i-th candidate end effector, i ", w", and h ", respectively denoted as the length, width and height of the goods to be handled, delta 1 、δ 2 And delta 3 And the carrying 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, i=1, 2,.
Specifically, the extraction is performed to obtain a specified end effector, and the specific process is as follows: and sequentially sequencing the carrying matching coefficients corresponding to the end effectors to be selected according to the sequence from large to small, extracting the end effector to be selected, which belongs to the carrying matching coefficient with the first rank, and recording the end effector as the designated end effector.
In the specific embodiment of the invention, the basic parameters of the goods to be transported are analyzed, so that each end effector to be selected is obtained through screening, the transport matching coefficient corresponding to each end effector to be selected is evaluated, the designated end effector is obtained through extraction, 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 effectively overcome, the targeted analysis level is improved, the most suitable end effector can be obtained through screening, the adopted end effector can be well adapted to the 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 large extent, the negative influence on the whole transport production progress is avoided, and the transport efficiency of the end effector is effectively improved.
S3, appointing end effector grabbing area division: and acquiring a base center point of the transfer robot, acquiring the maximum grabbing diameter of the transfer robot, taking the maximum grabbing diameter as a reference dividing interval, and dividing the maximum grabbing diameter into target grabbing areas of the designated end effector.
It should be noted that, the above division obtains the target grabbing area of the specified end effector, which specifically includes: the center point of the base of the transfer robot is taken as a dividing center point, the reference dividing interval is taken as a dividing radius, and then the working area of the transfer robot is obtained, and is positioned to the area where the conveyor belt is located, and the working area is taken as a target grabbing area of the appointed end effector.
S4, designating end effector grabbing position analysis control: according to the target grabbing area of the designated end effector, further acquiring target goods, analyzing the target goods to obtain the position of the designated end effector, which is adapted to grab the target goods, and controlling grabbing of the target goods.
Specifically, the analysis obtains the position of the appointed end effector adapted to grasp the target cargo, and the specific process is as follows: s41: and marking the goods to be carried as target goods when the goods to be carried are transmitted to the target grabbing area of the appointed end effector based on the target grabbing area of the appointed end effector.
S42: the method comprises the steps of scanning a three-dimensional image of target goods, further obtaining a three-dimensional image of the target goods, extracting an upper elevation center point of the target goods, taking the upper elevation center point as a specified grabbing position datum point, marking a lower elevation center point of a specified end effector as a grabbing reference point, further extracting an interval between the specified grabbing position datum point and the grabbing reference point, and accordingly calculating a proper grabbing evaluation coefficient of the target goods, wherein a calculation formula is as follows:where ε is expressed as a suitable grasp evaluation coefficient for the target cargo, JG 0 Expressed as a set reference interval suitable for gripping goods, jg' expressed as an interval between a specified gripping position datum point and a gripping reference point, χ 1 The appropriate grip evaluation correction factor corresponding to the set grip interval is expressed, and e is expressed as a natural constant.
S43: and comparing the proper grabbing evaluation coefficient of the target cargo with a set proper grabbing evaluation coefficient threshold, and controlling grabbing of the target cargo by controlling the grabbing reference point of the appointed end effector to the appointed grabbing position reference point of the target cargo when the proper grabbing evaluation coefficient of the target cargo is in the range of the proper grabbing evaluation coefficient threshold.
S5, analyzing operation parameters of the designated end effector: and acquiring the grabbing flow of the specified end effector on the target goods, and further analyzing the operation parameters of the specified end effector, wherein the operation parameters comprise a transmission speed, a placement speed and a rotation speed, and accordingly evaluating the transmission speed, the placement speed and the rotation speed suitability index of the specified end effector respectively.
Specifically, the evaluation specifies the drive speed, placement speed, and slew rate suitability index of the end effector, which is specifically: s51: and extracting the size parameter of the target cargo, further obtaining the volume of the target cargo, extracting the weight of the target cargo, further matching with the standard transmission speed of various cargo volumes corresponding to various cargo weights set by various end effectors, obtaining the standard transmission speed of the target cargo volumes corresponding to the target cargo weights of various end effectors, extracting the standard transmission speed of the target cargo volumes corresponding to the target cargo weights of the designated end effectors from the standard transmission speed, and recording the standard transmission speed as the designated standard transmission speed of the target cargo.
