CN117631664A - Precise moving and grabbing method for intelligent robot - Google Patents
Precise moving and grabbing method for intelligent robot Download PDFInfo
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- CN117631664A CN117631664A CN202311571171.5A CN202311571171A CN117631664A CN 117631664 A CN117631664 A CN 117631664A CN 202311571171 A CN202311571171 A CN 202311571171A CN 117631664 A CN117631664 A CN 117631664A
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Abstract
The invention provides an intelligent robot precise moving and grabbing method, which solves the problems of grabbing and guiding AGV trolleys and the like, and comprises the following steps: s1: constructing a global map; s2: the robot performs self-positioning; s3: planning a robot moving path; s4: performing motion control on the robot; s5: sensing the surrounding environment; s6: performing grabbing planning; s7: a grabbing scheme is performed. The invention has the advantages of high grabbing precision, wide applicability and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an intelligent robot precise moving and grabbing method.
Background
The existing AGV trolley controls the traveling route and the behavior of the AGV trolley through a computer, or establishes the traveling route by utilizing an electromagnetic track, and the electromagnetic track is stuck on the floor. The unmanned carrier moves and acts by means of information brought by the electromagnetic track. The conventional navigation mode is to automatically build a map by shooting ground texture by a camera in the moving process of the AGV trolley, and then register and compare the ground texture information acquired in the running process with texture images in the self-built map, so as to estimate the current pose of the AGV trolley and realize the positioning of the AGV trolley. The hardware needs to look down at the camera, the light supplementing lamp, the light shielding cover and the like to support the realization of the navigation mode. When materials are to be handled, the existing AGV trolley lacks a guiding framework for the mechanical clamping jaw.
In order to solve the defects existing in the prior art, long-term exploration is performed, and various solutions are proposed. For example, chinese patent literature discloses a mobile robot repositioning method and a mobile robot [202110135459.2], which includes: s1, acquiring laser data of a current time frame of a mobile robot, and acquiring optimal pose estimation of the current time frame by applying a Monte Carlo positioning algorithm based on a constructed global map and the laser data of the current time frame; s2, calculating global positioning confidence of the current time frame according to the optimal pose estimation of the current time frame; s3, calculating a possible position range of the mobile robot on the constructed global map through distance information, which is obtained by an ultra-wideband module of the mobile robot and corresponds to the charging pile, and course angle information which is obtained by an inertia measurement unit when the global positioning confidence coefficient of the current time frame is lower than a certain threshold value; and S4, re-applying the Monte Carlo positioning algorithm in the corresponding position range to realize the rapid repositioning of the mobile robot.
The above solution solves the problem of robot movement positioning to a certain extent, but the solution still has a plurality of disadvantages, such as lack of grabbing and guiding structure.
Disclosure of Invention
The invention aims to solve the problems and provides an intelligent robot accurate moving and grabbing method which is reasonable in design and guides clamping jaws to be accurately positioned.
In order to achieve the above purpose, the present invention adopts the following technical scheme: an intelligent robot precise moving and grabbing method comprises the following steps:
s1: constructing a global map;
s2: the robot performs self-positioning;
s3: planning a robot moving path;
s4: performing motion control on the robot;
s5: sensing the surrounding environment;
s6: performing grabbing planning;
s7: a grabbing scheme is performed.
In the above-mentioned intelligent robot precise movement and grabbing method, the steps S1 to S5 include the following steps:
s11: the upper computer is communicated with the robot, and the laser SLAM is used for collecting environment information and constructing a three-dimensional map;
s12: the upper computer determines a robot moving target point and performs path planning by utilizing an RRT algorithm;
s13: if the robot encounters an unknown obstacle in the moving process, detecting by a laser radar and carrying out local obstacle avoidance by using a dynamic window method, otherwise, entering a step S4;
s14: the upper computer detects the position and the moving speed of the robot and judges whether the robot reaches a moving target point, if so, the robot stops, otherwise, the step S2 is returned.
