CN116214531B - Path planning method and device for industrial robot - Google Patents
Path planning method and device for industrial robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a path planning method and a path planning device for an industrial robot, wherein the path planning method comprises the following steps: the main control system acquires workpiece arrangement image information on the observation position and generates a working position of the industrial robot; the method comprises the steps that a main control system obtains image information of a carrying area and establishes a space map model, wherein the space map model comprises a starting position of an industrial robot; performing shortest moving path planning of the industrial robot on a space map model based on an LPA algorithm; the main control system acquires a workpiece grabbing position based on workpiece arrangement image information, and carries out carrying path planning in combination with the working position of the industrial robot; the main control system obtains a carrying path of the industrial robot based on the position state planning and the pose state planning. The path planning method is used for immediately generating the moving path and the carrying path of the industrial robot in the production process, adjusting the work of the industrial robot according to the production condition and improving the utilization rate of the industrial robot, thereby improving the processing production efficiency of the production line.
Description
Technical Field
The invention mainly relates to the technical field of industrial robots, in particular to a path planning method and device for an industrial robot.
Background
At present, an industrial robot is adopted to carry workpieces in a processing production line, and the industrial robot with a fixed number and a working area is generally arranged in a carrying area in the existing production line to carry the workpieces, so that the number and the position of the workpieces on a tray can be changed in the processing process, the industrial robot on the production line needs to be adjusted in real time, the working path of the existing industrial robot is preset, the industrial robot cannot completely meet the requirements of carrying tasks, the utilization rate of the industrial robot is low, and the overall processing production efficiency of the production line is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a path planning method and a path planning device for an industrial robot.
The invention provides a path planning method of an industrial robot, which comprises the following steps:
s11: the method comprises the steps that a main control system obtains workpiece arrangement image information on an observation position, and a working position of an industrial robot is generated according to the workpiece arrangement image information;
s12: the method comprises the steps that a main control system obtains image information of a carrying area, and a space map model is established based on the image information and the working position, wherein the space map model comprises a starting position of an industrial robot;
s13: the main control system performs shortest moving path planning of the industrial robot on the space map model based on an LPA algorithm;
s14: the main control system acquires a workpiece grabbing position based on the workpiece arrangement image information and performs carrying path planning by combining the working position of the industrial robot;
s15: the main control system obtains a position state plan and a pose state plan of the industrial robot based on Cartesian space analysis, and obtains a carrying path of the industrial robot by combining the position state plan and the pose state plan.
Further, the obtaining the workpiece arrangement image information at the observation position, and generating the working position of the industrial robot according to the workpiece arrangement image information includes:
and the master control system analyzes and obtains the time required by the tray to move to the carrying area according to the distance between the observing position and the carrying area and the running speed of the conveying belt, and obtains the preparation time data.
Further, the main control system obtains workpiece arrangement image information at the observation position, and generating the working position of the industrial robot according to the workpiece arrangement image information includes:
s111: the main control system judges whether the number of the workpieces is larger than a first preset amount according to the workpiece arrangement image information, if yes, the step S112 is executed, and if not, the step S113 is executed;
s112: the main control system generates the number and distribution positions of the working robots participating in the carrying work according to the operation range of the industrial robot and the range of the carrying area;
s113: the master control system acquires the positions of the workpieces on the tray according to the workpiece arrangement image information, and determines the number and distribution positions of the industrial robots participating in carrying work according to the arrangement positions of the workpieces.
Further, the main control system obtaining image information of the handling area, and establishing a space map model based on the image information and the working position includes:
and inquiring the state of the industrial robot according to the working position, extracting the industrial robot in the idle state by the main control system, and planning a path of the industrial robot in the idle state.
Further, the main control system performs shortest movement path planning of the industrial robot on the space map model based on the LPA algorithm, including:
acquiring all nodes of the industrial robot between the initial position and the working position of the industrial robot according to a preset step length on the space map model;
the marking convergence condition is achieved by marking adjacent nodes of the initial position of the industrial robot in sequence and updating adjacent point information.
