CN118877471B - A logistics handling robot motion control method and system - Google Patents
A logistics handling robot motion control method and system Download PDFInfo
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- CN118877471B CN118877471B CN202411375079.6A CN202411375079A CN118877471B CN 118877471 B CN118877471 B CN 118877471B CN 202411375079 A CN202411375079 A CN 202411375079A CN 118877471 B CN118877471 B CN 118877471B
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- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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Abstract
一种物流搬运机器人运动控制方法及系统，该方法主控制器对物料取放指令进行解析得到物料取放起始地、物料取放目的地和执行手臂信号；当搬运机器人的执行手臂到达物料取放起始地信号对应的第一物料腔室入口位置时停止动作，若主控制器接收到上位机发送的第一物料腔室准备完成信号，搬运机器人的执行手臂伸入第一物料腔室进行物料取出；当搬运机器人的执行手臂从第一物料腔室进行物料取出后，控制搬运机器人的执行手臂到达物料取放目的地信号对应的第二物料腔室入口位置，若主控制器MCU接收到上位机发送的第二物料腔室准备完成信号，搬运机器人的执行手臂伸入第二物料腔室进行物料放入。本发明灵活性强，运行速度快，控制精度高，成本低。
A method and system for controlling the motion of a logistics handling robot, wherein the main controller of the method parses the material picking and placing instruction to obtain the material picking and placing starting point, the material picking and placing destination, and the execution arm signal; when the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material picking and placing starting point signal, the action is stopped; if the main controller receives the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material; after the execution arm of the handling robot takes out the material from the first material chamber, the execution arm of the handling robot is controlled to reach the second material chamber entrance position corresponding to the material picking and placing destination signal; if the main controller MCU receives the second material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the second material chamber to put in the material. The present invention has high flexibility, fast operation speed, high control accuracy, and low cost.
Description
Technical Field
The invention belongs to the technical field of transfer robot control, and particularly relates to a logistics transfer robot motion control method and system.
Background
An automated logistics transport robot, also known as an Automated Guided Vehicle (AGV), is a robot for automated logistics transport. By being equipped with an automatic guiding system, it is possible to automatically travel along a predetermined route without manual navigation, transporting goods or materials from a starting point to a destination.
In the prior art, the automatic logistics transfer robot has the defects of high cost of a control system, difficulty in finding problems when faults occur, delay of production progress and increase of cost due to the fact that a robot manufacturer is required to assist in finding the problems, difficulty in flexible control according to actual production needs due to the fact that fixed actions can only be realized on a platform built by the manufacturer, incapability of achieving great improvement of operation speed, poor control precision and high failure rate of equipment.
Disclosure of Invention
Therefore, the invention provides a motion control method and system for a logistics transfer robot, which solve the problems of poor control flexibility, low efficiency and precision and easy equipment failure in the traditional technology.
In order to achieve the purpose, the invention provides a logistics transfer robot motion control method, which comprises the following steps:
A material taking and placing instruction is sent to a main controller MCU of the transfer robot through an upper computer, wherein the material taking and placing instruction comprises a material taking and placing starting place instruction signal, a material taking and placing destination instruction signal and an execution arm selection instruction signal;
After the main controller MCU receives a material taking and placing instruction sent by the upper computer, the main controller MCU analyzes the material taking and placing instruction to obtain a material taking and placing starting place signal, a material taking and placing destination signal and an executing arm signal;
After the material taking and placing instruction analysis is completed, the main controller MCU sends an instruction action response signal to the upper computer, and the main controller MCU controls the movement of the transfer robot according to the analysis result of the material taking and placing instruction, so that an execution arm of the transfer robot reaches the position of the inlet of the first material chamber corresponding to the material taking and placing starting place signal;
Stopping the operation when the executing arm of the transfer robot reaches the position of the inlet of the first material chamber corresponding to the material taking and placing start position signal, judging whether the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer, the executing arm of the transfer robot stretches into the first material chamber to take out the material;
After the execution arm of the transfer robot takes out materials from the first material chamber, the execution arm of the transfer robot is controlled to reach the inlet position of the second material chamber corresponding to the material taking and placing destination signal, whether the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer is judged, and if the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer, the execution arm of the transfer robot stretches into the second material chamber to carry out material placing.