S52: the method comprises the steps of obtaining a predefined transmission speed of a specified end effector, comparing the transmission speed with a specified standard transmission speed of target goods, and calculating a transmission speed suitability index of the specified end effector, wherein the calculation formula is as follows:wherein eta cd Expressed as a drive speed suitability index for a given end effector, V 0 "designated standard drive speed, denoted as target cargo," v "is denoted as a predefined drive speed, gamma, for a designated end effector 1 Indicated as an appropriate correction value corresponding to the set transmission speed.
S53: and acquiring a placement area of the target cargo, positioning the placement area from the placement area to an upper end surface center point to which the placement area of the target cargo belongs, extracting the distance between the upper end surface center point to which the placement area of the target cargo belongs and the horizontal ground, and marking the distance as the placement height distance of the target cargo.
S54: matching the placing height spacing of the target goods with the proper placing speed corresponding to the set various placing height spacing of the goods to obtain the proper placing speed corresponding to the target goods, extracting the placing speed of the appointed end effector in 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 calculating formula is as follows:wherein mu fz Expressed as a placement speed fitness index for a given end effector, V Fitting for Expressed as the proper placement speed corresponding to the target cargo, v fz Expressed as a set speed of the specified end effector within a preset time period, gamma 2 Indicated as an appropriate correction value corresponding to the set placement speed.
S55: extracting a revolution path of the specified end effector, extracting the revolution path length of the specified end effector in a set time period, further obtaining the revolution speed of the specified end effector in the set time period, comparing the revolution speed with a preset standard revolution speed of the specified end effector, and calculating a revolution speed suitability index of the specified end effector, wherein the calculation formula is as follows: Wherein->Expressed as a revolution speed suitability index for a given end effector, V Returning to Expressed as a standard rotational speed of a given end effector, v hz Expressed as a rotational speed of a specified end effector in a set period of time, gamma 3 Indicated as a suitable correction factor for the rotational speed.
S6, designating end effector operation parameter adjustment control: and adjusting and controlling the operation parameters of the appointed end effector according to the transmission speed, the placement speed and the revolving speed suitability index of the appointed end effector.
Specifically, the adjusting and controlling the operation parameters of the specified end effector comprises the following specific processes: s61: and matching the transmission speed suitability index of the appointed end effector with the adjustment transmission speed which belongs to the set various transmission speed suitability index intervals, further obtaining the adjustment transmission speed which the appointed end effector belongs to, and adjusting and controlling the transmission speed of the appointed end effector according to the adjustment transmission speed.
S62: matching the placement speed suitability index of the specified end effector with the adjustment placement speed which belongs to the set various placement speed suitability index intervals, further obtaining the adjustment placement speed which the specified end effector belongs to, and adjusting and controlling the placement speed of the specified end effector according to the adjustment placement speed.
S63: the revolving speed suitable index of the appointed end effector is matched with the adjusting revolving speed which belongs to the set intervals of various revolving speed suitable indexes, and the adjusting revolving speed which the appointed end effector belongs to is obtained, so that the revolving speed of the appointed end effector is adjusted and controlled.
In the specific embodiment of the invention, the transmission speed, the placement speed and the rotation speed of the specified end effector are respectively evaluated to adjust and control the transmission speed, the placement speed and the rotation speed of the specified end effector, so that the accuracy and the comprehensiveness of the speed control of the end effector are forcefully improved, the stability and the safety of the end effector in grabbing and placing cargoes can be ensured, and the cargo carrying operation quality of the end effector is further improved.
S7, acquiring operation duration parameters of the designated end effector: based on the grabbing process of the specified end effector on the target goods, further acquiring the operation duration parameters of the specified end effector, wherein the operation duration parameters comprise transmission duration, placement duration and rotation duration.
S8, acquiring and analyzing transmission parameters of a conveyor belt: and according to the operation duration parameter of the appointed end effector, acquiring the transmission parameters of the conveyor belt, wherein the transmission parameters comprise the transmission speed and the cargo transmission interval, and accordingly evaluating the suitability evaluation coefficient of the transmission speed and the cargo transmission interval of the conveyor belt.
Specifically, the method for evaluating the suitability evaluation coefficient of the transmission speed and the cargo transmission interval of the conveyor belt comprises the following specific processes: s81: and further acquiring the single operation time length of the designated end effector according to the transmission time length, the placement time length and the revolution time length of the designated end effector.
