CN117863178A - Multi-mechanical arm cascade system control method and device - Google Patents
Multi-mechanical arm cascade system control method and device Download PDFInfo
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- CN117863178A CN117863178A CN202311865182.4A CN202311865182A CN117863178A CN 117863178 A CN117863178 A CN 117863178A CN 202311865182 A CN202311865182 A CN 202311865182A CN 117863178 A CN117863178 A CN 117863178A
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses a control method and a device for a multi-mechanical arm cascade system, wherein each mechanical arm in the multi-mechanical arm cascade system is provided with a wireless close-range positioning assembly, and the control method comprises the following steps: acquiring current position information of other mechanical arms in a preset space based on a wireless close-range positioning assembly of the current mechanical arm; acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm; judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of other mechanical arms; if yes, adjusting a preset moving path of the current mechanical arm; if not, controlling the current mechanical arm to run according to the preset moving path. And acquiring the position information of other adjacent mechanical arms in real time through the wireless close-range positioning assembly, and if collision risk exists, adjusting the moving path of the current mechanical arm to support cascading and cooperation among a plurality of mechanical arms.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a method and a device for controlling a multi-mechanical arm cascade system.
Background
Along with the rapid development of industrial automation, the cooperative mechanical arm is increasingly widely applied to the fields of production lines, assembly lines, logistics sorting, home service and the like. However, the existing mechanical arm control method mainly focuses on the control of a single mechanical arm, and has insufficient cascade and cooperation support for multiple mechanical arms. This limits the use of robotic arms in complex and large-scale tasks, impeding the development of industrial automation.
Meanwhile, in the conventional use mode, the cooperative robot mainly focuses on cooperation between the robot and a human operator. Although there is a certain application in industry, it is not sufficient to achieve a high degree of co-operation between multiple robots, especially between different types of robots. In multi-device collaboration, communication and cooperative control are critical issues. The prior art has challenges in real-time data transmission, task coordination, collision detection and path planning, so collaboration in a multi-robot environment is not easy to achieve. The prior art mostly adopts a distributed control system, so that a plurality of robots are allowed to work in the same environment, but the schemes are usually customized and can only be used in specific scenes; the movement path of each mechanical arm is fixed to prevent the movement interference between the mechanical arms by programming teaching of each mechanical arm by a technician. In a complex scene, the method has strong requirements for technicians, a great amount of time is often required for debugging and testing, the difficulty of cooperative use of the mechanical arm is increased, meanwhile, high intelligence and flexibility are lacking, and complex cooperative tasks are difficult to realize. In the existing multi-mechanical arm control scheme, the following problems mainly exist:
1. the technology development and debugging time is long: when the multiple mechanical arms work cooperatively, the mechanical arms do not know the position relation with other mechanical arms, usually the mechanical arms are fixed in position or move relatively fixedly, and a technician adjusts the motion path of each mechanical arm in a teaching programming mode to prevent interference, so that the technician is required to repeatedly adjust, and long time is required to determine the motion path of each mechanical arm.
2. The flexibility is poor: the multi-machine cooperation often adopts a fixed work flow, so that once the flow is changed or the position relationship among the mechanical arms is changed, each mechanical arm needs to be debugged and programmed again, and the multi-machine cooperation cannot be used quickly; in addition, if the scene changes, the position space changes and the number of the mechanical arms changes, and debugging is needed again to meet the scene requirement.
3. When the mechanical arms are of various types, the load condition, the movement range, the flexibility, the speed and the like of each mechanical arm are different, a technician is required to be familiar with the performance of each mechanical arm, a reasonable mechanical arm cooperation flow is designed, and more design cycles are required.
4. The mechanical arms are independent in task, each mechanical arm often processes single work and is not part of the whole collaboration system, and timely remedy and task redistribution are difficult to achieve when other mechanical arms encounter problems.
Disclosure of Invention
The embodiment of the invention aims to provide a control method and a device for a multi-mechanical arm cascade system, which are used for acquiring the position information of other adjacent mechanical arms in real time through a wireless close-range positioning assembly on each mechanical arm in the multi-mechanical arm cascade system, mutually avoiding, and adjusting the moving path of the current mechanical arm if collision risk exists, so that the multi-mechanical arm cascade system supports cascade and cooperation among a plurality of mechanical arms according to the actual running state, and can efficiently process complex tasks or processes.