As a preferable scheme of the motion control method of the logistics transfer robot, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the upper computer, the execution arm of the transfer robot is controlled to keep stopping at the inlet position of the first material chamber.
As a preferred scheme of the motion control method of the logistics transfer robot, when the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer for the first time, the execution arm of the transfer robot is controlled to keep stopping at the inlet position of the first material chamber;
When the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer for the second time, the execution arm of the transfer robot is controlled to extend into the first material chamber to take out the materials.
As a preferred solution of the motion control method of the logistics transfer robot, if the main controller MCU does not receive the second material chamber preparation completion signal sent by the upper computer, the execution arm of the transfer robot is controlled to keep stopping at the inlet position of the second material chamber.
As a preferred scheme of the motion control method of the logistics transfer robot, when the main controller MCU receives a second material chamber preparation completion signal sent by the upper computer for the first time, the execution arm of the transfer robot is controlled to keep stopping at the inlet position of the first material chamber;
When the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer for the second time, the execution arm of the transfer robot is controlled to extend into the second material chamber to carry out material placement.
As a preferable mode of the motion control method of the logistics transfer robot, when the execution arm of the transfer robot performs the extending or retracting action, the main controller MCU issues a tri-axial linear interpolation command to the servo or stepping execution controller of the execution arm of the transfer robot, so that the execution arm of the transfer robot moves linearly.
As a preferable scheme of the motion control method of the logistics transfer robot, in the process of moving an execution arm of the transfer robot, a servo or stepping execution controller of the execution arm of the transfer robot controls a servo or stepping motor corresponding to the execution arm of the transfer robot to execute trapezoidal acceleration and deceleration actions;
And in the process of moving the executing arm of the carrying robot, if the executing arm of the carrying robot shakes, the servo or stepping executing controller of the executing arm of the carrying robot controls the servo or stepping motor corresponding to the executing arm of the carrying robot to execute the S-shaped acceleration and deceleration action.
The invention also provides a motion control system of the logistics transfer robot, which comprises:
The material taking and placing instruction sending module is used for sending a material taking and placing instruction to the main controller MCU of the transfer robot through the upper computer, wherein the material taking and placing instruction comprises a material taking and placing starting place instruction signal, a material taking and placing destination instruction signal and an execution arm selection instruction signal;
The material taking and placing instruction analysis module is used for analyzing the material taking and placing instruction by the main controller MCU to obtain a material taking and placing start signal, a material taking and placing destination signal and an executing arm signal after the main controller MCU receives the material taking and placing instruction sent by the upper computer;
The material taking and placing action response module is used for sending an instruction action response signal to the upper computer by the main controller MCU after the material taking and placing instruction is analyzed, and controlling the action of the transfer robot by the main controller MCU according to the analysis result of the material taking and placing instruction so that an execution arm of the transfer robot reaches the position of the inlet of the first material chamber corresponding to the material taking and placing start position signal;
The material taking out processing module is used for stopping action when an executing arm of the transfer robot reaches a first material chamber inlet position corresponding to a material taking and placing start position signal, judging whether the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer, the executing arm of the transfer robot stretches into the first material chamber to take out materials;
The material placing processing module is used for controlling the executing arm of the transfer robot to reach the inlet position of the second material chamber corresponding to the material taking and placing destination signal after the executing arm of the transfer robot takes out the material from the first material chamber, judging whether the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer or not, and if the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer, the executing arm of the transfer robot stretches into the second material chamber to carry out material placing.