It should be noted that, the single operation duration of the specified end effector is specifically obtained by accumulating three parts of the transmission duration, the placement duration and the rotation duration of the specified end effector.
S82: based on the transmission speed of the conveyor belt, an adapted transmission distance of the conveyor belt in a single operation duration of the specified end effector is obtained.
S83: the actual transmission distance of the conveyor belt in the single operation time of the appointed end effector is obtained, the transmission speed suitability evaluation coefficient of the conveyor belt is calculated according to the actual transmission distance, and the calculation formula is as follows:where σ is expressed as a transmission speed suitability evaluation coefficient of the conveyor belt, JL is expressed as an adapted transmission pitch of the conveyor belt in a single operation duration of the specified end effector, JL is expressed as an actual transmission pitch of the conveyor belt in a single operation duration of the specified end effector, λ 1 And the suitability evaluation factor is expressed as the suitability evaluation factor corresponding to the transmission speed to which the set transmission interval belongs.
It should be noted that, the actual transmission distance of the conveyor belt in the single operation duration of the above specified end effector is specifically: taking the central line of the conveyor belt as a reference transmission line, carrying out random sampling point layout to obtain sampling points, further extracting the actual transmission linear distance of the sampling points in the single operation duration 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 duration of the appointed end effector.
S84: and acquiring the interval between the goods to be carried, which are transmitted in the conveyor belt, further extracting the average interval of the goods to be carried, which are 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 interval between the goods to be carried transmitted in the above-mentioned acquisition conveyor belt is specifically: the three-dimensional image scanning is carried out on each to-be-carried cargo transmitted in the conveyor belt, so that the three-dimensional image corresponding to each to-be-carried cargo transmitted in the conveyor belt is obtained, the three-dimensional image is positioned to the center point of the upper end face of each to-be-carried cargo, the center points of the upper end faces of the to-be-carried cargos are connected in a straight line, the straight line connection distance interval between the center points of the upper end faces of two adjacent to-be-carried cargos is sequentially extracted, and the interval between the to-be-carried cargos transmitted in the conveyor belt is obtained.
S85: extracting the actual transmission time length of the goods to be carried corresponding to the goods transmission interval of the conveyor belt, comparing the actual transmission time length with the single operation time length of the appointed end effector, and calculating the goods transmission interval suitability evaluation coefficient of the conveyor belt, wherein the calculation formula is as follows:where β is expressed as a cargo conveyance interval suitability evaluation coefficient of the conveyor belt, T 0 Represented as a single operation duration of a given end effector, t sj Represented by the actual transport duration of the goods to be handled, lambda, corresponding to the goods transport interval of the conveyor belt 2 And the suitability evaluation influence coefficient corresponding to the goods transmission interval to which the set goods transmission time belongs is represented.
It should be noted that, the cargo transmission interval of the above-mentioned conveyer belt corresponds to the actual transmission duration of the cargo to be carried, and it specifically includes: according to each to-be-carried goods transmitted in the conveyor belt, the to-be-carried goods closest to the tail end of the conveyor belt are taken as target to-be-carried goods, the center point of the upper end face of the target to-be-carried goods is extracted, the goods transmission interval of the conveyor belt is taken as a moving interval, the actual transmission time length of the center point of the upper end face of the target to-be-carried goods in the moving interval is further obtained, and the actual transmission time length of the goods transmission interval of the conveyor belt corresponds to the actual transmission time length of the to-be-carried goods.
S9, adjusting and controlling transmission parameters of a conveyor belt: and (3) according to the transmission speed of the conveyor belt and the cargo transmission interval suitability evaluation coefficient, adjusting and controlling the transmission parameters of the conveyor belt.
Specifically, the adjusting and controlling the transmission parameters of the conveying belt comprises the following specific processes: s91: and comparing the transmission speed suitability evaluation coefficient of the conveyor belt with the adjustment transmission speed which belongs to the set various transmission speed suitability evaluation coefficient thresholds, and further screening to obtain the adjustment transmission speed which belongs to the conveyor belt, thereby adjusting and controlling the transmission speed of the conveyor belt.
