CN205325689U - Two real time kinematic of robot keep away barrier device - Google Patents
Two real time kinematic of robot keep away barrier device Download PDFInfo
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- CN205325689U CN205325689U CN201521100323.4U CN201521100323U CN205325689U CN 205325689 U CN205325689 U CN 205325689U CN 201521100323 U CN201521100323 U CN 201521100323U CN 205325689 U CN205325689 U CN 205325689U
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Abstract
The utility model discloses a two real time kinematic of robot keep away barrier device, keep away the barrier device including keeping away barrier host system, it includes consecutive position detection module to keep away barrier host system, the barrier module is kept away to collision detection module and developments, position detection module and two the robot's motor communication, the real -time positional information who gathers two the robot, the positional information that collision detection module receiving position detection module sent, and carry out the comparison with safe distance that two the robot bumped, developments are kept away comparative value that the barrier module received the collision detection module and are carried out keeping away barrier path planning and sending it and carry out the new barrier route of keeping away in two the robot's motor drive of two the robot. According to the utility model discloses the two robots that realize keep away the barrier device in real time, can reduce the latency of robot who keeps away the barrier in -process, realize that real time kinematic keeps away the barrier, improves the work efficiency of two robots from this.
Description
Technical field
This utility model belongs to industrial robot control field, more particularly, to a kind of dual robot Real-time and Dynamic fault avoidnig device。
Background technology
At present, that conventional machines people's industry uses is all one armed robot, and namely operating position is fixed, and robot end installs corresponding instrument, moves to operating position and carries out the work such as carrying, assembling, welding, polishing accordingly。And along with the raising to working (machining) efficiency, be typically in process operation being required for carrying out the collaborative operation of multiple robot, and during existing pair of industrial robot collaborative work, each robot is independently controlled by the controller of oneself。In order to prevent collision, when an one armed robot to enter some cooperation region, collision alarm must be sent in real time confirm to an other one armed robot, and must exit behind this cooperation region until a robot, an other robot could enter work, therefore dual robot cooperating process exists and wait, cause that its work efficiency exists very big bottleneck。
Tow-armed robot based on intelligent barrier avoiding system, a robot can be realized when carrying, assembling, welding or polishing workpiece, another robot can be processed operation at the same area, it is absent from collision waiting area, meets the multirobot machine collaborative work ability of industrial processes better。
In currently available technology, application number is 201010615758.8, publication number is CN101512453B, name is called that the patent documentation of " avoiding the method and apparatus of collision between industrial robot and object " provides the robot probability to prediction of collision, the limitation of this technology embodies and is in that, dynamic avoidance can not be realized, when predicting robot and colliding with surrounding objects, only signal to robot by its stop motion, it is impossible to ensure the seriality of two robots collaborative work；Other one section of application number 201510079471.0, publication number CN104760043A, name is called " a kind of architecture robot controller based on intelligent barrier avoiding system ", this technology solves the collision-free motion planning of tow-armed robot, the limitation of this kind of avoidance technology is in that the path work that robot must plan according to off-line programing in advance, it is impossible to carry out real time collision detection and dynamic collision free in practical work process。
Utility model content
Disadvantages described above or Improvement requirement for prior art, this utility model provides a kind of dual robot Real-time and Dynamic fault avoidnig device and barrier-avoiding method thereof, its object is to reduce the robot waiting time in avoidance process, it is achieved Real-time and Dynamic avoidance, thus improve track planning of dual robots task efficiency。
For achieving the above object, according to an aspect of the present utility model, provide dual robot Real-time and Dynamic fault avoidnig device, it is characterized in that, described fault avoidnig device includes avoidance main control module, described avoidance main control module includes the position detecting module being sequentially connected, collision detection module and dynamic obstacle avoidance module, the its communications of described position detecting module and described dual robot body, the positional information of dual robot body described in Real-time Collection, described collision detection module receives the described positional information that described position detecting module sends, and the safe distance collided with described dual robot body compares, the result of the described dynamic obstacle avoidance module described collision detection module of reception carries out the obstacle-avoiding route planning of described dual robot body, and described obstacle-avoiding route planning is sent in the motor driver of described dual robot body, described dual robot body is driven to perform described avoidance path。