Further, the obtaining all nodes of the industrial robot between the initial position and the working position of the industrial robot according to the preset step length on the space map model includes:
and taking the initial position of the industrial robot as a first node, searching the position of the next node according to a preset step length, and sequentially determining all node position information from the initial position of the industrial robot to the working position.
Further, the step of achieving the mark convergence condition by sequentially marking the adjacent nodes of the initial position of the industrial robot and updating the adjacent point information includes:
and querying all adjacent nodes of the first node in the preset step length, querying the adjacent node with the shortest distance from the working position in a plurality of adjacent nodes, marking the adjacent node with the shortest distance, searching the next adjacent node with the marked adjacent node as a starting point for marking, and repeating marking operation until the target node is marked.
Further, the main control system obtains the position state planning of the industrial robot based on the Cartesian space analysis, and the method comprises the following steps:
and vector addition is carried out by combining the motion step length and the position coordinate information of the industrial robot, so that the position planning of the industrial robot is obtained.
Further, the main control system obtains the attitude state planning of the industrial robot based on Cartesian space analysis, and the method comprises the following steps:
carrying out attitude planning by combining the swing arm angle and the position coordinate information of the industrial robot, and carrying out motion attitude adjustment according to Cartesian space motion planning, wherein the formula of the attitude planning is as follows:
wherein:
posture to be adjusted for the industrial robot, < >>
For the pose of the initial position of the industrial robot, < > for the initial position of the industrial robot>
For the pose of the target position +.>
Is the error coefficient.
The invention also provides a path planning device of the industrial robot, which comprises:
the working position determining module: the method comprises the steps that a main control system obtains workpiece arrangement image information on an observation position, and a working position of an industrial robot is generated according to the workpiece arrangement image information;
the space map model building module: the method comprises the steps that a main control system obtains image information of a carrying area, and a space map model is established based on the image information and the working position, wherein the space map model comprises a starting position of an industrial robot;
a moving path establishment module: the main control system performs shortest moving path planning of the industrial robot on the space map model based on an LPA algorithm;
and a carrying path planning module: the main control system acquires a workpiece grabbing position based on the workpiece arrangement image information and performs carrying path planning by combining the working position of the industrial robot;
and a carrying path establishment module: the main control system obtains a position state plan and a pose state plan of the industrial robot based on Cartesian space analysis, and obtains a carrying path of the industrial robot by combining the position state plan and the pose state plan.
The invention aims to overcome the defects of the prior art, and provides a path planning method and a path planning device for an industrial robot.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an industrial robot path planning method in an embodiment of the invention;
FIG. 2 is a flow chart of an industrial robot arrangement scheme setting method involved in a handling task in an embodiment of the present invention;
fig. 3 is a schematic diagram of an industrial robot path planning apparatus according to an embodiment 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.
Fig. 1 shows a flow chart of a path planning method for an industrial robot according to an embodiment of the present invention, where the path planning method includes:
s11: the master control system acquires workpiece arrangement image information on an observation position, and generates a working position of the industrial robot according to the workpiece arrangement image information.
Specifically, the scheduling method for the coordinated work of the multi-industry robots is suitable for processing production of a production line, an observation position is arranged on a transmission belt, a camera component is arranged on the observation position, when a tray on the transmission belt is driven by the transmission belt to pass through the observation position, the camera component can shoot and record the distribution condition of workpieces on the tray, obtain workpiece distribution image information, and send the workpiece distribution image information to a main control system.
Further, the observation position can be set before part of working procedures in the production line process, such as a working procedure which is set on the production line and is at a later stage, and the working procedure does not involve the transfer of the workpieces on the tray, namely, the working procedure cannot influence the positions and the quantity of the workpieces on the tray, and the camera shooting assembly can shoot the tray to obtain the workpiece arrangement image information.
Furthermore, the main control system can acquire the workpiece arrangement image information on the tray in advance by setting the observation position before other working procedures, so that enough time is provided for dispatching the industrial robot.