In order to solve the above technical problems, a first aspect of the embodiments of the present invention provides a control method for a multi-mechanical arm cascade system, where each mechanical arm in the multi-mechanical arm cascade system is provided with a wireless close-range positioning assembly, including the following steps:
acquiring current position information of other mechanical arms in a preset space based on a wireless close-range positioning assembly of the current mechanical arm;
acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm;
judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of the other mechanical arms;
if yes, adjusting a preset moving path of the current mechanical arm;
if not, controlling the current mechanical arm to run according to the preset moving path.
Further, the plurality of mechanical arms in the multi-mechanical arm cascade system are connected through ethernet data, and after the wireless close-range positioning assembly based on the current mechanical arm obtains the current position information of other mechanical arms in the preset space, the method comprises the following steps:
acquiring preset moving paths of the other mechanical arms through Ethernet;
acquiring preset position information of the other mechanical arms in the next detection period;
and when judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the predicted position information of the other mechanical arms in the next detection period, adjusting the preset moving path of the current mechanical arm.
Further, before the acquiring the preset movement path of the other mechanical arm through the ethernet, the method further includes:
and acquiring Ethernet port information of the other mechanical arms based on the current mechanical arm and the wireless close-range positioning assembly of the other mechanical arms, and establishing Ethernet data connection.
Further, before the wireless close-range positioning component based on the current mechanical arm obtains the current position information of other mechanical arms in the preset space, the wireless close-range positioning component further comprises:
receiving corresponding subtasks based on the current mechanical arm;
generating a plurality of planned moving paths for the subtasks;
receiving the planned moving path generated by a plurality of other mechanical arms adjacent to the current mechanical arm;
and selecting an optimal path from a plurality of planned moving paths generated by the current mechanical arm by combining the planned moving paths generated by each other mechanical arm.
Further, after selecting an optimal path from the plurality of planned moving paths generated by the current mechanical arm, the method further includes:
receiving fault state information sent by the other mechanical arms;
and regenerating a plurality of planned moving paths of the current mechanical arm based on the position information of the other mechanical arms in the fault state and the planned moving paths thereof, and reselecting an optimal path to control the current mechanical arm to operate according to the optimal path.
Accordingly, a second aspect of the embodiments of the present invention provides a control device for a multi-mechanical arm cascade system, where each mechanical arm in the multi-mechanical arm cascade system is provided with a wireless close-range positioning assembly, including:
the current position acquisition module is used for acquiring current position information of other mechanical arms in a preset space based on the wireless close-range positioning assembly of the current mechanical arm;
the predicted position acquisition module is used for acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm;
the position overlapping judging module is used for judging whether the predicted position information of the current mechanical arm in the next detection period overlaps or partially overlaps with the current position information of the other mechanical arms;
the mechanical arm control module is used for adjusting a preset moving path of the current mechanical arm when the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of the other mechanical arms;
the mechanical arm control module is further configured to control the current mechanical arm to operate according to the preset moving path when the predicted position information of the current mechanical arm in the next detection period is not overlapped or not partially overlapped with the current position information of the other mechanical arms.
Further, the plurality of mechanical arms in the multi-mechanical arm cascade system are connected through ethernet data, and the multi-mechanical arm cascade system control device further comprises: the wired data judging module comprises:
the second path acquisition unit is used for acquiring preset moving paths of the other mechanical arms through the Ethernet;
the position acquisition unit is used for acquiring preset position information of the other mechanical arms in the next detection period;
and the first path adjusting unit is used for adjusting a preset moving path of the current mechanical arm when judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the predicted position information of the other mechanical arms in the next detection period.
Further, the wired data judging module further includes:
and the port information acquisition unit is used for acquiring the Ethernet port information of the other mechanical arms based on the wireless close-range positioning assemblies of the current mechanical arm and the other mechanical arms and establishing Ethernet data connection.
Further, the multi-arm cascade system control device further includes: a task generation module, the task generation module comprising:
a task receiving unit, configured to receive a corresponding subtask based on the current mechanical arm;
a first path generation unit for generating a plurality of planned moving paths for the subtasks;
a second path receiving unit, configured to receive the planned movement path generated by the plurality of other mechanical arms adjacent to the current mechanical arm;
the first path selection unit is used for selecting an optimal path from a plurality of planned moving paths generated by the current mechanical arm by combining the planned moving paths generated by each other mechanical arm, so that the current mechanical arm and any one of the other mechanical arms are not overlapped or partially overlapped in the same time and space.