In the above-mentioned intelligent robot precise movement and grabbing method, the steps S6 to S7 include the following steps:
s61: determining parameters of a robot clamping jaw, and selecting a plurality of groups of pose data;
s62: drawing actual pose data of a sensor terminal executor by using a three-dimensional translation model;
s63: calculating compensation values of various joint variables according to a genetic algorithm, and importing the corrected compensation values into a sensor control terminal to obtain actual pose error data;
s64: correcting and solving by using pose error data, and copying and mutating an error value as a genetic algorithm parameter to generate a new parameter until the error between the actual position and the target position is smaller than a threshold value;
s65: according to the theoretical pose data obtained by the sensor terminal executor, a corresponding motion joint variable is calculated, and the motion joint variable is used as a control quantity to be led into an NDI system to measure the error between the actual pose and the physical therapy pose.
In the above-mentioned intelligent robot precise moving and grabbing method, the robot in steps S1-S7 includes a moving body, a grabbing body is mounted on the moving body, sensing elements are respectively disposed on the moving body and the grabbing body, and the grabbing body is equipped with a multidirectional clamping mechanism.
In the intelligent robot precise moving and grabbing method, the grabbing main body comprises a grabbing base rotatably installed at the upper end of the moving main body through a servo motor, a plurality of grabbing force arms which are sequentially rotatably connected are installed on the grabbing base, a servo motor is installed between every two adjacent grabbing force arms, a multidirectional clamping mechanism is installed at the end of each grabbing force arm, and sensing elements are arranged at the rotating connection parts of the adjacent grabbing force arms and on the multidirectional clamping mechanism.
In the intelligent robot accurate moving and grabbing method, the multidirectional clamping mechanism comprises a clamping base and clamping frames which are in sliding connection with the clamping base, at least two groups of clamping frame strips are rotatably arranged between the clamping frames, locking assemblies are respectively arranged on the clamping frame strips, and overturning assemblies are arranged between two ends of the clamping frame strips and the clamping frames.
In the intelligent robot accurate moving and grabbing method, the clamping base and the clamping frame are in meshed transmission through the gear rack, the gear rack is in transmission connection with the sliding motor, the sliding motor is arranged in the tail end grabbing force arm, and the self-adaptive reinforcing component which is in linkage with the gear rack is arranged between the clamping frame and the grabbing force arm; the self-adaptive reinforcing component comprises a reinforcing block body which is slidably arranged in the grabbing force arm, and the reinforcing block body is meshed with the gear rack through the speed change gear set for transmission.
In the intelligent robot precise moving and grabbing method, the clamping frame strip comprises a transverse frame and longitudinal frames, wherein the transverse frame is in sliding connection with the clamping base, the longitudinal frames are vertically fixed at two ends of the transverse frame, the longitudinal frames are connected with the overturning base through lifting screw rods in a transmission mode, and the overturning assembly is arranged between the overturning base and the clamping frame strip; the turnover assembly comprises a turnover motor arranged on the turnover base, and the turnover motor is meshed and driven with the clamping frame strip through an electric clutch.
In the intelligent robot accurate moving and grabbing method, the locking assembly comprises locking pressing strips arranged in the middle and on two sides of the clamping frame strip, and the locking pressing strips are respectively in transmission connection with an electric telescopic rod arranged on the clamping frame strip through the hinged support.
In the intelligent robot accurate moving and grabbing method, the moving wheel driven by the hub motor is arranged at the lower end of the moving main body, the bearing platform positioned at one side of the grabbing main body is arranged at the upper end of the moving main body, and the sensing elements are distributed along the circumferential direction of the moving main body.
Compared with the prior art, the invention has the advantages that: the jaw motion planning is introduced on the basis of the existing robot motion planning, so that the requirements of AGV trolley movement and goods carrying guidance are met; analyzing the actual motion error of the clamping jaw by utilizing a genetic algorithm, so that the precision of the clamping jaw during the grabbing motion is improved; the multidirectional clamping mechanism clamps and fixes cargoes in a multidirectional manner, so that the multidirectional clamping mechanism is suitable for transferring and carrying cargoes in different storage states.