As a preferred solution of the motion control system of the logistic transfer robot, in the material taking-out processing module, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the upper computer, the execution arm of the transfer robot is controlled to keep stopping at the position of the inlet of the first material chamber;
In the material taking out processing module, when the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer for the first time, the main controller MCU controls an execution arm of the transfer robot to keep stopping at the inlet position of the first material chamber;
The materials are put into the processing module, and if the main controller MCU does not receive a second material chamber preparation completion signal sent by the upper computer, the execution arm of the transfer robot is controlled to keep stopping at the inlet position of the second material chamber;
And when the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer for the second time, the main controller MCU controls the execution arm of the transfer robot to extend into the second material chamber to carry out material placement.
As a preferred embodiment of the motion control system of the logistics transfer robot, the system further comprises:
The executing arm motion processing module is used for sending a triaxial linear interpolation command to a servo or stepping execution controller of the executing arm of the transfer robot by the main controller MCU when the executing arm of the transfer robot executes the extending or retracting action, so that the executing arm of the transfer robot moves linearly;
in the executing arm motion processing module, a servo or stepping execution controller of an executing arm of the carrying robot controls a servo or stepping motor corresponding to the executing arm of the carrying robot to execute trapezoidal acceleration and deceleration actions;
In the executing arm motion processing module, if the executing arm of the transfer robot shakes, the servo or stepping executing controller of the executing arm of the transfer robot controls the servo or stepping motor corresponding to the executing arm of the transfer robot to execute the S-shaped acceleration and deceleration action.
The invention has the advantages that the upper computer sends a material taking and placing instruction to the main controller MCU of the transfer robot, wherein the material taking and placing instruction comprises a material taking and placing starting place instruction signal, a material taking and placing destination instruction signal and an executing arm selecting instruction signal; after the main controller MCU receives the material taking and placing instruction sent by the upper computer, the main controller MCU analyzes the material taking and placing instruction to obtain a material taking and placing start position signal, a material taking and placing destination signal and an executing arm signal, after the material taking and placing instruction is analyzed, the main controller MCU sends an instruction action response signal to the upper computer, the main controller MCU controls the movement of the transfer robot according to the analysis result of the material taking and placing instruction, so that an executing arm of the transfer robot reaches a first material chamber inlet position corresponding to the material taking and placing start position signal, when the executing arm of the transfer robot reaches the first material chamber inlet position corresponding to the material taking and placing start position signal, the main controller MCU stops acting, whether the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer or not is judged, if the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer, the executing arm of the transfer robot stretches into the first material chamber to take out materials, and when the executing arm of the transfer robot receives the material taking and placing start position signal from the first material chamber of the transfer robot, the main controller MCU judges whether the executing arm of the transfer robot reaches the material chamber preparation completion signal corresponding to the material taking and placing position of the material chamber of the upper computer is judged, if the main controller MCU receives a second material chamber preparation completion signal sent by the upper computer, an execution arm of the transfer robot stretches into the second material chamber to put materials into the second material chamber. The invention can flexibly control according to actual production requirements, the running speed is improved by more than 30% compared with the traditional technology, the control precision is improved by more than 60% compared with the traditional technology, the failure rate is reduced by more than 95% compared with the traditional technology, and the control cost is reduced by more than 95%.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
Fig. 1 is a schematic flow chart of a motion control method of a logistics transfer robot provided in an embodiment of the present invention;
fig. 2 is a schematic diagram of a hardware architecture to which the motion control method of the logistics transfer robot provided in the embodiment of the present invention is applied;
fig. 3 is a schematic diagram of a material picking and placing instruction in a motion control method of a logistics transfer robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating execution of a material picking and placing instruction in a motion control method of a logistics transfer robot according to an embodiment of the present invention;
FIG. 5 is a diagram showing trapezoidal acceleration and deceleration in the motion control method of the logistics transfer robot according to the embodiment of the present invention;
fig. 6 is an S-shaped acceleration and deceleration illustration in the movement control method of the logistics transfer robot provided in the embodiment of the present invention;