Further, the task generating module further includes:
the fault information receiving unit is used for receiving fault state information sent by the other mechanical arms;
the first path adjusting unit is used for regenerating a plurality of planned moving paths of the current mechanical arm based on the position information of the other mechanical arms in the fault state and the planned moving paths of the other mechanical arms, and reselecting an optimal path to control the current mechanical arm to operate according to the optimal path.
The technical scheme provided by the embodiment of the invention has the following beneficial technical effects:
1. the wireless short-distance positioning assembly on each mechanical arm in the multi-mechanical arm cascading system is used for acquiring the position information of other adjacent mechanical arms in real time, avoiding each other, and adjusting the moving path of the current mechanical arm if collision risk exists, so that the multi-mechanical arm cascading system supports cascading and cooperation among the multiple mechanical arms according to the actual running state, and complex tasks or processes can be efficiently processed;
2. the multi-mechanical arm cascade system can autonomously generate an execution scheme for the subtasks distributed to each mechanical arm, and perform a previewing simulation to obtain an optimal system overall execution scheme;
3. when one or more mechanical arms in the multi-mechanical arm cascade fails, other mechanical arms can adjust the distributed task content in real time, redistribute and continue to execute.
Drawings
FIG. 1 is a flow chart of a control method of a multi-arm cascade system provided by an embodiment of the invention;
fig. 2 is a flowchart of acquiring preset position information of a next detection period through ethernet according to an embodiment of the present invention;
FIG. 3 is a block diagram of a control device of a multi-arm cascade system according to an embodiment of the present invention;
FIG. 4 is a block diagram of a wired data judgment module according to an embodiment of the present invention;
fig. 5 is a block diagram of a task generating module according to an embodiment of the present invention.
Reference numerals:
1. a current position acquisition module, 2, a predicted position acquisition module, 3, a position overlapping judgment module, 4, a mechanical arm control module, 5, a wired data judgment module, 51, a second path acquisition unit, 52, a position acquisition unit, 53, a first path adjustment unit, 54, port information acquisition units, 6, task generation modules, 61, task reception units, 62, first path generation units, 63, second path reception units, 64, first path selection units, 65, fault information reception units, 66, and first path adjustment units.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Referring to fig. 1, a first aspect of the embodiment of the present invention provides a control method of a multi-mechanical arm cascade system, wherein each mechanical arm in the multi-mechanical arm cascade system is provided with a wireless close-range positioning assembly, and the method includes the following steps:
step S200, acquiring current position information of other mechanical arms in a preset space based on a wireless close-range positioning assembly of the current mechanical arm.
The mechanical arm is provided with a wireless near field positioning communication module (UWB). After the mechanical arm is started, the wireless close-range positioning communication module is used for scanning peripheral equipment, and the space relative position of the adjacent mechanical arm is obtained in real time. Once the adjacent mechanical arm approaches the current mechanical arm, the relative spatial position between the two or more mechanical arms can be known, and whether the adjacent mechanical arm is the nearby mechanical arm or not can be judged.
In addition, a plurality of mechanical arms in the multi-mechanical arm cascade system can be built into a large mechanical arm distributed network in one position space; further, a relatively large environmental space may be divided into a plurality of sub-networks in a small range, and then the plurality of sub-networks may be networked into a main network. When one mechanical arm moves from the sub-network A to the vicinity of the sub-network B, the sub-network A is automatically switched to join the sub-network B. And the automatic wireless networking is performed through the relative distance, a distributed communication network is constructed, so that the real-time exchange and collaborative planning of information are realized, and the flexibility and the adaptability of the system are improved.
Step S300, based on a preset moving path of the current mechanical arm, obtaining predicted position information of the current mechanical arm in a next detection period.
The mechanical arm operates normally, and a preset moving path is determined. The current robotic arm may obtain information of the position it should appear after the next inspection cycle or cycles.
Step S400, judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of other mechanical arms.
Step S500, if yes, the preset moving path of the current mechanical arm is adjusted.
And S600, if not, controlling the current mechanical arm to run according to a preset moving path.
