CN115625705A - Collaborative planning control system and control method for multiple mechanical arms - Google Patents
Collaborative planning control system and control method for multiple mechanical arms Download PDFInfo
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- CN115625705A CN115625705A CN202211170159.9A CN202211170159A CN115625705A CN 115625705 A CN115625705 A CN 115625705A CN 202211170159 A CN202211170159 A CN 202211170159A CN 115625705 A CN115625705 A CN 115625705A
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Abstract
The invention belongs to the technical field of control systems, and particularly relates to a cooperative planning control system of a plurality of mechanical arms, which comprises a mechanical arm subsystem, a sensor subsystem, a controller subsystem and a processor subsystem; the mechanical arm subsystem comprises a plurality of mechanical arms, the controller subsystem is used for receiving control instructions, the sensor subsystem comprises a photosensitive sensor, a torque sensor and a displacement sensor, the sensor subsystem has the advantages that the sensor and the controller cooperatively control the mechanical arms, the operation state of the mechanical arms is finely adjusted according to real-time data of the sensor, and meanwhile, the processor subsystem can plan the operation tracks of the mechanical arms, so that the coordinated working efficiency of the mechanical arms is improved.
Description
Technical Field
The invention relates to the technical field of control systems, in particular to a collaborative planning control system and a collaborative planning control method for multiple mechanical arms.
Background
With the development of the industry of China towards the industry direction of 4.0, the application of various mechanical arms is more and more extensive. The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
In the related art, the mechanical arm has a control system of the mechanical arm, but the mechanical arm basically mainly adopts single-machine control, in practical industrial application, a plurality of mechanical arms are often required to work in a cooperation mode, coordination distribution and movement tracks among different types of mechanical arms need to be considered, and therefore a cooperation planning control system and a control method of the mechanical arms are provided.
The above information disclosed in this background section is only for background understanding of the inventive concept and, therefore, it may contain information that does not form prior art.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a collaborative planning control system and a control method of a plurality of mechanical arms so as to meet the market demand.
The technical scheme adopted by the invention for solving the technical problems is as follows: a cooperative planning control system for a plurality of mechanical arms comprises a mechanical arm subsystem, a sensor subsystem, a controller subsystem and a processor subsystem;
the mechanical arm subsystem comprises a plurality of mechanical arms, the mechanical arms are respectively and electrically connected with a plurality of controllers in the controller subsystem, each single controller respectively controls the single mechanical arm connected with the single controller, a second control is arranged on each mechanical arm, the second control is in corresponding relation with the single controller in the controller subsystem, and the type of the second control corresponding to each single mechanical arm is determined by the function of the mechanical arm;
the controller subsystem is used for receiving a control instruction; determining one or more target mechanical arms responding to the control command from the mechanical arms correspondingly connected with the controller subsystem based on the control command; analyzing the control command into a motion command of the target mechanical arm; sending the motion instruction to the target mechanical arm through a preset bottom layer control communication interface so as to indicate the target mechanical arm to realize a target behavior represented by the control instruction;
the sensor subsystem comprises a photosensitive sensor, a torque sensor and a displacement sensor, is arranged at a corresponding part of the mechanical arm subsystem and is used for acquiring relevant data of the mechanical arm subsystem during working and transmitting the acquired data to the processor subsystem;
the processor subsystem is used for receiving the mechanical arm real-time working condition data collected in the sensor subsystem and issuing a proper control instruction to the controller subsystem after analyzing the collected real-time data, and the processor is prestored with the motion tracks of the mechanical arms and the corresponding control instruction.
As an optimized technical scheme, an upper layer communication protocol and an inter-controller communication protocol are packaged in advance in the controller;
the controller also comprises an upper layer communication interface and a unified controller interface, wherein the upper layer communication interface is constructed based on the upper layer communication protocol and is used for receiving a control instruction;
the unified controller interface is constructed based on the inter-controller communication protocol for communicating with other controllers.
As an optimized technical scheme, the photosensitive sensor is a corner photosensitive sensor; the acquisition end of the corner photosensitive sensor faces to a direction departing from the running direction of the mechanical arm and can acquire the rotation angle information of the mechanical arm;
the moment sensor is used for acquiring the clamping force when the mechanical arm runs, so that the mechanical arm adopts different clamping forces according to the specific use requirements of materials when clamping a workpiece;
the displacement sensor collects the displacement tracks of all mechanical arms in the mechanical arm subsystem in real time, converts the displacement signals of the mechanical arms into digital signals according to the displacement conversion relation and transmits the converted displacement digital signals to the processor subsystem.