Further, the definition of described safe distance is as follows: the large arm of described dual robot body, forearm and wrist are carried out enveloping solid expression, being made up of cylinder in the middle of described enveloping solid, the two ends of described enveloping solid are made up of spheroid, and described safe distance is expressed by the size distance of described enveloping solid。
Further, described safe distance is that the described enveloping solid of dual robot body described in any does not collide superposition。
Further, the execution of described obstacle-avoiding route planning can be completed by the described robot body of one of them or jointly be completed by both。
Further, described positional information includes angle information and angular velocity information。
In general, by the contemplated above technical scheme of this utility model compared with prior art, it is possible to obtain following beneficial effect:
This utility model provides a kind of tow-armed robot with dynamic obstacle avoidance function to control device, the collisionless path made new advances can be planned in time when 2 robots are about to collide, collision free, rather than stop robot, maximize and improve the high efficiency of dual robot, safety；The advantage of this device is in that forward-looking, it is possible to the risk of collision detected in advance, enhances and the chance being about to collision detected。Another one advantage is in that to be capable of dynamic obstacle avoidance；This control device with dynamic obstacle avoidance function is utilized directly to control two robots possessing 6DOF, it is achieved the Real-time and Dynamic avoidance to robot；And the modularity of this fault avoidnig device makes it can apply to all kinds of robot being arranged under same pedestal, it is possible to the process operation process related to includes polishing, assembling, spraying, welding etc., has range of application widely。
Accompanying drawing explanation
Fig. 1 be the dynamic obstacle avoidance device and the dual robot that realize according to this utility model coordinate scheme of installation；
Fig. 2 is the schematic diagram that robot carries out profile enveloping solid generation realized according to this utility model；
Fig. 3 is the schematic diagram that the Liang Ge robot realized according to this utility model carries out reduced outline；
Fig. 4 is the integral module structural representation of the Real-time and Dynamic fault avoidnig device realized according to this utility model；
Fig. 5 is the control method schematic flow sheet of the robot with intelligent barrier avoiding function realized according to this utility model。
In all of the figs, identical accompanying drawing labelling is used for representing identical element or structure, wherein:
1-position detecting module 2-collision detection module 3-dynamic obstacle avoidance module 4-dynamic obstacle avoidance main control module 5-communication module 6-input/output module 7-1,7-2-motor driver 8-1,8-2-motor 9-the first robot body 10-power module 11-the second robot body 12-1,12-2-base 13-1,13-2-robot ' s arm 14-1,14-2-robot forearm 15-1,15-2-robot wrist
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, this utility model is further elaborated。Should be appreciated that specific embodiment described herein is only in order to explain this utility model, be not used to limit this utility model。As long as just can be mutually combined additionally, technical characteristic involved in each embodiment of this utility model disclosed below does not constitute conflict each other。
As shown in Figure 1, what first how to realize with dual robot this fault avoidnig device controlling being connected illustrates, wherein robot 9 and robot 11 constitute according to the movable joint of robot dual robot has been simplified, as shown in Figure 3, input/output module 6 and communication module 5, and the dynamic obstacle avoidance main control module 4 being connected with input/output module 6 and communication module 5, wherein this fault avoidnig device communicates output control with Liang Ge robot 9 and robot 11 respectively by input/output module 6, and can also be communicated with external equipment by communication module 5 and input/output module 6。
As shown in Figure 2, it is that the movable joint according to robot of the prior art is to carry out the rough schematic view of robot, described robot includes two robotic's bodies 9 and 11, motor driver 7, motor 8, described two robotic's bodies possess 6 degree of freedom respectively, described robot body is made up of two robots possessing 6 degree of freedom being arranged on a pedestal, wherein degree of freedom includes base 12, large arm 13, forearm 14, wrist 15 rotates, wrist 15 swings, wrist 15 returns, motor drive module 7 receives the order of controller, drive motor 8 rotates, motor logical 8 is crossed the axle of machine driving driven machine people's basic machine 9 and 11 and is rotated, 6DOF industrial robot divides according to structure, it is segmented into base 12, large arm 13, forearm 14, wrist 15 is totally 4 main parts, in this case, to robot ' s arm 13, forearm 14 and wrist 15 all have certain geometry and size, according to these parameters, the large arm 13 of robot, forearm 14 and each personal enveloping solid closed of wrist 15 represent, these enveloping solid two ends are made up of spheroid, centre is made up of cylinder, the radius of cylinder and spheroid is determined according to the geometry of robot, cylinder can represent with its centrage, spheroid represents with its centre of sphere, therefore each guard plot just can represent with a line segment, robot is simplified to the line segment of some row, the joint that place is robot that line segment is connected, as shown in Figure 3。