Drawings
FIG. 1 is a schematic diagram of the method of the present invention;
FIG. 2 is a schematic diagram of a path plan of the present invention;
fig. 3 is a schematic structural view of the robot of the present invention;
fig. 4 is another structural schematic view of the robot of the present invention;
FIG. 5 is a schematic view of the multi-directional clamping mechanism of the present invention;
in the figure, a moving body 1, a moving wheel 11, a carrying platform 12, a grabbing body 2, a grabbing base 21, a grabbing arm 22, a multidirectional clamping mechanism 3, a clamping base 31, a clamping frame 32, a clamping frame bar 33, a transverse frame 331, a longitudinal frame 332, a lifting screw 333, a turnover base 334, a gear rack 34, a reinforcing block 35, a sliding motor 36, a locking assembly 4, a locking depression bar 41, a hinged support 42, an electric telescopic rod 43, a turnover assembly 5, a turnover motor 51 and an electric clutch 52.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description.
As shown in FIG. 1, the intelligent robot precise moving and grabbing method is generally used for guiding a moving path of an AGV, meets the requirements of transporting and transporting freight by adding a clamping claw structure on the existing AGV, and adopts the following steps to plan the moving path of the AGV and the clamping claw in order to ensure the moving precision of the AGV:
s1: constructing a global map, planning a 2D map by adopting grids, and planning a 3D map by adopting grids, wherein the map such as point cloud, octree and the like can be introduced;
s2: before path planning, the robot needs to position itself first, and because the robot is mainly suitable for indoor movement, absolute positioning of a global coordinate system can be realized by adopting a beacon and map matching mode;
s3: planning a robot moving path by utilizing a genetic algorithm, and reducing errors of actual and theoretical positions of the robot moving path;
s4: the robot is controlled in motion, the motion parameters are calculated adaptively by adopting an LMS algorithm, and the controller is adjusted according to environmental changes;
s5: sensing a surrounding three-dimensional environment in the moving process of the robot, detecting a target object from a working scene by using a vision system in the processes of feeding, assembling, sorting and carrying, and predicting the three-dimensional gesture of the target object;
s6: carrying out grabbing planning on the robot clamping jaw, wherein the grabbing planning comprises grabbing planning under a fixed state of a coordinate system and path planning under a continuously changing state of the coordinate system, and adjusting a planning path according to actual requirements;
s7: the gripper arms perform a gripping protocol until the target object is transferred to the designated orientation.
As shown in fig. 2, steps S1 to S5 mainly adopt the following steps for planning a moving path of the robot:
s11: the upper computer is communicated with the robot, and the laser SLAM is used for collecting environment information and constructing a three-dimensional map; and establishing a map for the environment where the robot is located by using a Gapping algorithm for subsequent navigation, inputting laser radar data and outputting related information of the map.
S12: the upper computer determines a robot moving target point, and performs path planning by combining a RRT algorithm with particle filtering;
s13: if the robot encounters an unknown obstacle in the moving process, detecting by a laser radar and carrying out local obstacle avoidance by using a dynamic window method, otherwise, entering a step S4; besides the dynamic window method, the method can also utilize BUG algorithm, PFM algorithm and VFH algorithm to avoid obstacle.
S14: the upper computer detects the position and the moving speed of the robot and judges whether the robot reaches a moving target point, if so, the robot stops, otherwise, the step S2 is returned.
In depth, in the present application, the robot is selected to be in a stationary state, and the coordinates of the clamping jaws of the robot are relatively determined, and the specific steps S6-S7 include the following steps:
s61: determining parameters of a robot clamping jaw, and selecting a plurality of groups of pose data;
s62: drawing actual pose data of a sensor terminal executor by using a three-dimensional translation model;
s63: calculating compensation values of various joint variables according to a genetic algorithm, and importing the corrected compensation values into a sensor control terminal to obtain actual pose error data;
s64: correcting and solving by using pose error data, and copying and mutating an error value as a genetic algorithm parameter to generate a new parameter until the error between the actual position and the target position is smaller than a threshold value;
s65: according to the theoretical pose data obtained by the sensor terminal executor, a corresponding motion joint variable is calculated, and the motion joint variable is used as a control quantity to be led into an NDI system to measure the error between the actual pose and the physical therapy pose.