In one embodiment of the invention, the A-star algorithm is used to check for interference. When the detection result of the A-star algorithm is that interference exists, the situation that the overlapping or partial overlapping exists is judged, and then the preset moving path of the current mechanical arm is adjusted. When the detection result of the A-star algorithm is that interference does not exist, the situation that overlapping or partial overlapping does not exist is judged, the preset moving path of the mechanical arm is not required to be adjusted, and the operation is continued according to the current state.
And judging whether the adjacent two mechanical arms are likely to interfere with each other or have the possibility of overlapping (partially overlapping) positions according to the possible positions of the two mechanical arms. The wireless near-distance positioning communication module on each mechanical arm scans the positions of adjacent mechanical arms in the surrounding environment, so that real-time position detection of a plurality of mechanical arms in the multi-mechanical arm cascade system is realized, and according to mutual detection and path adjustment between two or more mechanical arms, active collision and interference adjustment of the plurality of mechanical arms are realized, manual temporary adjustment is not needed, and the operation efficiency of the multi-mechanical arm cascade system is greatly improved.
Specifically, referring to fig. 2, a plurality of mechanical arms in the multi-mechanical arm cascade system are connected through ethernet data, and after the wireless close-range positioning assembly based on the current mechanical arm in step S200 obtains current position information of other mechanical arms in a preset space, the method includes:
step S220, obtaining preset moving paths of other mechanical arms through Ethernet.
Step S230, acquiring preset position information of other mechanical arms in the next detection period.
Step S240, when determining whether the predicted position information of the current mechanical arm in the next detection period overlaps or partially overlaps with the predicted position information of other mechanical arms in the next detection period, adjusting the preset moving path of the current mechanical arm.
In order to enable the current mechanical arm to acquire complete data of one or more other adjacent mechanical arms, each mechanical arm in the multi-mechanical arm cascade system is connected with each other through an Ethernet, each mechanical arm is a node of a distributed network, whether collision occurs or not is judged by acquiring complete operation data of the other mechanical arms in the network, and an optimal path for avoiding collision is formulated.
The mechanical arms share the performance parameters of the mechanical arms in the distributed network, and can acquire the operation parameters and operation states of all other mechanical arms, including the movement range, the bearing capacity and the flexibility, and a user can connect any mechanical arm in the distributed network and input tasks to be completed and the execution sequence of each task through a Graphical User Interface (GUI). The interface can provide visual feedback to allow the user to easily select and adjust task parameters.
Further, before acquiring the preset movement paths of the other mechanical arms through the ethernet in step S220, the method further includes:
step S210, based on the wireless close-range positioning assemblies of the current mechanical arm and other mechanical arms, acquiring Ethernet port information of the other mechanical arms, and establishing Ethernet data connection.
If the current mechanical arm and the adjacent other mechanical arms are in a possible position overlapping or partial overlapping condition, the current mechanical arm can acquire an Ethernet data port of the wireless close range positioning assembly on the adjacent other mechanical arms through the wireless close range positioning assembly, establish wired data communication, acquire complete path information of the adjacent other mechanical arms, and make specific paths which are mutually avoided.
In a specific implementation manner of the embodiment of the present invention, step S200, before obtaining current position information of other mechanical arms in the preset space based on the wireless close-range positioning component of the current mechanical arm, further includes:
step S110, receiving its corresponding subtask based on the current robot arm.
Step S120, generating a plurality of planned moving paths for the subtasks.
Step S130, receiving a planned moving path generated by a plurality of other mechanical arms adjacent to the current mechanical arm.
Step S140, selecting an optimal path from a plurality of planned moving paths generated by the current mechanical arm by combining the planned moving paths generated by each other mechanical arm, so that the current mechanical arm and any other mechanical arm are not overlapped or partially overlapped in the same time and space.
In the invention, when the step of selecting the optimal path is performed in real time, an A-star heuristic search algorithm is adopted, the position information of the nearby mechanical arms, including the mechanical arm model, the joint angle and the like, is used, a space link model is established, a starting point and a target point are defined for each nearby mechanical arm, a search graph is established based on the position relation, and the cost from the current point to the target point is estimated through a heuristic function. Initializing an Open table for storing nodes to be accessed and a Closed table for storing nodes that have been accessed. Initially, only the originating node is in the Open table. And selecting the node with the minimum cost from the OpenTable as the current node, and then expanding. When expanding, consider all possible next nodes and calculate their costs. If a certain next node is already in the Closed table, or the new cost is greater than the original cost, the node is skipped. Otherwise, the node is added to the Open table and its parent node is set as the current node. In expanding a node, it is necessary to check whether interference occurs. This may be accomplished by checking whether the new node intersects the planned path. If there is interference, the path needs to be adjusted or re-planned, and the steps of searching and checking interference are repeated until the target node is found or the Open table is empty. If the target node is found, the node can be traced back to the starting node, and an optimal path is obtained. If the Open table is empty, indicating that no path is found, outputting the planned path, and outputting a path for each mechanical arm.