The system is characterized by further comprising an acquisition end data transmission subsystem, wherein the input end of the acquisition end data transmission subsystem is connected with the sensor subsystem, the output end of the acquisition end data transmission subsystem is connected with the processor subsystem, and the mechanical arm real-time working condition data acquired by the sensor subsystem is transmitted to the processor subsystem in a wireless or limited mode.
As an optimized technical scheme, the mechanical arm subsystem comprises a welding mechanical arm and a grabbing mechanical arm, wherein the grabbing mechanical arm carries out carrying and overturning supporting of a plurality of workpieces to be processed, and the welding mechanical arm carries out front and back double-side welding after splicing of different workpieces.
As an optimized technical solution, when the manipulation instruction includes an interactive request with other individual robot arms, the controller is further configured to:
analyzing the interaction request and a target controller corresponding to the mechanical arm individual to be interacted from the control instruction;
sending the interaction request to the target controller through the unified controller interface so as to indicate the mechanical arms of the mechanical arm individuals controlled by the target controller to realize the interaction behavior represented by the interaction request;
receiving interaction requests sent by other controllers through the unified controller interface, and determining an interaction mechanical arm responding to the interaction request from mechanical arms controlled by the controllers;
analyzing the received interaction request into a motion instruction of the interaction mechanical arm;
and sending the motion instruction to the interactive mechanical arm through the bottom control interface so as to instruct the interactive mechanical arm to realize the interactive row represented by the interactive request.
In another aspect of the present invention, there is provided a control method for a collaborative planning control system for a plurality of robot arms, comprising the steps of,
s1: establishing communication among the sensor subsystem, the processor subsystem, the mechanical arm subsystem and the controller subsystem;
s2: the controller subsystem sends a request to the processor subsystem to acquire system parameters and initializes the system parameters according to the acquired system parameters;
s3: the controller subsystem controls the corresponding mechanical arm independently according to the mechanical arm working parameters transmitted by the processor subsystem;
s4: the sensor subsystem transmits the real-time working condition of the mechanical arm to the processor subsystem when the mechanical arm works;
s5: the processor subsystem receives the working condition parameters of the sensor subsystem, carries out carrying and overturning supporting on the workpiece to be processed of the grabbing mechanical arm according to the preset space track according to the received working condition parameters, and carries out welding on the workpiece to be processed of the welding mechanical arm according to the preset space track.
As an optimized technical scheme, the controller subsystem carries out data communication and control with the mechanical arm subsystem by calling an EtherCAT communication node, and the controller subsystem, the sensor subsystem and the processor subsystem are communicated through an HTTP protocol.
The invention has the beneficial effects that:
compared with the prior art, the invention cooperatively controls the mechanical arms through the sensors and the controller, finely adjusts the running state of the mechanical arms according to the real-time data of the sensors, and simultaneously, the processor subsystem can plan the running track of the mechanical arms, thereby improving the coordinated working efficiency of the mechanical arms.
Drawings
Fig. 1 is a flowchart of a control method of a collaborative planning control system for a plurality of robot arms according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally placed when the products of the present invention are used, and are only used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed and operated in specific orientations, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
the system for collaborative planning and control of the multiple mechanical arms in the embodiment comprises a mechanical arm subsystem, a sensor subsystem, a controller subsystem and a processor subsystem;
the mechanical arm subsystem comprises a plurality of mechanical arms, the mechanical arms are respectively and electrically connected with a plurality of controllers in the controller subsystem, each single controller respectively controls the single mechanical arm connected with the single controller, a second control is arranged on each mechanical arm, the second control is in corresponding relation with the single controller in the controller subsystem, and the type of the second control corresponding to the single mechanical arm is respectively determined by the function of the mechanical arm;
the controller subsystem is used for receiving the control command; determining one or more target mechanical arms responding to the control instruction from the mechanical arms correspondingly connected with the controller subsystem based on the control instruction; analyzing the control instruction into a motion instruction of the target mechanical arm; sending a motion instruction to a target mechanical arm through a preset bottom layer control communication interface so as to indicate the target mechanical arm to realize a target behavior represented by a control instruction;
the sensor subsystem comprises a photosensitive sensor, a torque sensor and a displacement sensor, is arranged at a corresponding part of the mechanical arm subsystem and is used for acquiring relevant data of the mechanical arm subsystem during working and transmitting the acquired data to the processor subsystem;
the processor subsystem is used for receiving the real-time working condition data of the mechanical arm collected in the sensor subsystem and issuing a proper control instruction to the controller subsystem after analyzing the collected real-time data, and the processor subsystem is prestored with the motion tracks of the mechanical arms and the corresponding control instruction.
