CN112873206A - Multi-task automatic distribution mechanical arm control system and operation trolley - Google Patents
Multi-task automatic distribution mechanical arm control system and operation trolley Download PDFInfo
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- 238000013439 planning Methods 0.000 claims abstract description 54
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- 238000010276 construction Methods 0.000 claims abstract description 20
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- 238000013461 design Methods 0.000 claims description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- 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
- B25J9/1666—Avoiding collision or forbidden zones
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Abstract
The invention discloses a multi-task automatic distribution mechanical arm control system and an operation trolley, comprising: the system comprises a distribution module, a state monitoring module, a planning module and a driving module, wherein the distribution module is used for receiving and analyzing multi-task data and splitting the multi-task data into a plurality of subtasks; the state monitoring module is used for acquiring joint state information and environment state information of each mechanical arm and feeding back the joint state information and the environment state information to the planning module; the planning module is used for receiving the task subsets of the corresponding mechanical arm, planning the operation of each task subset according to the monitoring result of the state monitoring module and generating an expected motion track corresponding to the mechanical arm; the driving module is used for receiving the expected movement track and analyzing the expected movement track into mechanical arm joint movement control information. According to the configuration of the mechanical arms and the environment condition of a working space, automatic distribution of tasks in a centralized mode and multi-task mode and collaborative motion planning of the mechanical arms are achieved, the collision risk of the multiple mechanical arms in collaborative work can be reduced, and therefore construction efficiency and construction safety are improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a multi-task automatic allocation mechanical arm control system and an operation trolley comprising the control system.
Background
With the continuous development of mechanized construction, the operation trolley is gradually developed from a single-arm-frame mechanism to a multi-arm-frame structure so as to deal with increasingly complicated construction tasks, for example, in the large-section construction of a double-track tunnel, the drilling operation of a tunnel face is cooperatively performed by adopting the cooperation of three arm frames of the drill jumbo, and the tunnel construction efficiency can be improved.
Although the multi-arm frame structure of the operation trolley can improve the construction efficiency, the multi-arm frame structure has higher requirements on an arm frame motion control system, and the multi-arm frame structure has higher collision risk when performing cooperative operation in a limited space.
At present, the cooperative operation among the multi-task multi-arm frames is usually completed by an operator through manual operation under visual conditions, so that the working efficiency is low, misoperation is easy to occur, and great potential safety hazards exist.
Disclosure of Invention
An object of the present invention is to provide a multi-tasking robot arm control system that can improve construction efficiency and construction safety, and another object is to provide a work vehicle on which the above-described multi-tasking robot arm control system is mounted.
In order to solve the technical problems, the invention provides the following technical scheme:
a multi-tasking robotic arm control system, comprising:
the distribution module is used for receiving and analyzing the multi-task data, splitting the multi-task data into a plurality of subtasks and distributing the subtasks to each mechanical arm;
the state monitoring module is used for acquiring joint state information and environment state information of each mechanical arm;
the planning module is used for receiving the task subsets of the corresponding mechanical arm, planning the operation of each task subset according to the monitoring result of the state monitoring module and generating an expected motion track corresponding to the mechanical arm;
and the driving module is used for receiving the expected motion trail of the planning module and analyzing the expected motion trail into mechanical arm joint motion control information so as to control the motion of the mechanical arm.
Preferably, the system further comprises a collision early warning and obstacle avoidance module for monitoring the relative position information between the mechanical arms and the environment in real time, and the driving module and the planning module adjust the motion track of the mechanical arms in real time according to the relative position information.
Preferably, the collision early warning and obstacle avoidance module comprises a collision early warning unit and an obstacle avoidance control unit, the collision early warning unit is used for sending an early warning signal when the distance between the mechanical arm and the obstacle reaches a collision threshold value, and feeding back early warning information to the obstacle avoidance control unit, and the obstacle avoidance control unit is used for controlling the mechanical arm to perform corresponding actions according to the early warning information.
Preferably, the distribution module comprises a task receiving unit, a task analyzing unit and a task distributing unit, wherein the task receiving unit is connected with the design database and is used for reading the design data of the construction operation; the task analysis unit is used for screening out operation task information according to the construction type and generating a task set; the task distribution unit is used for distributing the multiple tasks in the task set into a plurality of task subsets corresponding to the number of the mechanical arms.
Preferably, the state monitoring module comprises an environmental state monitoring unit and a mechanical arm state monitoring unit, and the environmental state monitoring unit is used for acquiring environmental state information; the mechanical arm state monitoring unit is used for acquiring joint state information through a joint sensor arranged on the mechanical arm.