As shown in fig. 3, the robot in steps S1-S7 includes a moving body 1 as a carrying base of a jaw structure, a gripping body 2 is mounted on the moving body 1 for gripping a target object, and sensing elements are respectively disposed on the moving body 1 and the gripping body 2, and the employed sensing components include, but are not limited to, laser radar, ultrasonic detection, infrared measurement, and the like. The gripping body 2 is equipped with a multidirectional gripping mechanism 3 so that a plurality of azimuth angles are applied to the target object gripping moment, and is suitable for high-precision gripping transfer.
Example 1
As shown in fig. 3 to 4, the grabbing body 2 includes a grabbing base 21 rotatably installed at the upper end of the moving body 1 through a servo motor, a plurality of grabbing force arms 22 which are sequentially rotatably connected are installed on the grabbing base 21, a servo motor is installed between the adjacent grabbing force arms 22, the grabbing body 2 has a plurality of rotational degrees of freedom under the action of the servo motor, and after a target is clamped by the multi-directional clamping mechanism 3, actions such as overturning, lifting, pushing and pulling can be completed, and each servo motor is connected with a control structure and is kept independently controlled. The multidirectional clamping mechanism 3 is arranged at the end of the tail end grabbing force arm 22, the sensing element is arranged at the rotating joint of the adjacent grabbing force arms 22 and on the multidirectional clamping mechanism 3, and the sensing element senses the surrounding environment in the moving process, so that the grabbing force arm 22 is prevented from interfering and colliding.
Unlike the conventional clamping structure, the multidirectional clamping mechanism 3 in the present application includes a clamping base 31 and a clamping frame 32 slidably connected to the clamping base 31, and the grasping arm 22 is offset with respect to the clamping base 31, expanding the clamping range of the grasping body 2. At least two groups of clamping frame strips 33 are rotatably arranged between the clamping frames 32, locking assemblies 4 are respectively arranged on the clamping frame strips 33, and overturning assemblies 5 are arranged between two ends of the clamping frame strips 33 and the clamping frames 32.
The clamping frame 32 is used for adjusting the relative included angle under the action of the overturning component 5, the locking component 4 is clamped and fixed with the target object, and when the target object is placed in a narrow environment, the clamping frame 32 and the clamping frame strip 33 are overlapped, so that the locking component 4 and the target object are clamped and fixed conveniently and are dragged in the narrow environment.
Simultaneously, the clamping base 31 and the clamping frame 32 realize the integral deflection of the clamping frame 32 through the meshing transmission of the gear rack 34, and the gear rack 34 is in transmission connection with the sliding motor 36. The sliding motor 36 is installed in the end grabbing arm 22, the end grabbing arm 22 is fixed with the middle of the clamping frame 32 in a normal state, and a servo motor is also arranged in the end grabbing arm 22 and used for driving the clamping base 31 and the clamping frame 32 to rotate relative to the grabbing arm 22. An adaptive reinforcement component which is linked with the gear rack 34 is arranged between the clamping frame 32 and the grabbing arm 22; the adaptive reinforcement assembly includes a reinforcement block 35 slidably mounted within the grasping arm 22, the reinforcement block 35 being in meshed transmission with the rack and pinion 34 through a gear set 36. When the clamping frame 32 is offset, the reinforcing block 35 moves to one side of the clamping base 31 under the action of the speed gear set 36 and the gear rack 34, so that the local structural strength and stability are improved.