Specifically, the main control system analyzes and obtains the time required by the tray to move to the carrying working area according to the distance between the observing position and the carrying working area and the running speed of the conveying belt, obtains the first time period data, and calculates the duration of the tray in the carrying working area to obtain the second time period data.
Specifically, the main control system schedules the industrial robot according to the workpiece arrangement image information, and the main control system comprises: and determining an industrial robot arrangement scheme participating in carrying work according to the workpiece arrangement image information. Fig. 2 is a flowchart of an arrangement scheme setting method of an industrial robot participating in a handling task in an embodiment of the present invention.
The setting method of the industrial robot arrangement scheme comprises the following steps:
s111: and the main control system judges whether the number of the workpieces is larger than a first preset amount according to the workpiece arrangement image information, if so, the step S112 is executed, and if not, the step S113 is executed.
Specifically, the main control system performs image processing on the workpiece arrangement image information according to the workpiece arrangement image information, so that the number of workpieces on the tray is obtained from the workpiece arrangement image information. The main control system compares the number of the workpieces on the tray with a first preset amount, and determines the number of the industrial robots participating in the carrying task according to the comparison result of the number of the workpieces and the first preset amount.
Specifically, the main control system obtains the workpiece arrangement image information, performs gray processing on the workpiece arrangement image data, extracts edge contours of the images through a sobel operator, and performs Gaussian blur on the extracted edge contours, so that the main control system can extract smooth and clear contour features in the workpiece arrangement image information, and the main control system can improve accuracy and reliability of workpiece identification on a tray.
Furthermore, the sobel operator is a discrete differential operator (discrete differentiation operator) and is used for calculating the approximate gradient of the image gray level, and the gradient value is large to be used as the image edge contour by comparing the gradient of the change of the image gray level value, so that the extraction of the workpiece contour on the tray is achieved.
Further, the first preset amount is 80% of the number of the fully loaded workpieces of the tray, that is, the main control system judges whether the loading amount of the workpieces on the tray reaches 80% or more, so that the industrial robot executing the carrying task is scheduled and adjusted.
Further, the setting of the first preset amount may be adjusted according to parameters such as the number of actual working robots, the size of the carrying working area, and the size of the tray.
S112: the master control system generates the number of the industrial robots participating in the carrying work according to the operation range of the industrial robots and the second time period data.
Specifically, the main control system obtains an operation range of each industrial robot, calculates time required for the pallet to pass through the operation range of the industrial robot according to the operation speed of the transmission belt, the size of the pallet and the operation range of the industrial robot, and obtains third time period data, and analyzes and obtains distribution data of the industrial robot required in a carrying work area according to the third time period data and the second time period data, wherein the distribution data comprises the fraction number and the distribution position of the industrial robot.
Further, the master control system distributes the industrial robots to the carrying tasks of the workpieces on the tray according to the operation area of the industrial robots and the operation range of the working robots, so that the industrial robots can meet the carrying requirements of all the workpieces on the tray.
S113: and the main control system acquires the positions of the workpieces on the tray according to the workpiece arrangement image information, and adjusts the arrangement of the industrial robot according to the arrangement positions of the workpieces.
Specifically, the main control system performs image processing on the workpiece arrangement image information, marks the positions of the workpieces on the tray, so as to obtain the position information of the workpieces on the tray, and the main control system can partition the workpieces on the tray according to the number of the workpieces on the tray and the position information of the workpieces on the tray and obtain workpiece partition data according to the position information of the workpieces.
Further, the master control system distributes industrial robots according to the number of the workpiece partitions in the workpiece partition data, so that each workpiece partition is correspondingly distributed with one industrial robot, and the number of the industrial robots participating in the carrying task is determined.
Specifically, the main control system divides the carrying working area and action of the industrial robot corresponding to each workpiece partition according to the workpiece partition data, namely, the main control system judges the carrying times required to be executed by the industrial robot corresponding to the workpiece partition according to the number of workpieces on the workpiece partition, analyzes and obtains the carrying track of the industrial robot and the carrying time required by completing the workpiece partition carrying task by combining the conveying speed of the conveying belt, and generates a corresponding partition carrying instruction for each industrial robot.