In motor process, the position of base 12 is fixing, and robot collides and depends on large arm 13, forearm 14, wrist 15 relative position in space, and therefore, robot ' s arm 13, forearm 14 and wrist 15 need to judge whether to collide。Angle A 1 and the A2 in large arm 13 position in space and front 2 joints of robot have relation; forearm 14 position in space and the angle A 1 in front 3 joints of robot, A2, A3 have relation; wrist 15 position in space and the angle A 1 in 6 joints of robot, A2, A3, A4, A5, A6 all have relation; robot ' s arm 13, forearm 14 and wrist 15 all have certain geometry and size, the abstract planning carrying out Real Time Obstacle Avoiding according to these parameters and above-mentioned robot enveloping solid。
Wherein as shown in Figure 4, it it is the integral module structural representation to the dual robot Real-time and Dynamic fault avoidnig device realized according to this utility model, first this Real Time Obstacle Avoiding device include respectively with the motor 8-1 of first and second robot, the position detecting module 1 that 8-2 is connected, measure for the position driving the robot body under operation of motor is carried out real-time detection, wherein collision detection module 2 is connected with position detecting module 1, the positional information that position detecting module 1 is collected is made whether the assessment collided, wherein dynamic obstacle avoidance computing module 3 is connected with collision detection module 2, information for Receiving collision detection module 2, and the motion path of the first and second Liang Ge robots is carried out avoidance planning again, wherein position detecting module 1, collision detection module 2 and dynamic obstacle avoidance computing module 3 collectively constitute avoidance module 4, and communication module 5 is communicated by the motor driver 7 of avoidance module 4 with first and second robot, motor driver 7-1, 7-2 drive motor 8-1, robot is carried out the moving line after avoidance programme path and carries out action by 8-2, it is achieved in the avoidance operation of dynamic realtime。
Wherein position detecting module 1 passes through the current position of measuring robots and angular velocity, judge whether 2 robots collide by collision detection module 2, if will collide, then start obstacle avoidance algorithm, dynamic obstacle avoidance module 3 plans the collisionless path made new advances, and sends to robot；Input/output module 6 allows to receive external command and output state information, and communication module 5 realizes the real-time communication with robot and outside network device, and power module then provides working power for whole avoidance equipment。
More specifically implementation, position detecting module 1 includes angular transducer, angular-rate sensor, the angle in each joint of Real-time Collection and angular velocity；
Collision detection module 2, the geometric model according to robot, the positional information of robot and robot are about to the courses of action not evading collision carried out, it is judged that whether described robot exists collision；
Dynamic obstacle avoidance module 3 planning calculates collisionless path, and this path is transmitted in motor driver 7 by communication module 5 in real time, the path of Liang Ge robot is planned, certainly, in actual planning process, the avoidance quantity of motion of the robot that dynamic obstacle avoidance module 3 calculates is not restricted to Liang Ge robot, it is possible to only control the avoidance action of one of them robot thus realizing avoidance, and this selective control is controlled adjusting according to actual situation。
Number identical in graphic represents same or analogous assembly。On the other hand, it is thus well known that assembly and step are not described in embodiment, to avoid this utility model is caused unnecessary restriction。
As shown in Figure 5, be the fault avoidnig device realized according to this utility model carry out avoidance realize method, wherein position detecting module 1 carries out the collection of signal in real time in the course of processing of whole robot, described collision detection module 2 is according to the current positional information of the geometric model of robot and robot 9 and 11 and angular velocity information, it is judged that whether described robot exists collision；Described dynamic obstacle avoidance module 3 plans collisionless path, and is sent to driver 7-1,7-2 in real time, by driving module 7-1,7-2 driven machine human body 9 and 11 motion respectively；Being simultaneously entered output module 6 to allow receive some external commands and export some status informations, communication module 5 is then responsible for carrying out communication with robot and outside network device。