S92: and comparing the regulated transmission speed of the conveyor belt with a limit range to which the set regulated transmission speed belongs, and if the regulated transmission speed of the conveyor belt exceeds the limit range to which the regulated transmission speed belongs, comparing the cargo transmission interval suitability evaluation coefficient of the conveyor belt with the cargo regulation transmission interval to which the set various cargo transmission interval suitability evaluation coefficient threshold values belong, and further screening to obtain the cargo regulation transmission interval to which the conveyor belt belongs, thereby regulating and controlling the cargo transmission interval of the conveyor belt.
In the specific embodiment of the invention, the transmission speed and the goods transmission interval of the conveyor belt are adjusted and controlled by acquiring the operation duration parameters of the specified end effector and evaluating the transmission speed and the goods transmission interval suitability evaluation coefficient of the conveyor belt, so that the intelligent level is improved, the defect that the conveyor belt for conveying goods to be conveyed is neglected to be adjusted according to the operation condition of the end effector in the prior art is effectively overcome, the phenomenon that the actual transmission speed and the goods transmission interval of the conveyor belt are uncoordinated 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 conveying process is reduced, and the energy consumption of the conveying process is reduced to a certain extent.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art can be made to the described embodiments without departing from the scope of the invention or from the scope of the invention as defined in the accompanying claims.
Claims (8)
1. A control method of an industrial robot, comprising the steps of:
s1, acquiring basic parameters of goods to be transported: acquiring basic parameters of goods to be transported, wherein the basic parameters comprise the type, the size parameter and the weight of the goods;
s2, analyzing basic parameters of the goods to be transported: according to basic parameters of goods to be transported, screening to obtain each end effector to be selected, evaluating transport matching coefficients corresponding to each end effector to be selected according to the basic parameters, and extracting to obtain a designated end effector;
s3, appointing end effector grabbing area division: acquiring a base center point of the transfer robot, acquiring the maximum grabbing diameter of the transfer robot, taking the maximum grabbing diameter as a reference dividing interval, and dividing the maximum grabbing diameter into target grabbing areas of the designated end effector according to the maximum grabbing diameter;
s4, designating end effector grabbing position analysis control: according to the target grabbing area of the appointed end effector, further acquiring target goods, analyzing to obtain the position of the appointed end effector, which is adapted to grab the target goods, and controlling grabbing of the target goods;
S5, analyzing operation parameters of the designated end effector: acquiring a grabbing flow of the specified end effector on the target goods, and analyzing operation parameters of the specified end effector, wherein the operation parameters comprise a transmission speed, a placement speed and a rotation speed, and accordingly evaluating transmission speed, placement speed and rotation speed suitability indexes of the specified end effector respectively;
s6, designating end effector operation parameter adjustment control: according to the transmission speed, the placement speed and the revolving speed suitability index of the appointed end effector, the operation parameters of the appointed end effector are adjusted and controlled;
s7, acquiring operation duration parameters of the designated end effector: acquiring operation duration parameters of the specified end effector based on the grabbing process of the specified end effector on the target goods, wherein the operation duration parameters comprise transmission duration, placement duration and rotation duration;
s8, acquiring and analyzing transmission parameters of a conveyor belt: according to the operation duration parameters of the appointed end effector, transmission parameters of the conveyor belt are obtained, wherein the transmission parameters comprise transmission speed and cargo transmission interval, and accordingly, the transmission speed of the conveyor belt and cargo transmission interval suitability evaluation coefficients are evaluated;
S9, adjusting and controlling transmission parameters of a conveyor belt: and (3) according to the transmission speed of the conveyor belt and the cargo transmission interval suitability evaluation coefficient, adjusting and controlling the transmission parameters of the conveyor belt.
2. The control method of an industrial robot according to claim 1, wherein: the specific process of evaluating the carrying matching coefficient corresponding to each end effector to be selected is as follows:
s21: according to the type of the goods to be carried, matching the goods with each adaptive end effector corresponding to the set type of the goods to obtain each adaptive end effector corresponding to the goods to be carried;
s22: based on the size parameters of the goods to be transported, wherein the size parameters comprise length, width and height, the size parameters of the goods to be transported, which are suitable for grabbing the goods, are obtained, the size parameters of the goods to be transported, which are suitable for grabbing the goods, are screened from the size parameters, which are suitable for the size parameters of the goods to be transported, are recorded as the size parameters of the end effectors to be transported, and transport matching coefficients corresponding to the end effectors to be transported are calculated according to the size parameters, wherein the calculation formula is as follows:wherein alpha is i Expressed as a transport matching coefficient, L, corresponding to the i-th end effector to be selected i0 、W i0 And H i0 Respectively denoted as the length, width and height of the i-th candidate end effector, i ", w", and h ", respectively denoted as the length, width and height of the goods to be handled, delta 1 、δ 2 And delta 3 And the carrying 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, i=1, 2,.