As an optimized technical scheme, an upper layer communication protocol and an inter-controller communication protocol are packaged in advance in a controller;
the controller also comprises an upper layer communication interface and a unified controller interface, wherein the upper layer communication interface is constructed based on an upper layer communication protocol and is used for receiving the control instruction;
the unified controller interface is constructed based on an inter-controller communication protocol and is used for communicating with other controllers, and when the control command comprises an interaction request of other mechanical arm individuals, the controller is further used for:
analyzing an interaction request and a target controller corresponding to the mechanical arm individual to be interacted from the control instruction;
sending an interaction request to the target controller through a unified controller interface so as to indicate the mechanical arms of the mechanical arm individuals controlled by the target controller to realize the interaction behavior represented by the interaction request;
receiving interaction requests sent by other controllers through a unified controller interface, and determining an interaction mechanical arm responding to the interaction request from mechanical arms controlled by a controller;
analyzing the received interaction request into a motion instruction of an interaction mechanical arm;
and sending a motion instruction to the interactive mechanical arm through the bottom control interface so as to instruct the interactive mechanical arm to realize the interactive behavior represented by the interactive request.
As an optimized technical scheme, the photosensitive sensor is a corner photosensitive sensor; the acquisition end of the corner photosensitive sensor faces to the direction departing from the running direction of the mechanical arm and can acquire the rotation angle information of the mechanical arm;
the moment sensor is used for acquiring clamping force when the mechanical arm runs, so that different clamping forces are adopted by the mechanical arm according to specific use requirements of materials when the mechanical arm clamps a workpiece;
the displacement sensor collects the displacement tracks of all mechanical arms in the mechanical arm subsystem in real time, converts the displacement signals of the mechanical arms into digital signals according to the displacement conversion relation and transmits the converted displacement digital signals to the processor subsystem.
The technical scheme is that the welding machine further comprises an acquisition end data transmission subsystem, the input end of the acquisition end data transmission subsystem is connected with the sensor subsystem, the output end of the acquisition end data transmission subsystem is connected with the processor subsystem, mechanical arm real-time working condition data acquired by the sensor subsystem are transmitted to the processor subsystem in a wireless or limited mode, the mechanical arm subsystem comprises a welding mechanical arm and a grabbing mechanical arm, the grabbing mechanical arm carries out carrying and overturning supporting of a plurality of workpieces to be machined, and the welding mechanical arm carries out front-back double-side welding after splicing of different workpieces.
In this embodiment, the sensor and the controller cooperatively control the plurality of mechanical arms, the operation state of the mechanical arms is finely adjusted according to real-time data of the sensor, and the processor subsystem can plan the operation track of the mechanical arms, so that the coordinated working efficiency of the plurality of mechanical arms is improved.
Example 2:
in this embodiment, there is provided a control method of a collaborative planning control system of a plurality of robot arms, comprising the steps of,
s1: establishing communication among the sensor subsystem, the processor subsystem, the mechanical arm subsystem and the controller subsystem;
s2: the controller subsystem sends a request to the processor subsystem to acquire system parameters and initializes the system parameters according to the acquired system parameters;
s3: the controller subsystem controls the corresponding mechanical arm independently according to the mechanical arm working parameters transmitted by the processor subsystem;
s4: the sensor subsystem transmits the real-time working condition of the mechanical arm to the processor subsystem when the mechanical arm works;
s5: the processor subsystem receives working condition parameters of the sensor subsystem, carries out carrying and overturning supporting on the grabbing mechanical arm according to a preset space track on the workpiece to be machined according to the received working condition parameters, and carries out welding on the workpiece to be machined according to the preset space track on the welding mechanical arm.