Example two
As shown in fig. 5, unlike the conventional pneumatic clamping jaw, the clamping frame strip 33 in the present application includes a transverse frame 331 slidably connected with the clamping base 31 and a longitudinal frame 332 vertically fixed at two ends of the transverse frame 331, the longitudinal frame 332 is connected with a turning base 334 through a lifting screw 333 in a driving manner, and the turning assembly 5 is installed between the turning base 334 and the clamping frame strip 33; the whole locking component 4 adjusts the distance between the locking component and the transverse frame 331 under the action of the lifting screw 333, so as to ensure that the locking component 4 is repeatedly contacted with the target object. The turnover assembly 5 comprises a turnover motor 51 mounted on a turnover base 334, and the turnover motor 51 is in meshed transmission with the clamping frame strip 33 through an electric clutch 52. After the target object is clamped and fixed by the locking component 4, the overturning component 5 can be started to drive the clamping frame strips 33 to rotate, the clamping frame strips 33 are overturned to the lower side of the target object to play a supporting role, and the clamping frame strips 33 are matched to improve the grabbing precision.
It is apparent that the locking assembly 4 includes locking beads 41 installed at the middle and both sides of the clamping frame bar 33, and the locking beads 41 are respectively in driving connection with an electric telescopic rod 43 installed on the clamping frame bar 33 through hinge brackets 42. When the electric telescopic rod 43 is started, the hinged support 42 is driven to link, and the hinged support 42 rotates to open and close to provide clamping moment for the locking depression bar 41, and the clamping force is improved by adopting the electric telescopic rod 43, so that the self-locking stability is good.
Example III
As shown in fig. 3, the lower end of the moving body 1 is provided with moving wheels 11 driven by an in-wheel motor, and each moving wheel 11 rotates independently to realize the in-situ steering of the moving body 1 by using a rotation speed difference, so that the error after coordinate adjustment is reduced. The upper end of the moving body 1 is provided with a bearing platform 12 positioned on one side of the grabbing body 2, sensing elements are distributed along the circumferential direction of the moving body 1, a target object is placed on the bearing platform 12, and the moving body 1 is used for transferring, so that the combination of an AGV trolley and a mechanical clamping jaw is realized.
In summary, the principle of this embodiment is as follows: mechanical clamping jaw structures are introduced to an existing AGV trolley, independent movement paths are respectively planned for the AGV trolley and the clamping jaw structures, and the clamping jaw structures correct pose errors by adopting a genetic algorithm, so that the high-precision grabbing and moving requirements of a target object are met.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Although terms of the moving body 1, the moving wheel 11, the carrying platform 12, the gripping body 2, the gripping base 21, the gripping arm 22, the multi-directional clamping mechanism 3, the gripping base 31, the gripping frame 32, the gripping frame bar 33, the transverse frame 331, the longitudinal frame 332, the lifting screw 333, the tilting base 334, the rack and pinion 34, the reinforcing block 35, the sliding motor 36, the locking assembly 4, the locking bead 41, the hinge bracket 42, the electric telescopic rod 43, the tilting assembly 5, the tilting motor 51, the electric clutch 52, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention.
Claims (10)
1. The intelligent robot precise moving and grabbing method is characterized by comprising the following steps of:
s1: constructing a global map;
s2: the robot performs self-positioning;
s3: planning a robot moving path;
s4: performing motion control on the robot;
s5: sensing the surrounding environment;
s6: performing grabbing planning;
s7: a grabbing scheme is performed.
2. The precise moving and grabbing method of intelligent robots according to claim 1, wherein the steps S1-S5 comprise the following steps:
s11: the upper computer is communicated with the robot, and the laser SLAM is used for collecting environment information and constructing a three-dimensional map;
s12: the upper computer determines a robot moving target point and performs path planning by utilizing an RRT algorithm;
s13: if the robot encounters an unknown obstacle in the moving process, detecting by a laser radar and carrying out local obstacle avoidance by using a dynamic window method, otherwise, entering a step S4;
s14: the upper computer detects the position and the moving speed of the robot and judges whether the robot reaches a moving target point, if so, the robot stops, otherwise, the step S2 is returned.