The multi-mechanical arm cascade system can decompose a task into N sub-tasks which are subdivided according to task requirements and characteristics of each mechanical arm in a network, and the sub-tasks are distributed to the corresponding mechanical arms. When tasks are distributed, the factors such as the movement range, the bearing capacity, the flexibility, the power consumption and the like of each mechanical arm and the position relation among the mechanical arms are considered.
Each subtask is sent to each mechanical arm through a wired network, each mechanical arm generates tracks of different paths according to the distributed subtasks, the tracks are shared with other mechanical arms through a wired Ethernet, each mechanical arm performs task simulation previewing on the mechanical arms possibly interfering with the mechanical arms, the mechanical arms select proper tracks to notify the nearby mechanical arms, and the mechanical arms enable the mechanical arms to move according to the previewing gesture, position and motion parameters and operate cooperatively with the other mechanical arms. The control program may include a series of instructions and algorithms for controlling the attitude, speed, trajectory, etc. of the robotic arm, as well as logic for information exchange and coordinated control with other robotic arms.
In the executing process, the multi-mechanical arm cascade system monitors the state and the task executing condition of each mechanical arm in real time, and feeds back and adjusts information through a communication network. If abnormal or unexpected conditions are found, the sub-tasks are redistributed and the motion track is adjusted in the distribution network, so that the smooth completion of the tasks is ensured. By monitoring the state of the mechanical arm and the task execution condition in real time, the state information about the motion parameters such as the position, the posture, the speed and the like of the mechanical arm, the task completion condition, the abnormal condition and the like can be shared. The information can be fed back to the network nodes of the mechanical arms in real time through a communication network so as to adjust and optimize the flow.
Further, in step S140, after selecting an optimal path from the plurality of planned moving paths generated by the current mechanical arm, the method further includes:
step S150, receiving fault state information sent by other mechanical arms.
And step S160, regenerating a plurality of planned moving paths of the current mechanical arm based on the position information of the other mechanical arms in the fault state and the planned moving paths of the other mechanical arms, and reselecting an optimal path to control the current mechanical arm to operate according to the optimal path.
In the multi-mechanical arm cascade cooperation process, various abnormal conditions such as mechanical arm faults, communication interruption, approaching of a new mechanical arm, withdrawal of the mechanical arm and the like can occur. For this reason, the invention also provides an exception handling mechanism. When an abnormal condition is detected, corresponding processing measures such as task redistribution, control program adjustment, alarm prompt and the like are automatically adopted, so that the influence of the abnormality on task execution is reduced to the greatest extent. Through an exception handling mechanism, various exception conditions can be effectively handled, and smooth completion of tasks is ensured.
Accordingly, referring to fig. 3, a second aspect of the present invention provides a control device for a multi-arm cascade system, where each arm in the multi-arm cascade system is provided with a wireless close-range positioning assembly, including:
the current position acquisition module 1 is used for acquiring current position information of other mechanical arms in a preset space based on a wireless close-range positioning assembly of the current mechanical arm;
a predicted position obtaining module 2, configured to obtain predicted position information of the current mechanical arm in a next detection period based on a preset movement path of the current mechanical arm;
a position overlapping judging module 3, configured to judge whether the predicted position information of the current mechanical arm in the next detection period overlaps or partially overlaps with the current position information of other mechanical arms;
the mechanical arm control module 4 is used for adjusting a preset moving path of the current mechanical arm when the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of other mechanical arms;
the mechanical arm control module 4 is further configured to control the current mechanical arm to operate according to a preset movement path when the predicted position information of the current mechanical arm in the next detection period is not overlapped or not partially overlapped with the current position information of other mechanical arms.