3. The control method of an industrial robot according to claim 1, wherein: the specific end effector is obtained through extraction, and the specific process is as follows: and sequentially sequencing the carrying matching coefficients corresponding to the end effectors to be selected according to the sequence from large to small, extracting the end effector to be selected, which belongs to the carrying matching coefficient with the first rank, and recording the end effector as the designated end effector.
4. The control method of an industrial robot according to claim 1, wherein: the analysis obtains the position of the appointed end effector adapted to grasp the target goods, and the specific process is as follows:
s41: based on the target grabbing area of the appointed end effector, when a certain goods to be carried is transmitted to the target grabbing area of the appointed end effector, marking the goods to be carried as target goods;
S42: the method comprises the steps of scanning a three-dimensional image of target goods, further obtaining a three-dimensional image of the target goods, extracting an upper elevation center point of the target goods, taking the upper elevation center point as a specified grabbing position datum point, marking a lower elevation center point of a specified end effector as a grabbing reference point, further extracting an interval between the specified grabbing position datum point and the grabbing reference point, and accordingly calculating a proper grabbing evaluation coefficient of the target goods, wherein a calculation formula is as follows:where ε is expressed as a suitable grasp evaluation coefficient for the target cargo, JG 0 Expressed as a set reference interval suitable for gripping goods, jg' expressed as an interval between a specified gripping position datum point and a gripping reference point, χ 1 The appropriate grabbing evaluation correction factors corresponding to the set grabbing intervals are expressed, and e is expressed as a natural constant;
s43: and comparing the proper grabbing evaluation coefficient of the target cargo with a set proper grabbing evaluation coefficient threshold, and controlling grabbing of the target cargo by controlling the grabbing reference point of the appointed end effector to the appointed grabbing position reference point of the target cargo when the proper grabbing evaluation coefficient of the target cargo is in the range of the proper grabbing evaluation coefficient threshold.
5. The control method of an industrial robot according to claim 1, wherein: the evaluation designates the transmission speed, placement speed and revolution speed suitability index of the end effector, and the specific process is as follows:
S51: extracting size parameters of target cargoes, further obtaining the volume of the target cargoes, extracting the weight of the target cargoes, further matching with standard transmission speeds of various cargo volumes to which various cargo weights corresponding to the set various end effectors belong, obtaining standard transmission speeds of the target cargoes to which the various end effectors correspond to the target cargo weights, extracting standard transmission speeds of the target cargo volumes to which the specified end effectors correspond to the target cargo weights from the standard transmission speeds, and recording the standard transmission speeds as specified standard transmission speeds of the target cargoes;
s52: the method comprises the steps of obtaining a predefined transmission speed of a specified end effector, comparing the transmission speed with a specified standard transmission speed of target goods, and calculating a transmission speed suitability index of the specified end effector, wherein the calculation formula is as follows:wherein eta cd Expressed as a drive speed suitability index for a given end effector, V 0 "designated standard drive speed, denoted as target cargo," v "is denoted as a predefined drive speed, gamma, for a designated end effector 1 A correction value corresponding to the set transmission speed;
s53: acquiring a placement area of the target cargo, positioning the placement area from the placement area to an upper end surface center point to which the placement area of the target cargo belongs, extracting the distance between the upper end surface center point to which the placement area of the target cargo belongs and the horizontal ground, and marking the distance as the placement height distance of the target cargo;
S54: matching the placing height spacing of the target goods with the proper placing speed corresponding to the set various placing height spacing of the goods to obtain the proper placing speed corresponding to the target goods, extracting the placing speed of the appointed end effector in 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 calculating formula is as follows:wherein mu fz Expressed as a placement speed fitness index for a given end effector, V Fitting for Expressed as the proper placement speed corresponding to the target cargo, v fz Expressed as a set speed of the specified end effector within a preset time period, gamma 2 A suitable correction value corresponding to the set placement speed;
s55: extracting a revolution path of the specified end effector, extracting the revolution path length of the specified end effector in a set time period, further obtaining the revolution speed of the specified end effector in the set time period, comparing the revolution speed with a preset standard revolution speed of the specified end effector, and calculating a revolution speed suitability index of the specified end effector, wherein the calculation formula is as follows:wherein->Expressed as a revolution speed suitability index for a given end effector, V Returning to Representation ofTo specify the standard rotational speed of the end effector, v hz Expressed as a rotational speed of a specified end effector in a set period of time, gamma 3 Indicated as a suitable correction factor for the rotational speed.