Preferably, the planning module includes a work order planning unit, and the work order planning unit is configured to adjust a multi-task work order in the task subset to obtain a target task work order.
Preferably, the planning module further comprises a trajectory planning unit, and the trajectory planning unit is configured to obtain environment state information and states of other mechanical arms before planning through information fed back by the state monitoring module, and obtain a collision-free operation trajectory by using the environment state information and the other mechanical arms as planned obstacles.
Preferably, the driving module includes a track point analyzing and distributing unit, and the track point analyzing and distributing unit is configured to acquire the track information generated by the planning module, and split and issue the information of each waypoint in the track to the mechanical arm one by one.
Preferably, the driving module further includes a robot arm control unit, and the robot arm control unit is configured to convert joint information in the waypoint into control information of the robot arm control device, and send the control information to an execution mechanism of the corresponding robot arm.
A work vehicle comprising a robotic arm control system as claimed in any preceding claim.
Compared with the prior art, the technical scheme has the following advantages:
the invention provides a multi-task automatic distribution mechanical arm control system and an operation trolley, which comprise: the system comprises a distribution module, a state monitoring module, a planning module and a driving module, wherein the distribution module is used for receiving and analyzing multi-task data, splitting the multi-task data into a plurality of subtasks and distributing the subtasks to each mechanical arm; the state monitoring module is used for acquiring joint state information and environment state information of each mechanical arm and feeding back a monitoring result to the planning module; the planning module is used for receiving the task subsets of the corresponding mechanical arm, planning the operation of each task subset according to the monitoring result of the state monitoring module and generating an expected motion track corresponding to the mechanical arm; the driving module is used for receiving the expected movement track of the planning module and analyzing the expected movement track into mechanical arm joint movement control information so as to control the movement of the mechanical arm. According to the configuration of the mechanical arms and the environment condition of a working space, automatic distribution of tasks in a centralized mode and multi-task mode and collaborative motion planning of the mechanical arms are achieved, the collision risk of the multiple mechanical arms in collaborative work can be reduced, and therefore construction efficiency and construction safety are improved.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a functional flow diagram of a multi-tasking auto-dispensing robotic arm control system according to an embodiment of the present invention;
FIG. 2 is a hardware block diagram of a robot arm control system;
fig. 3 is a schematic view of an application scenario of the robot arm control system and the operation trolley.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
Referring to fig. 1, fig. 1 is a functional flowchart of a multi-task automatic allocation robot arm control system according to an embodiment of the present invention.
One embodiment of the present invention provides a multi-tasking robot arm control system, comprising: the system comprises a distribution module a, a state monitoring module b, a planning module c and a driving module d, and further comprises a data interaction system for realizing data transmission between the control system and the outside and data interaction between internal modules of the control system. The distribution module a is used for receiving and analyzing the multi-task data, splitting the multi-task data into a plurality of subtasks according to the condition of each mechanical arm and distributing the subtasks to each mechanical arm; the state monitoring module b is used for acquiring joint state information and environment state information of each mechanical arm so as to realize mechanical arm and environment monitoring, and feeding a monitoring result back to the planning module c as a basis for task planning; the planning module c is used for receiving the task subsets of the corresponding mechanical arm, planning the operation of each task subset according to the monitoring result of the state monitoring module b and generating an expected motion track corresponding to the mechanical arm; and the driving module d is used for receiving the expected motion trail of the planning module c and analyzing the expected motion trail into mechanical arm joint motion control information so as to control the motion of the mechanical arm. According to the configuration of the mechanical arms and the environment condition of a working space, automatic distribution of tasks in a centralized mode and multi-task mode and collaborative motion planning of the mechanical arms are achieved, the collision risk of the multiple mechanical arms in collaborative work can be reduced, and therefore construction efficiency and construction safety are improved.
And the driving module d and the planning module c adjust the motion trail of the mechanical arm in real time according to the relative position information so as to avoid the problem of collision of the mechanical arm.