Further, referring to fig. 4, a plurality of mechanical arms in the multi-mechanical arm cascade system are connected through ethernet data, and the multi-mechanical arm cascade system control device further includes: the wired data judgment module 5, the wired data judgment module 5 includes:
a second path obtaining unit 51, configured to obtain a preset moving path of the other mechanical arm through ethernet;
a position obtaining unit 52, configured to obtain preset position information of other mechanical arms in a next detection period;
the first path adjusting unit 53 adjusts the preset moving path of the current robot arm when judging whether the predicted position information of the current robot arm in the next detection period overlaps or partially overlaps with the predicted position information of other robot arms in the next detection period.
Further, the wired data judgment module 5 further includes:
the port information obtaining unit 54 is configured to obtain ethernet port information of the other mechanical arm based on the current wireless close-range positioning assembly of the mechanical arm and the other mechanical arm, and establish an ethernet data connection.
Further, referring to fig. 5, the multi-arm cascade system control apparatus further includes: the task generating module 6, the task generating module 6 includes:
a task receiving unit 61 for receiving its corresponding subtask based on the current robot arm;
a first path generation unit 62 for generating a number of planned movement paths for the subtasks;
a second path receiving unit 63, configured to receive a planned movement path generated by a number of other mechanical arms adjacent to the current mechanical arm;
the first path selection unit 64 is configured to combine the planned movement paths generated by each of the other mechanical arms, and select an optimal path from a plurality of planned movement paths generated by the current mechanical arm, so that the current mechanical arm and any one of the other mechanical arms do not overlap or partially overlap in the same space-time.
Further, the task generating module 6 further includes:
a fault information receiving unit 65, configured to receive fault state information sent by other mechanical arms;
the first path adjustment unit 66 is configured to regenerate a plurality of planned moving paths of the current mechanical arm based on the position information of the other mechanical arms in the fault state and the planned moving paths thereof, and reselect an optimal path, so as to control the current mechanical arm to operate according to the optimal path.
Accordingly, a third aspect of the embodiment of the present invention further provides an electronic device, including: at least one processor; and a memory coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor executes the intelligent substation multi-interval system level protection function detection method.
In addition, a fourth aspect of the embodiment of the present invention further provides a computer readable storage medium, on which computer instructions are stored, where the instructions, when executed by a processor, implement the above-mentioned method for detecting multi-interval system level protection functions of an intelligent substation.
The embodiment of the invention aims to protect a control method and a device for a multi-mechanical arm cascade system, wherein each mechanical arm in the multi-mechanical arm cascade system is provided with a wireless close-range positioning assembly, and the control method comprises the following steps: acquiring current position information of other mechanical arms in a preset space based on a wireless close-range positioning assembly of the current mechanical arm; acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm; judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of other mechanical arms; if yes, adjusting a preset moving path of the current mechanical arm; if not, controlling the current mechanical arm to run according to the preset moving path. The technical scheme has the following effects:
1. the wireless short-distance positioning assembly on each mechanical arm in the multi-mechanical arm cascading system is used for acquiring the position information of other adjacent mechanical arms in real time, avoiding each other, and adjusting the moving path of the current mechanical arm if collision risk exists, so that the multi-mechanical arm cascading system supports cascading and cooperation among the multiple mechanical arms according to the actual running state, and complex tasks or processes can be efficiently processed;
2. the multi-mechanical arm cascade system can autonomously generate an execution scheme for the subtasks distributed to each mechanical arm, and perform a previewing simulation to obtain an optimal system overall execution scheme;
3. when one or more mechanical arms in the multi-mechanical arm cascade fails, other mechanical arms can adjust the distributed task content in real time, redistribute and continue to execute.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (10)
1. The control method of the multi-mechanical arm cascade system is characterized in that each mechanical arm in the multi-mechanical arm cascade system is provided with a wireless close-range positioning assembly, and the control method comprises the following steps:
acquiring current position information of other mechanical arms in a preset space based on a wireless close-range positioning assembly of the current mechanical arm;
acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm;
judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of the other mechanical arms;
if yes, adjusting a preset moving path of the current mechanical arm;
if not, controlling the current mechanical arm to run according to the preset moving path.
2. The method for controlling a multi-mechanical arm cascade system according to claim 1, wherein the plurality of mechanical arms in the multi-mechanical arm cascade system are connected through ethernet data, and the wireless close-range positioning assembly based on the current mechanical arm acquires current position information of other mechanical arms in a preset space, and then comprises:
acquiring preset moving paths of the other mechanical arms through Ethernet;
acquiring preset position information of the other mechanical arms in the next detection period;
and when judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the predicted position information of the other mechanical arms in the next detection period, adjusting the preset moving path of the current mechanical arm.