3. The method for precisely moving and grabbing the intelligent robot according to claim 1, wherein the steps S6 to S7 comprise the steps of:
s61: determining parameters of a robot clamping jaw, and selecting a plurality of groups of pose data;
s62: drawing actual pose data of a sensor terminal executor by using a three-dimensional translation model;
s63: calculating compensation values of various joint variables according to a genetic algorithm, and importing the corrected compensation values into a sensor control terminal to obtain actual pose error data;
s64: correcting and solving by using pose error data, and copying and mutating an error value as a genetic algorithm parameter to generate a new parameter until the error between the actual position and the target position is smaller than a threshold value;
s65: according to the theoretical pose data obtained by the sensor terminal executor, a corresponding motion joint variable is calculated, and the motion joint variable is used as a control quantity to be led into an NDI system to measure the error between the actual pose and the physical therapy pose.
4. The intelligent robot precise moving and grabbing method according to claim 1, wherein the robot in the steps S1-S7 comprises a moving body (1), a grabbing body (2) is mounted on the moving body (1), sensing elements are respectively arranged on the moving body (1) and the grabbing body (2), and the grabbing body (2) is provided with a multidirectional clamping mechanism (3).
5. The intelligent robot precise moving and grabbing method according to claim 4, wherein the grabbing main body (2) comprises a grabbing base (21) rotatably installed at the upper end of the moving main body (1) through a servo motor, a plurality of grabbing force arms (22) which are sequentially rotatably connected are installed on the grabbing base (21), a servo motor is installed between every two adjacent grabbing force arms (22), the multidirectional clamping mechanism (3) is installed at the end of each tail grabbing force arm (22), and the sensing elements are arranged at the rotating connection positions of the adjacent grabbing force arms (22) and on the multidirectional clamping mechanism (3).
6. The intelligent robot precise moving and grabbing method according to claim 5, wherein the multidirectional clamping mechanism (3) comprises a clamping base (31) and clamping frames (32) which are slidably connected with the clamping base (31), at least two groups of clamping frame strips (33) are rotatably arranged between the clamping frames (32), locking assemblies (4) are respectively arranged on the clamping frame strips (33), and overturning assemblies (5) are arranged between two ends of the clamping frame strips (33) and the clamping frames (32).
7. The intelligent robot precise moving and grabbing method according to claim 6, wherein the clamping base (31) and the clamping frame (32) are in meshed transmission through a gear rack (34), the gear rack (34) is in transmission connection with a sliding motor (36), the sliding motor (36) is installed in a tail end grabbing force arm (22), and an adaptive reinforcing component which is in linkage with the gear rack (34) is arranged between the clamping frame (32) and the grabbing force arm (22); the self-adaptive reinforcing assembly comprises a reinforcing block body (35) which is slidably arranged in the grabbing force arm (22), and the reinforcing block body (35) is meshed with the gear rack (34) through a speed change gear set (36) for transmission.
8. The intelligent robot precise moving and grabbing method according to claim 6, wherein the clamping frame strip (33) comprises a transverse frame (331) in sliding connection with the clamping base (31) and longitudinal frames (332) vertically fixed at two ends of the transverse frame (331), the longitudinal frames (332) are in transmission connection with a turnover base (334) through lifting screws (333), and the turnover assembly (5) is arranged between the turnover base (334) and the clamping frame strip (33); the turnover assembly (5) comprises a turnover motor (51) arranged on a turnover base (334), and the turnover motor (51) is in meshed transmission with the clamping frame strip (33) through an electric clutch (52).
9. The intelligent robot precise moving and grabbing method according to claim 6, wherein the locking assembly (4) comprises locking pressing strips (41) arranged in the middle and on two sides of the clamping frame strip (33), and the locking pressing strips (41) are respectively in transmission connection with an electric telescopic rod (43) arranged on the clamping frame strip (33) through hinged supports (42).
10. The intelligent robot precise moving and grabbing method according to claim 4, wherein a moving wheel (11) driven by an in-wheel motor is installed at the lower end of the moving body (1), a bearing platform (12) located at one side of the grabbing body (2) is arranged at the upper end of the moving body (1), and the sensing elements are distributed along the circumferential direction of the moving body (1).
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| CN117635000A (en) * | 2023-11-22 | 2024-03-01 | 中建材智能自动化研究院有限公司 | LMS production logistics scheduling method based on industrial Internet |
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