6. The control method of an industrial robot according to claim 1, wherein: the specific process of adjusting and controlling the operation parameters of the appointed end effector is as follows:
s61: matching the transmission speed suitability index of the appointed end effector with the adjustment transmission speed which belongs to the set various transmission speed suitability index intervals, further obtaining the adjustment transmission speed which the appointed end effector belongs to, and adjusting and controlling the transmission speed of the appointed end effector according to the adjustment transmission speed;
s62: matching the placement speed suitability index of the specified end effector with the adjustment placement speed which belongs to the set various placement speed suitability index intervals, further obtaining the adjustment placement speed which the specified end effector belongs to, and adjusting and controlling the placement speed of the specified end effector according to the adjustment placement speed;
s63: the revolving speed suitable index of the appointed end effector is matched with the adjusting revolving speed which belongs to the set intervals of various revolving speed suitable indexes, and the adjusting revolving speed which the appointed end effector belongs to is obtained, so that the revolving speed of the appointed end effector is adjusted and controlled.
7. The control method of an industrial robot according to claim 1, wherein: the method for evaluating the suitability evaluation coefficient of the transmission speed and the cargo transmission interval of the conveyor belt comprises the following specific processes:
s81: acquiring single operation duration of the designated end effector according to the transmission duration, the placement duration and the rotation duration of the designated end effector;
s82: based on the transmission speed of the conveyor belt, further obtaining an adaptive transmission distance of the conveyor belt in a single operation duration of the specified end effector;
s83: acquiring a single of a given end effectorAnd calculating the actual transmission distance of the conveyor belt in the secondary operation time length, and accordingly calculating a transmission speed suitability evaluation coefficient of the conveyor belt, wherein the calculation formula is as follows:where σ is expressed as a transmission speed suitability evaluation coefficient of the conveyor belt, JL is expressed as an adapted transmission pitch of the conveyor belt in a single operation duration of the specified end effector, JL is expressed as an actual transmission pitch of the conveyor belt in a single operation duration of the specified end effector, λ 1 The suitability evaluation factors are expressed as the suitability evaluation factors corresponding to the transmission speeds to which the set transmission intervals belong;
s84: 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;
S85: extracting the actual transmission time length of the goods to be carried corresponding to the goods transmission interval of the conveyor belt, comparing the actual transmission time length with the single operation time length of the appointed end effector, and calculating the goods transmission interval suitability evaluation coefficient of the conveyor belt, wherein the calculation formula is as follows:where β is expressed as a cargo conveyance interval suitability evaluation coefficient of the conveyor belt, T 0 Represented as a single operation duration of a given end effector, t sj Represented by the actual transport duration of the goods to be handled, lambda, corresponding to the goods transport interval of the conveyor belt 2 And the suitability evaluation influence coefficient corresponding to the goods transmission interval to which the set goods transmission time belongs is represented.
8. The control method of an industrial robot according to claim 1, wherein: the transmission parameters of the conveying belt are adjusted and controlled, and the specific process is as follows:
s91: comparing the transmission speed suitability evaluation coefficient of the conveyor belt with the adjustment transmission speed which belongs to the set various transmission speed suitability evaluation coefficient thresholds, and further screening to obtain the adjustment transmission speed which belongs to the conveyor belt, thereby adjusting and controlling the transmission speed of the conveyor belt;
s92: and comparing the regulated transmission speed of the conveyor belt with a limit range to which the set regulated transmission speed belongs, and if the regulated transmission speed of the conveyor belt exceeds the limit range to which the regulated transmission speed belongs, comparing the cargo transmission interval suitability evaluation coefficient of the conveyor belt with the cargo regulation transmission interval to which the set various cargo transmission interval suitability evaluation coefficient threshold values belong, and further screening to obtain the cargo regulation transmission interval to which the conveyor belt belongs, thereby regulating and controlling the cargo transmission interval of the conveyor belt.
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