The work process of Real-time and Dynamic fault avoidnig device and the Computing Principle that realize according to this utility model are as follows:
In motor process, the position of base 12 is fixing, and robot collides and depends on large arm 13, forearm 14, wrist 15 relative position in space, and therefore, robot ' s arm 13, forearm 14 and wrist 15 need to judge whether to collide。Angle A 1 and the A2 in large arm 13 position in space and front 2 joints of robot have relation; forearm 14 position in space and the angle A 1 in front 3 joints of robot, A2, A3 have relation, and wrist 15 position in space and the angle A 1 in 6 joints of robot, A2, A3, A4, A5, A6 all have relation。
When dual robot works at same work space, if robot not being carried out collision detection and taking collision prevention measure, then it is easily caused between robot and collides, thus robot being produced the damage being difficult to repair。Therefore when 2 robots are when same work space collaborative work, it is necessary to 2 robots are carried out collision detection, and when being about to collide, 2 robots is carried out dynamic collision prevention motion planning。
Within an execution cycle of robot, obtain 2 respective 6 joint angle angle value of robot。These joint angle angle value, it is determined that each robot ' s arm 13, forearm 14 and wrist 15 position in space。Large arm 13 according to 2 robots, forearm 14 and wrist 15 position in space, obtain dual robot body 9,11 respective 6 joint angle angle value, determine the large arm 13 of each robot, forearm 14 and wrist 15 position in space, calculate the large arm 13-1 of the first robot body 9 and distance D of the large arm 13-2 of the second robot body 111And safe distance Dsafe1, the large arm 13-1 of the first robot body 9 and the second robot body 11 the distance D of forearm 14-22And safe distance Dsafe2, the distance D of the large arm 13-1 of the first robot body 9 and the wrist 15-2 of the second robot body 113And safe distance Dsafe3, the distance D of the forearm 14-1 of the first robot body 9 and the large arm 13-2 of the second robot body 114And safe distance Dsafe4, the distance D of the forearm 14-1 of the first robot body 9 and the forearm 14-2 of the second robot body 115And safe distance Dsafe5, the distance D of the forearm 14-1 of the first robot body 9 and the wrist 15-2 of the second robot body 116And safe distance Dsafe6, the distance D of the wrist 15-1 of the first robot body 9 and the large arm 13-2 of the second robot body 117And safe distance Dsafe7, the distance D of the wrist 15-1 of the first robot body 9 and the forearm 14-2 of the second robot body 118And safe distance Dsafe8, the distance D of the wrist 15-1 of the first robot body 9 and the wrist 15-2 of the second robot body 119And safe distance Dsafe9。Safe distance is equal to the radius sum of 2 corresponding enveloping solids。According to D1And Dsafe1、D2And Dsafe2、D3And Dsafe3、D4And Dsafe4、D5And Dsafe5、D6And Dsafe6、D7And Dsafe7、D8And Dsafe8、D9And Dsafe9Size judge whether to be about to collision, then perform corresponding step: if D1>Dsafe1、D2>Dsafe2、D3>Dsafe3、D4>Dsafe4、D5>Dsafe5、D6>Dsafe6、D7>Dsafe7、D8>Dsafe8、D9>Dsafe9, then will not collide between 2 robots, 2 robots still run according to original track；Otherwise, it is about to collide between 2 robots, for instance D9≤ Dsafe9, namely the wrist 15-1 of robot 9 is about to collide with the wrist 15-2 of robot 11, takes dynamic obstacle avoidance strategy。
In the process of robot execution route planning, it is possible to the scheme taking following three different realizes:
(1) 2 robot carries out path planning simultaneously
When robot 9 is carried out path planning, robot 11 is regarded as barrier。According to robot 11 position in space, in conjunction with the target location of robot 9, cook up the angle value in next 6 joints performing cycle machinery people 9；When in like manner robot 11 being carried out path planning, robot 9 is regarded as barrier。According to robot 9 position in space, in conjunction with the target location of robot 11, cook up the angle value in next 6 joints performing cycle machinery people 11。The joint angle angle value of the robot 9 above generated is sent to robot 9, and the joint angle angle value of robot 11 is sent to robot 11。Within the next one execution cycle, robot 9 and robot 11 perform according to given motion command。Simultaneously controller detection is according to the current joint angle angle value of 11 robots and angular velocity, it may be judged whether will collide, without then continuing executing with original path；If there being the possibility collided, then again perform said method, the path of the next execution cycle inner machine people of planning。
One of them robot in (2) 2 robots carries out path planning