Specifically, path planning is carried out on the grabbing mechanical arm based on a carrying task and a turning supporting task of a workpiece to be welded, a processor subsystem generates a first motion control command and sends the first motion control command to a controller subsystem, the controller subsystem analyzes the acquired first motion control command, a Cartesian space motion track of the grabbing mechanical arm is acquired and a first position control command is generated, and the first position control command is sent to the grabbing mechanical arm through a node of the controller subsystem to execute corresponding actions; the processor subsystem generates a first motion control instruction set with a plurality of first motion control instructions, and the first motion control instructions in the first motion control instruction set are sent one time or multiple times in sequence; and the processor subsystem generates a second motion control instruction set with a plurality of second motion control instructions, and transmits the second motion control instructions in the second motion control instruction set at one time or a plurality of times in sequence.
The path planning is carried out on the welding mechanical arm based on the welding seam, the processor subsystem generates a second motion control command and sends the second motion control command to the controller subsystem, the controller subsystem analyzes the acquired second motion control command, a Cartesian space motion track for grabbing the mechanical arm is acquired, a second position control command is generated, and the second position control command is sent to the welding mechanical arm through a node of the controller subsystem to execute corresponding actions.
In an embodiment, the controller subsystem performs data communication and control with the mechanical arm subsystem by calling an EtherCAT communication node, and the controller subsystem, the sensor subsystem and the processor subsystem perform communication through an HTTP protocol.
In this embodiment, in an EtherCAT network, when a data frame passes through an EtherCAT node, a node copies data and transmits the data to a next node, and at the same time, identifies the data corresponding to the node, performs corresponding processing, and if the node needs to send out the data, inserts the data to be sent out into the data transmitted to the next node. The time for each node to receive and transmit data is less than 1 microsecond, and generally, only one frame of data is used for all nodes on the network to transmit and receive data, the EtherCAT protocol is optimized for program data, and standard IEEE802.3 ethernet frame transmission is used, and Ethertype is 0x88a4. The data sequence is independent of the physical sequence of the devices on the website, and the addressing sequence is not limited. The master station can communicate with the slave stations by broadcasting, multicasting and the like. The EtherCAT protocol can be put into UDP/IP packets if IP routing is required.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention should not be limited to the above embodiments, and various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention by those skilled in the art can be made without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the scope of the claims of the present invention.
Claims (8)
1. A collaborative planning control system of a plurality of mechanical arms is characterized by comprising a mechanical arm subsystem, a sensor subsystem, a controller subsystem and a processor subsystem;
the mechanical arm subsystem comprises a plurality of mechanical arms, the mechanical arms are respectively and electrically connected with a plurality of controllers in the controller subsystem, each single controller respectively controls the single mechanical arm connected with the single controller, a second control is arranged on each mechanical arm, the second control is in corresponding relation with the single controller in the controller subsystem, and the type of the second control corresponding to each single mechanical arm is determined by the function of the mechanical arm;
the controller subsystem is used for receiving a control instruction; determining one or more target mechanical arms responding to the control command from the mechanical arms correspondingly connected with the controller subsystem based on the control command; analyzing the control command into a motion command of the target mechanical arm; sending the motion instruction to the target mechanical arm through a preset bottom layer control communication interface so as to indicate the target mechanical arm to realize a target behavior represented by the control instruction;
the sensor subsystem comprises a photosensitive sensor, a torque sensor and a displacement sensor, is arranged at a corresponding part of the mechanical arm subsystem and is used for acquiring relevant data of the mechanical arm subsystem during working and transmitting the acquired data to the processor subsystem;
the processor subsystem is used for receiving the real-time working condition data of the mechanical arms collected in the sensor subsystem and issuing a proper control instruction to the controller subsystem after analyzing the collected real-time data, and the processor is prestored with the motion tracks of the mechanical arms and the corresponding control instruction.
2. A collaborative planning control system for a plurality of robotic arms according to claim 1, wherein: the controller is pre-packaged with an upper layer communication protocol and an inter-controller communication protocol;
the controller also comprises an upper layer communication interface and a unified controller interface, wherein the upper layer communication interface is constructed based on the upper layer communication protocol and is used for receiving a control instruction;
the unified controller interface is constructed based on the inter-controller communication protocol for communicating with other controllers.