Specifically, the collision early warning and obstacle avoidance module e comprises a collision early warning unit and an obstacle avoidance control unit, wherein the collision early warning unit is used for sending out an early warning signal when the distance between the mechanical arm and the obstacle reaches a collision threshold value, and feeding back early warning information to the obstacle avoidance control unit so as to enable the mechanical arm to make corresponding actions. For example, the collision early warning unit sets multiple levels of risk levels and corresponding collision threshold values, the distance between the mechanical arm and the obstacle is monitored in real time by installing sensors on the mechanical arm and combining a bounding box collision detection algorithm, when the detection value of any one sensor or the result of the collision detection algorithm reaches the collision threshold value, an early warning action is triggered, and early warning information is fed back to the obstacle avoidance control unit; the obstacle avoidance control unit controls the finally issued mechanical arm motion control information, and when the collision early warning unit feeds back no collision risk, the driving module d directly issues the acquired control information to the lower computer; when the collision early warning unit feeds back the collision risk, the driving module d temporarily stores the acquired control information, adaptively selects to control the continuous operation, the deceleration operation and the pause operation of the mechanical arm according to the risk level, and simultaneously the planning module c replans the motion track and issues a corresponding instruction. Through the functional modules of task allocation, operation planning, collision early warning, obstacle avoidance and the like, the operation optimization processing of the three layers of global, local and real-time operations is carried out, and the efficient and safe cooperative motion operation of the operation trolley mechanical arm can be ensured.
The distribution module a specifically comprises a task receiving unit, a task analysis unit and a task distribution unit, wherein the task receiving unit is connected with the design database and is used for reading the design data of the construction operation; the task analysis unit is used for screening out operation task information according to the construction type, converting the operation task information into a data format which can be identified by the control system and generating a task set; the task allocation unit can allocate multiple tasks in a task set into a plurality of task subsets corresponding to the number of the mechanical arms according to the configuration conditions of the degree of freedom, the working space, the installation position and the like of each mechanical arm in the construction equipment and aiming at reducing operation intersection areas, balancing task amount allocation and the like.
The state monitoring module b specifically comprises an environmental state monitoring unit and a mechanical arm state monitoring unit, wherein the environmental state monitoring unit is used for acquiring environmental state information, the environmental state monitoring unit mainly acquires three-dimensional point cloud information of the surrounding environment of the operation trolley through a three-dimensional measuring sensor and the like, and generates a three-dimensional model of the surrounding environment by using a three-dimensional reconstruction algorithm to realize environmental state monitoring, and the monitoring is non-real-time state monitoring; the mechanical arm state monitoring unit is used for acquiring joint state information through a joint sensor arranged on the mechanical arm, determining the mechanical arm state information by combining a kinematic model, is real-time state monitoring, and can effectively improve the operation safety through non-real-time and real-time double-layer safety monitoring.
And the planning module c specifically comprises a working sequence planning unit and a track planning unit, wherein the working sequence planning unit is mainly used for adjusting the multi-task operation sequence in the task subset by using an optimization algorithm and taking the total displacement of the tail end, the total variation of the joints and the like as optimization indexes so as to obtain a group of feasible and efficient target task operation sequences. The trajectory planning unit is used for planning the motion trajectory of the target mechanical arm from the current pose to the target pose under a single task, specifically, environment state information and the states of other mechanical arms before planning are obtained through information fed back by the state monitoring module b, the environment state information and other mechanical arms are used as planned obstacles, a collision-free operation trajectory is obtained by utilizing a kinematics inverse solution and a planning algorithm, the operation trajectory is composed of a plurality of waypoints, and each waypoint comprises joint information such as the joint angle, the joint speed and the joint acceleration of the mechanical arm.
The driving module d specifically comprises a track point analyzing and distributing unit and a mechanical arm control unit, wherein the track point analyzing and distributing unit is used for acquiring track information generated by the planning module c, splitting and sending the information of each path point in the track to the mechanical arm one by one according to a distributing rule so as to realize accurate management and control of the motion of the mechanical arm; the mechanical arm control unit is used for converting the joint information in the waypoints into control information of the mechanical arm driving device and sending the control information to the corresponding executing mechanism of the mechanical arm.
The embodiment of the invention also provides an operation trolley which comprises the mechanical arm control system, and the beneficial effects of the operation trolley can be achieved by referring to the mechanical arm control system, and are not repeated herein.