Further, the master control system combines a plurality of the subarea carrying instructions to obtain an industrial robot first scheduling instruction of the carrying task and adjusts the work of the working robot based on the industrial robot first scheduling instruction.
Further, the master control system marks an initial working position of each industrial robot based on the partition carrying instruction, and dispatches the industrial robots to run to the initial working position.
S12: the main control system acquires image information of a carrying area, and establishes a space map model based on the image information and the working position, wherein the space map model comprises a starting position of the industrial robot.
Specifically, the main control system inquires the working state of the industrial robot, extracts the industrial robot in an idle state, and controls the industrial robot to move to the carrying working area.
Specifically, the master control system analyzes the industrial robot in the running state according to the first time period data, namely, queries the running time of the industrial robot in the running state, compares the running time with the first time period data, and issues a first scheduling instruction to the industrial robot if the running time is smaller than the first time period data, so that the industrial robot moves to the carrying work area based on the first scheduling instruction after finishing the current running state, and carries out the carrying work of the workpiece.
Further, the main control system is configured according to the response speed of the industrial robot, that is, after the main control system issues the first scheduling instruction, the industrial robot responds to the first scheduling instruction issued by the main control system, and the main control system can arrange the industrial robot with high response speed at the initial position of the carrying working area according to the response speed of the industrial robot, that is, the working position of the industrial robot is configured according to the response speed of the industrial robot.
It should be noted that, the master control system queries the industrial robots in the idle state preferentially, and when the industrial robots in the idle state cannot meet the number requirements of the carrying tasks, the master control system queries the industrial robots in the working state again to perform job scheduling.
Furthermore, the main control system can carry out error correction according to the response time of the dispatching command so as to improve the accuracy and reliability of the industrial robot for executing the carrying task.
Specifically, when the number of the industrial robots responding to the carrying task instruction cannot meet the carrying task demand, the main control system adjusts the carrying instruction according to the number of the industrial robots.
Specifically, the main control system adjusts the carrying instruction according to the number of the industrial robots, including:
the master control system adjusts the working area and the working time of each industrial robot according to the number of the industrial robots, so that the work of the industrial robots can meet the requirements of carrying tasks.
Specifically, the main control system divides the carrying working area into a plurality of working areas according to the industrial robot, the time of the tray passing through the carrying working area, the size of the tray and other data, and evenly distributes the plurality of working areas to the industrial robot, so that each industrial robot can be responsible for a plurality of working areas at the same time, and the industrial robot can meet the requirements of carrying tasks.
Specifically, the main control system acquires image information of a carrying area, a space map model is established according to the image information of the carrying area and the initial position of the industrial robot, the working position of the industrial robot is marked on the space map model, and path planning is carried out on the industrial robot based on the LPA (label propagation algorithm), so that the industrial robot can move from the initial position to the working position along the planned moving path.
S13: and the main control system performs shortest moving path planning of the industrial robot on the space map model based on the LPA algorithm.
Specifically, on the space model, all the nodes which can be reached by the industrial robot are obtained between the initial position of the industrial robot and the working position of the industrial robot according to a preset step length, and the condition of mark convergence is achieved by marking the information of adjacent nodes of the initial position of the industrial robot in sequence and updating the information according to the adjacent nodes, namely, path planning is completed.
Specifically, the step of obtaining all the nodes that can be reached by the industrial robot between the initial position of the industrial robot and the working position of the industrial robot according to the preset step length includes:
and taking the initial position of the industrial robot as a first node, searching the position of the next node according to a preset step length, and sequentially determining all node position information from the initial position of the industrial robot to the working position.
Further, the working position of the industrial robot is set as a target node.
Specifically, the step of completing path planning by marking information of each node and updating the information according to adjacent nodes includes:
the marking information of the nodes is set as follows: and (3) whether the distance between the target node and the working position of the industrial robot is shortest or not is judged, namely according to the first node, all adjacent nodes of the first node are queried according to the preset step length, the adjacent node with the shortest distance from the working position is queried in a plurality of adjacent nodes, marking is carried out on the adjacent node with the shortest distance, the next adjacent node is searched for marking by taking the marked adjacent node as a starting point, and the marking operation is repeated until the target node is marked, namely convergence is completed.