3. The method for controlling a multi-arm cascade system according to claim 2, further comprising, before the acquiring the preset movement path of the other arm via ethernet:
and acquiring Ethernet port information of the other mechanical arms based on the current mechanical arm and the wireless close-range positioning assembly of the other mechanical arms, and establishing Ethernet data connection.
4. The method for controlling a multi-arm cascade system according to claim 2, wherein before the wireless short-distance positioning component based on the current arm obtains the current position information of other arms in the preset space, the method further comprises:
receiving corresponding subtasks based on the current mechanical arm;
generating a plurality of planned moving paths for the subtasks;
receiving the planned moving path generated by a plurality of other mechanical arms adjacent to the current mechanical arm;
and selecting an optimal path from a plurality of planned moving paths generated by the current mechanical arm by combining the planned moving paths generated by each other mechanical arm.
5. The method for controlling a multi-arm cascade system according to claim 4, further comprising, after selecting an optimal path from a plurality of planned moving paths generated by the current arm:
receiving fault state information sent by the other mechanical arms;
and regenerating a plurality of planned moving paths of the current mechanical arm based on the position information of the other mechanical arms in the fault state and the planned moving paths thereof, and reselecting an optimal path to control the current mechanical arm to operate according to the optimal path.
6. The utility model provides a many arms cascade system controlling means which characterized in that, every arm in many arms cascade system all is equipped with wireless closely locating component, includes:
the current position acquisition module is used for acquiring current position information of other mechanical arms in a preset space based on the wireless close-range positioning assembly of the current mechanical arm;
the predicted position acquisition module is used for acquiring predicted position information of the current mechanical arm in a next detection period based on a preset moving path of the current mechanical arm;
the position overlapping judging module is used for judging whether the predicted position information of the current mechanical arm in the next detection period overlaps or partially overlaps with the current position information of the other mechanical arms;
the mechanical arm control module is used for adjusting a preset moving path of the current mechanical arm when the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the current position information of the other mechanical arms;
the mechanical arm control module is further configured to control the current mechanical arm to operate according to the preset moving path when the predicted position information of the current mechanical arm in the next detection period is not overlapped or not partially overlapped with the current position information of the other mechanical arms.
7. The multi-arm cascade system control apparatus of claim 6, wherein a number of the arms in the multi-arm cascade system are connected by ethernet data, the multi-arm cascade system control apparatus further comprising: the wired data judging module comprises:
the second path acquisition unit is used for acquiring preset moving paths of the other mechanical arms through the Ethernet;
the position acquisition unit is used for acquiring preset position information of the other mechanical arms in the next detection period;
and the first path adjusting unit is used for adjusting a preset moving path of the current mechanical arm when judging whether the predicted position information of the current mechanical arm in the next detection period is overlapped or partially overlapped with the predicted position information of the other mechanical arms in the next detection period.
8. The multi-arm cascade system control apparatus of claim 7, wherein the wired data determination module further comprises:
and the port information acquisition unit is used for acquiring the Ethernet port information of the other mechanical arms based on the wireless close-range positioning assemblies of the current mechanical arm and the other mechanical arms and establishing Ethernet data connection.
9. The multi-arm cascade system control apparatus of claim 7, further comprising: a task generation module, the task generation module comprising:
a task receiving unit, configured to receive a corresponding subtask based on the current mechanical arm;
a first path generation unit for generating a plurality of planned moving paths for the subtasks;
a second path receiving unit, configured to receive the planned movement path generated by the plurality of other mechanical arms adjacent to the current mechanical arm;
the first path selection unit is used for selecting an optimal path from a plurality of planned moving paths generated by the current mechanical arm by combining the planned moving paths generated by each other mechanical arm, so that the current mechanical arm and any one of the other mechanical arms are not overlapped or partially overlapped in the same time and space.
10. The multi-arm cascade system control apparatus of claim 9, wherein the task generation module further comprises:
the fault information receiving unit is used for receiving fault state information sent by the other mechanical arms;
the first path adjusting unit is used for regenerating a plurality of planned moving paths of the current mechanical arm based on the position information of the other mechanical arms in the fault state and the planned moving paths of the other mechanical arms, and reselecting an optimal path to control the current mechanical arm to operate according to the optimal path.
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