Referring to fig. 2 and 3, a work carriage is mounted with a gateway, an industrial personal computer, a controller, a joint driver, a boom sensor, a multi-dimensional force sensor, and the like. The operation trolley performs data interaction with the outside and other operation trolleys through the gateway to acquire operation demand information and state information of other operation trolleys; an industrial personal computer is used for data acquisition and analysis, and task allocation planning and issuing are carried out; the controller is connected with the arm support sensor and the joint driver to control the arm support to move and acquire the attitude of the arm support; and carrying out non-contact and contact collision detection by using a bounding box collision detection algorithm and a multi-dimensional force sensor and feeding back to the industrial personal computer. The environment monitoring part in the control system consists of a scanner, a laser range finder, a laser radar and other monitoring instruments and is used for converting the surrounding environment of the operation trolley into data information and feeding the data information back to the industrial personal computer of the operation trolley. In addition, the cooperative control system also comprises a GUI interface of the operation trolley, which plays a role in human-computer interaction and management in the control system, and comprises the functions of the operation trolley, such as access disconnection, design data management, real-time display of the operation trolley and the like.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A multi-tasking robotic arm control system, comprising:
the distribution module is used for receiving and analyzing the multi-task data, splitting the multi-task data into a plurality of subtasks and distributing the subtasks to each mechanical arm;
the state monitoring module is used for acquiring joint state information and environment state information of each mechanical arm;
the planning module is used for receiving the task subsets of the corresponding mechanical arm, planning the operation of each task subset according to the monitoring result of the state monitoring module and generating an expected motion track corresponding to the mechanical arm;
and the driving module is used for receiving the expected motion trail of the planning module and analyzing the expected motion trail into mechanical arm joint motion control information so as to control the motion of the mechanical arm.
2. The mechanical arm control system of claim 1, further comprising a collision early warning and obstacle avoidance module for monitoring relative position information between mechanical arms and between the mechanical arms and an environment in real time, wherein the driving module and the planning module adjust the motion trajectory of the mechanical arms in real time according to the relative position information.
3. The mechanical arm control system of claim 2, wherein the collision early warning and obstacle avoidance module comprises a collision early warning unit and an obstacle avoidance control unit, the collision early warning unit is configured to send an early warning signal when a distance between the mechanical arm and an obstacle reaches a collision threshold value, and feed back early warning information to the obstacle avoidance control unit, and the obstacle avoidance control unit is configured to control the mechanical arm to perform corresponding actions according to the early warning information.
4. The mechanical arm control system of claim 1, wherein the distribution module comprises a task receiving unit, a task analyzing unit and a task distributing unit, wherein the task receiving unit is connected with a design database and used for reading design data of construction operation; the task analysis unit is used for screening out operation task information according to the construction type and generating a task set; the task distribution unit is used for distributing the multiple tasks in the task set into a plurality of task subsets corresponding to the number of the mechanical arms.
5. The mechanical arm control system of claim 1, wherein the state monitoring module comprises an environmental state monitoring unit and a mechanical arm state monitoring unit, and the environmental state monitoring unit is used for acquiring environmental state information; the mechanical arm state monitoring unit is used for acquiring joint state information through a joint sensor arranged on the mechanical arm.
6. The robotic arm control system according to claim 1, wherein the planning module comprises a work order planning unit for adjusting the work order of the multiple tasks in the subset of tasks to obtain a target task work order.
7. The mechanical arm control system of claim 6, wherein the planning module further comprises a trajectory planning unit, and the trajectory planning unit is configured to obtain the environmental state information and the states of other mechanical arms before planning through the information fed back by the state monitoring module, and obtain a collision-free operation trajectory by using the environmental state information and the other mechanical arms as planned obstacles.
8. The mechanical arm control system of claim 1, wherein the driving module comprises a track point analyzing and distributing unit, and the track point analyzing and distributing unit is configured to obtain the track information generated by the planning module, split the information of each path point in the track, and issue the split information to the mechanical arm one by one.
9. The mechanical arm control system of claim 8, wherein the driving module further comprises a mechanical arm control unit, and the mechanical arm control unit is configured to convert joint information in the waypoint into control information of the mechanical arm control device, and send the control information to an execution mechanism of the corresponding mechanical arm.
10. A work carriage comprising the robot arm control system of any one of claims 1 to 9.
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| CN114670244A (en) * | 2022-03-29 | 2022-06-28 | 中国铁建重工集团股份有限公司 | Structure manufacturing method and device |
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| CN115741676A (en) * | 2022-10-28 | 2023-03-07 | 广东美的智能科技有限公司 | Control system for multi-robot cooperative work |
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| CN115533903A (en) * | 2022-10-08 | 2022-12-30 | 长沙中联重科环境产业有限公司 | Mechanical arm, control method and device thereof, storage medium and hedge trimming vehicle |
| CN115741676A (en) * | 2022-10-28 | 2023-03-07 | 广东美的智能科技有限公司 | Control system for multi-robot cooperative work |
| CN115648166A (en) * | 2022-11-10 | 2023-01-31 | 西安科技大学 | Control system of intelligent drilling and anchoring robot with cooperative operation of mechanical arm and drilling machine |
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| CN116901088B (en) * | 2023-09-14 | 2023-12-15 | 深圳市协和传动器材有限公司 | Multi-mechanical arm cross operation anti-collision distance monitoring and control system |
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