3. A collaborative planning control system for a plurality of robotic arms according to claim 1, wherein: the photosensitive sensor is a corner photosensitive sensor; the acquisition end of the corner photosensitive sensor faces to a direction departing from the running direction of the mechanical arm and can acquire the rotation angle information of the mechanical arm;
the moment sensor is used for acquiring the clamping force when the mechanical arm runs, so that the mechanical arm adopts different clamping forces according to the specific use requirements of materials when clamping a workpiece;
the displacement sensor collects the displacement tracks of all mechanical arms in the mechanical arm subsystem in real time, converts the displacement signals of the mechanical arms into digital signals according to the displacement conversion relation and transmits the converted displacement digital signals to the processor subsystem.
4. A collaborative planning control system for a plurality of robotic arms according to claim 1, wherein: the system is characterized by further comprising a collection end data transmission subsystem, wherein the input end of the collection end data transmission subsystem is connected with the sensor subsystem, the output end of the collection end data transmission subsystem is connected with the processor subsystem, and the real-time working condition data of the mechanical arm collected by the sensor subsystem are transmitted to the processor subsystem in a wireless or limited mode.
5. A collaborative planning control system for a plurality of robotic arms according to claim 1, wherein: the mechanical arm subsystem comprises a welding mechanical arm and a grabbing mechanical arm, wherein the grabbing mechanical arm carries out carrying and overturning supporting of a plurality of workpieces to be processed, and the welding mechanical arm carries out front and back double-side welding after splicing of different workpieces.
6. A collaborative planning control system for a plurality of robotic arms according to claim 2, wherein: when the manipulation instruction comprises an interactive request with other mechanical arm individuals, the controller is further used for:
analyzing the interaction request and a target controller corresponding to the mechanical arm individual to be interacted from the control instruction;
sending the interaction request to the target controller through the unified controller interface so as to indicate the mechanical arms of the mechanical arm individuals controlled by the target controller to realize the interaction behavior represented by the interaction request;
receiving interaction requests sent by other controllers through the unified controller interface, and determining an interaction mechanical arm responding to the interaction request from mechanical arms controlled by the controllers;
analyzing the received interaction request into a motion instruction of the interaction mechanical arm;
and sending the motion instruction to the interactive mechanical arm through the bottom control interface so as to instruct the interactive mechanical arm to realize the interactive behavior represented by the interactive request.
7. The control method of a collaborative planning control system of a plurality of robotic arms according to claim 1, wherein: comprises the following steps of (a) preparing a solution,
s1: establishing communication among the sensor subsystem, the processor subsystem, the mechanical arm subsystem and the controller subsystem;
s2: the controller subsystem sends a request to the processor subsystem to acquire system parameters and initializes the system parameters according to the acquired system parameters;
s3: the controller subsystem controls the corresponding mechanical arm independently according to the mechanical arm working parameters transmitted by the processor subsystem;
s4: the sensor subsystem transmits the real-time working condition of the mechanical arm to the processor subsystem when the mechanical arm works;
s5: the processor subsystem receives the working condition parameters of the sensor subsystem, carries out carrying and overturning supporting on the workpiece to be processed of the grabbing mechanical arm according to the preset space track according to the received working condition parameters, and carries out welding on the workpiece to be processed of the welding mechanical arm according to the preset space track.
8. The control method of a collaborative planning control system of a plurality of robotic arms according to claim 7, wherein: the controller subsystem carries out data communication and control with the mechanical arm subsystem by calling an EtherCAT communication node, and the controller subsystem, the sensor subsystem and the processor subsystem are communicated through an HTTP protocol.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211170159.9A CN115625705A (en) | 2022-09-22 | 2022-09-22 | Collaborative planning control system and control method for multiple mechanical arms |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211170159.9A CN115625705A (en) | 2022-09-22 | 2022-09-22 | Collaborative planning control system and control method for multiple mechanical arms |
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| CN202211170159.9A Withdrawn CN115625705A (en) | 2022-09-22 | 2022-09-22 | Collaborative planning control system and control method for multiple mechanical arms |
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Application publication date: 20230120 |