Further, each marked node is connected in sequence to obtain the shortest path from the initial position to the working position of the industrial robot.
S14: and the main control system acquires a workpiece grabbing position based on the workpiece arrangement image information and performs carrying path planning in combination with the working position of the industrial robot.
The master control system acquires the position information of the workpieces to be grabbed on the tray according to the workpiece image arrangement information, and determines the grabbing and action postures of the industrial robot according to the position information of the workpieces.
S15: the main control system obtains a position state plan and a pose state plan of the industrial robot based on Cartesian space analysis, and obtains a carrying path of the industrial robot by combining the position state plan and the pose state plan.
The main control system obtains the pose state planning of the industrial robot based on Cartesian space analysis, and the method comprises the following steps:
and acquiring position coordinate information of the workpiece on the tray, and analyzing the position coordinate information by combining with the swing arm angle of the industrial robot to obtain a carrying working path of the industrial robot.
Specifically, gesture planning is performed according to position coordinate information of a workpiece, motion gesture adjustment is performed according to Cartesian space motion planning, and a formula of gesture planning is as follows:
wherein:
posture to be adjusted for the industrial robot, < >>
For the pose of the initial position of the industrial robot, < > for the initial position of the industrial robot>
For the pose of the target position +.>
Is the error coefficient.
Further, the error system is obtained according to the test of each industrial robot according to the mechanical error or the motion error existing in the motion structure of the industrial robot, so as to correct the motion of the industrial robot.
Specifically, the main control system obtains the position state planning of the industrial robot based on Cartesian space analysis, and the method comprises the following steps:
specifically, vector addition is performed by combining the motion step length and the position coordinate information of the industrial robot, so as to obtain the position planning of the industrial robot, and a calculation formula is obtained as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the target position function->
For the ith position data, a is the motion step length, and n is the number of motions.
Specifically, the step of combining the position state planning and the pose state planning to obtain the carrying path of the industrial robot includes:
generating a carrying path of the carrying robot according to the position planning and the pose planning of the industrial robot comprises:
and combining the position planning data of the industrial robot, determining the position movement change of the industrial robot and the pose state of the robot in the change process, and determining the initial state and the pickup state data of the robot, thereby simulating the state change in the movement process of the robot.
Specifically, generating the carrying path of the carrying robot further includes performing error correction on the industrial robot according to the position plan and the pose plan of the industrial robot, obtaining execution time required by the industrial robot to perform carrying operation according to carrying operation of the industrial robot, and adjusting the carrying position of the industrial robot according to the execution time, namely, correcting the pick-up position by combining the execution time and the transmission rate in the carrying area, so that the carrying pick-up accuracy of the industrial robot is improved.
Specifically, the main control system can carry out carrying and picking of the residual workpieces on the tray according to the working feedback of the industrial robot, inquires the industrial robot in an idle state, and drives the industrial robot closest to the tray blanking area to move to the tray blanking area to carry the residual workpieces on the tray.
Specifically, the main control system analyzes according to the number of the remaining workpieces of the tray and the time that the tray stays in the tray blanking area to obtain the number of the industrial robots required by the remaining workpieces of the tray, and the main control system can reasonably arrange the industrial robots to carry the remaining workpieces of the tray by combining the time that the tray stays in the tray blanking area to ensure that the industrial robots can finish carrying the remaining workpieces on the tray in preset time.
Specifically, the method for regulating and controlling the coordinated work of the multi-industry robot further comprises the following steps: the main control system calculates the completion rate of the carrying task according to the number of the residual workpieces on the tray, namely calculates the ratio of the number of the carried workpieces to the initial number of the tray workpieces after the industrial robot completes carrying, and marks the industrial robot participating in the carrying task when the ratio is smaller than a preset threshold value and feeds back the industrial robot to staff, so that the staff can overhaul and maintain the industrial robot.