When robot 9 is carried out path planning, robot 11 is regarded as barrier。According to robot 11 position in space, in conjunction with the target location of robot 9, cook up the angle value in next 6 joints performing cycle machinery people 9；When in like manner robot 11 being carried out path planning, robot 9 is regarded as barrier。Or according to robot 9 position in space, in conjunction with the target location of robot 11, cook up the angle value in next 6 joints performing cycle machinery people 11。The joint angle angle value of the robot 9 above generated is sent to robot 9, or the joint angle angle value of robot 11 is sent to robot 11。Within the next one execution cycle, robot 9 or robot 11 perform according to given motion command, monitor each joint angle angle value and angular velocity in real time, it may be judged whether will collide, without then continuing executing with original path simultaneously；If there being the possibility collided, then again perform said method, the path of the next execution cycle inner machine people of planning。
Certainly, in the process of above-mentioned path planning, in order in avoidance process, the process operation of robot is not stopped, it is necessary in the time that above-mentioned safe distance is reserved dynamic obstacle avoidance device reaction, the distance that Liang Ge robot relative motion produces, therefore, for realizing avoidance better, it is preferred to carry out the reservation of the safe distance of the move distance in an avoidance module response time on the basis of safe distance again, thus can realize the avoidance of more reliable and more stable Real-time and Dynamic。
Those skilled in the art will readily understand; these are only preferred embodiment of the present utility model; not in order to limit this utility model; all any amendment, equivalent replacement and improvement etc. made within spirit of the present utility model and principle, should be included within protection domain of the present utility model。
Claims (5)
1. a dual robot Real-time and Dynamic fault avoidnig device, it is characterized in that, described fault avoidnig device includes avoidance main control module (4), described avoidance main control module (4) includes the position detecting module (1) being sequentially connected, collision detection module (2) and dynamic obstacle avoidance module (3), described position detecting module (1) and described dual robot body (9, 11) motor (8) communication, dual robot body (9 described in Real-time Collection, 11) positional information, described collision detection module (2) receives the described positional information that described position detecting module (1) sends, and with described dual robot body (9, 11) safe distance collided compares, the result that described dynamic obstacle avoidance module (3) receives described collision detection module (2) carries out described dual robot body (9, 11) obstacle-avoiding route planning, and described obstacle-avoiding route planning is sent in described dual robot body (9, 11) motor driver (7), drive described dual robot body (9, 11) described avoidance path is performed。
2. dual robot Real-time and Dynamic fault avoidnig device as claimed in claim 1, it is characterized in that, the definition of described safe distance is as follows: to described dual robot body (9,11) large arm (13), forearm (14) and wrist (15) carry out enveloping solid expression, it is made up of cylinder in the middle of described enveloping solid, the two ends of described enveloping solid are made up of spheroid, and described safe distance is expressed by the size distance of described enveloping solid。
3. dual robot Real-time and Dynamic fault avoidnig device as claimed in claim 2, it is characterised in that described safe distance is that the described enveloping solid of dual robot body (9,11) described in any does not collide superposition。
4. dual robot Real-time and Dynamic fault avoidnig device as claimed in claim 3, it is characterised in that the execution of described obstacle-avoiding route planning can be completed by the described robot body of one of them or jointly be completed by both。
5. dual robot Real-time and Dynamic fault avoidnig device as claimed in claim 4, it is characterised in that described positional information includes angle information and angular velocity information。
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| CN201521100323.4U CN205325689U (en) | 2015-12-24 | 2015-12-24 | Two real time kinematic of robot keep away barrier device |
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| CN201521100323.4U CN205325689U (en) | 2015-12-24 | 2015-12-24 | Two real time kinematic of robot keep away barrier device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213757A (en) * | 2018-01-16 | 2018-06-29 | 华东理工大学 | A kind of collision checking method for welding robot |
| CN109960261A (en) * | 2019-03-22 | 2019-07-02 | 北京理工大学 | A kind of dynamic barrier preventing collision method based on collision detection |
| CN111158353A (en) * | 2018-10-19 | 2020-05-15 | 广达电脑股份有限公司 | Movement control method for a plurality of robots and system thereof |
-
2015
- 2015-12-24 CN CN201521100323.4U patent/CN205325689U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213757A (en) * | 2018-01-16 | 2018-06-29 | 华东理工大学 | A kind of collision checking method for welding robot |
| CN108213757B (en) * | 2018-01-16 | 2019-10-18 | 华东理工大学 | A kind of collision checking method for welding robot |
| CN111158353A (en) * | 2018-10-19 | 2020-05-15 | 广达电脑股份有限公司 | Movement control method for a plurality of robots and system thereof |
| CN109960261A (en) * | 2019-03-22 | 2019-07-02 | 北京理工大学 | A kind of dynamic barrier preventing collision method based on collision detection |
| CN109960261B (en) * | 2019-03-22 | 2020-07-03 | 北京理工大学 | Dynamic obstacle avoiding method based on collision detection |
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