Further, the master control system can acquire the working state of each industrial robot based on the working feedback information of each industrial robot, evaluate the working state of each industrial robot, and mark the industrial robot as a fault robot and schedule the fault robot as an off-line state when the working state of the industrial robot does not reach the preset working requirement, so that the fault robot and other working tasks are avoided.
Further, the master control system can feed back the data of the fault robot to a worker so that the worker can check and repair the fault robot.
The invention provides a path planning method of an industrial robot, which is used for immediately generating a moving path and a carrying path of the industrial robot in a production process, adjusting the work of the industrial robot according to the production condition and improving the utilization rate of the industrial robot so as to improve the processing production efficiency of a production line.
Embodiment two:
fig. 3 shows a schematic view of an industrial robot path planning apparatus according to an embodiment of the present invention, the industrial robot path planning apparatus comprising:
the working position determining module 10: the master control system acquires workpiece arrangement image information on an observation position, and generates a working position of the industrial robot according to the workpiece arrangement image information.
The space map model building module 20: the main control system acquires image information of a carrying area, and establishes a space map model based on the image information and the working position, wherein the space map model comprises a starting position of the industrial robot.
The movement path establishment module 30: and the main control system performs shortest moving path planning of the industrial robot on the space map model based on the LPA algorithm.
The conveyance path planning module 40: and the main control system acquires a workpiece grabbing position based on the workpiece arrangement image information and performs carrying path planning in combination with the working position of the industrial robot.
The conveyance path establishment module 50: the main control system obtains a position state plan and a pose state plan of the industrial robot based on Cartesian space analysis, and obtains a carrying path of the industrial robot by combining the position state plan and the pose state plan.
The invention provides a path planning device of an industrial robot, which is used for immediately generating a moving path and a carrying path of the industrial robot in a production process, adjusting the work of the industrial robot according to the production condition and improving the utilization rate of the industrial robot so as to improve the processing production efficiency of a production line.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program to instruct related hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.
In addition, the foregoing has outlined rather broadly the more detailed description of embodiments of the invention in order that the detailed description of the principles and embodiments of the invention may be implemented in conjunction with the present examples, the above examples being provided to facilitate the understanding of the method and core concepts of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. A path planning method for an industrial robot, the path planning method comprising:
s11: the method comprises the steps that a main control system obtains workpiece arrangement image information on an observation position, and a working position of an industrial robot is generated according to the workpiece arrangement image information;
s12: the method comprises the steps that a main control system obtains image information of a carrying area, and a space map model is built based on the image information of the carrying area and the working position, wherein the space map model comprises a starting position of an industrial robot;
s13: the main control system performs shortest moving path planning of the industrial robot on the space map model based on an LPA algorithm;
s14: the main control system acquires a workpiece grabbing position based on the workpiece arrangement image information and performs carrying path planning by combining the working position of the industrial robot;
s15: the main control system obtains a position state plan and a pose state plan of the industrial robot based on Cartesian space analysis, and obtains a carrying path of the industrial robot by combining the position state plan and the pose state plan;
the main control system obtains the pose state planning of the industrial robot based on Cartesian space analysis, and the method comprises the following steps:
and acquiring position coordinate information of the workpiece on the tray, and analyzing the position coordinate information by combining with the swing arm angle of the industrial robot to obtain a carrying working path of the industrial robot.
2. The path planning method of an industrial robot according to claim 1, wherein the acquiring workpiece arrangement image information at the observation position, generating a working position of the industrial robot based on the workpiece arrangement image information, comprises:
and the master control system analyzes and obtains the time required by the tray to move to the carrying area according to the distance between the observing position and the carrying area and the running speed of the conveying belt, and obtains the preparation time data.
3. The path planning method of an industrial robot according to claim 1, wherein the master control system obtains workpiece arrangement image information at an observation position, and generating a working position of the industrial robot based on the workpiece arrangement image information comprises:
s111: the main control system judges whether the number of the workpieces is larger than a first preset amount according to the workpiece arrangement image information, if yes, the step S112 is executed, and if not, the step S113 is executed;
s112: the main control system generates the number and distribution positions of the working robots participating in the carrying work according to the operation range of the industrial robot and the range of the carrying area;
s113: the master control system acquires the positions of the workpieces on the tray according to the workpiece arrangement image information, and determines the number and distribution positions of the industrial robots participating in carrying work according to the arrangement positions of the workpieces.
4. The path planning method of an industrial robot according to claim 1, wherein the master control system acquiring image information of a handling area, and creating a spatial map model based on the image information and the working position comprises:
and inquiring the state of the industrial robot according to the working position, extracting the industrial robot in the idle state by the main control system, and planning a path of the industrial robot in the idle state.
5. The path planning method of an industrial robot according to claim 1, wherein the main control system performing shortest moving path planning of the industrial robot on the space map model based on LPA algorithm comprises:
acquiring all nodes of the industrial robot between the initial position and the working position of the industrial robot according to a preset step length on the space map model;
the marking convergence condition is achieved by marking adjacent nodes of the initial position of the industrial robot in sequence and updating adjacent point information.
6. The path planning method of an industrial robot according to claim 5, wherein the acquiring all nodes of the industrial robot between the initial position and the working position of the industrial robot according to a preset step size on the spatial map model comprises:
and taking the initial position of the industrial robot as a first node, searching the position of the next node according to a preset step length, and sequentially determining all node position information from the initial position of the industrial robot to the working position.
7. The path planning method of an industrial robot according to claim 6, wherein the achieving of the mark convergence condition by sequentially marking neighboring nodes of an initial position of the industrial robot and updating neighboring point information comprises:
and querying all adjacent nodes of the first node according to the preset step length, querying the adjacent node with the shortest distance from the working position in a plurality of adjacent nodes, marking the adjacent node with the shortest distance, searching the next adjacent node with the marked adjacent node as a starting point for marking, and repeating marking operation until the target node is marked.
8. The path planning method of an industrial robot according to claim 1, wherein the master control system obtaining a position state plan of the industrial robot based on cartesian space analysis comprises:
and vector addition is carried out by combining the motion step length and the position coordinate information of the industrial robot, so that the position planning of the industrial robot is obtained.
9. The path planning method of an industrial robot according to claim 1, wherein the master control system obtaining an attitude status plan of the industrial robot based on cartesian space analysis comprises:
carrying out gesture planning according to position coordinate information of a workpiece, and carrying out motion gesture adjustment according to Cartesian space motion planning, wherein the gesture planning formula is as follows:
wherein:
posture to be adjusted for the industrial robot, < >>
For the pose of the initial position of the industrial robot, < > for the initial position of the industrial robot>
For the pose of the target position +.>
Is the error coefficient.
10. A path planning apparatus of an industrial robot, the path planning apparatus comprising:
the working position determining module: the method comprises the steps that a main control system obtains workpiece arrangement image information on an observation position, and a working position of an industrial robot is generated according to the workpiece arrangement image information;
the space map model building module: the method comprises the steps that a main control system obtains image information of a carrying area, and a space map model is built based on the image information of the carrying area and the working position, wherein the space map model comprises a starting position of an industrial robot;
a moving path establishment module: the main control system performs shortest moving path planning of the industrial robot on the space map model based on an LPA algorithm;
and a carrying path planning module: the main control system acquires a workpiece grabbing position based on the workpiece arrangement image information and performs carrying path planning by combining the working position of the industrial robot;
and a carrying path establishment module: the main control system obtains a position state plan and a pose state plan of the industrial robot based on Cartesian space analysis, and obtains a carrying path of the industrial robot by combining the position state plan and the pose state plan;
the main control system obtains the pose state planning of the industrial robot based on Cartesian space analysis, and the method comprises the following steps:
and acquiring position coordinate information of the workpiece on the tray, and analyzing the position coordinate information by combining with the swing arm angle of the industrial robot to obtain a carrying working path of the industrial robot.
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