Fig. 7 is a schematic diagram of a motion control system of a logistics transportation robot according to an embodiment of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, an embodiment of the present invention provides a motion control method for a logistics transfer robot, including the following steps:
S1, sending a material taking and placing instruction to a main controller MCU of a transfer robot through an upper computer, wherein the material taking and placing instruction comprises a material taking and placing starting place instruction signal, a material taking and placing destination instruction signal and an execution arm selection instruction signal;
s2, after the main controller MCU receives a material taking and placing instruction sent by the upper computer, the main controller MCU analyzes the material taking and placing instruction to obtain a material taking and placing starting place signal, a material taking and placing destination signal and an executing arm signal;
S3, after the analysis of the material taking and placing instruction is completed, the main controller MCU sends an instruction action response signal to the upper computer, and the main controller MCU controls the movement of the transfer robot according to the analysis result of the material taking and placing instruction, so that an execution arm of the transfer robot reaches the position of the inlet of the first material chamber corresponding to the material taking and placing start position signal;
S4, stopping the operation when an executing arm of the transfer robot reaches the position of a first material chamber inlet corresponding to the material taking and placing start signal, judging whether the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer, enabling the executing arm of the transfer robot to extend into the first material chamber to take out materials;
S5, after the executing arm of the transfer robot takes out materials from the first material chamber, controlling the executing arm of the transfer robot to reach the inlet position of the second material chamber corresponding to the material taking and placing destination signal, judging whether the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer, enabling the executing arm of the transfer robot to extend into the second material chamber to carry out material placing.
In this embodiment, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the upper computer, the main controller MCU controls the execution arm of the transfer robot to keep stopping at the first material chamber inlet position, when the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer for the first time, the main controller MCU controls the execution arm of the transfer robot to keep stopping at the first material chamber inlet position, and when the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer for the second time, the main controller MCU controls the execution arm of the transfer robot to stretch into the first material chamber to take out the material.
The method comprises the steps of receiving a first material chamber preparation completion signal sent by an upper computer by a main controller MCU, controlling an execution arm of a transfer robot to keep stopping at a first material chamber inlet position if the main controller MCU does not receive the second material chamber preparation completion signal sent by the upper computer, controlling the execution arm of the transfer robot to keep stopping at a first material chamber inlet position when the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer for the first time, and controlling the execution arm of the transfer robot to extend into the second material chamber to put materials when the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer for the second time.
Referring to fig. 2, a motion control system architecture of a transfer robot applying the motion control method of a logistics transfer robot according to the embodiment of the present invention is shown, in which a main controller MCU of the transfer robot is controlled to run by using STM32F103ZET6 as a core, a servo or step execution unit of an execution arm of the transfer robot adopts MCX314AL, and the servo or step execution unit is internally calculated by the main controller MCU according to a material picking and placing instruction of an upper computer, so as to execute a transfer instruction, thereby achieving the purpose of controlling transfer.
The upper computer sends a material taking and placing instruction to a main controller MCU of the transfer robot through an RS232 communication protocol, and the transfer robot sends a result response to the upper computer through the RS232 protocol after executing.
Referring to fig. 3, in one possible embodiment, the material chambers have a total of 4 PORT PORTs (PORTs), each PORT having 20 tier positions, the equipment PORTs having 4 chambers having 1 tier positions, ABCD, a and C being the depositing stations and B and D being the taking stations. When the upper computer sends oMOVE (2, 1,08, C,01, 2) to the main controller MCU, the lower arm takes the material from the 8 th layer of the PORT1 and places the material on the 1 st layer of the material chamber C.
Referring to fig. 4, for a complete discharge command send and reply process:
When the upper computer sends oMOVE (2, 0,00, A,01, 0) commands, the transfer robot replies aMOVE (2, 0,00, A,01, 0) to start execution, then the transfer robot replies the command execution state in sequence, the command execution is completed on the X axis, the operation is completed on the R axis, when the transfer robot reaches the chamber entrance, the transfer robot execution arm cannot be immediately stretched in, the upper computer sends oPINS (1, 0, E) signals to indicate that the PIN mechanism in the chamber is ready to be placed in, when the upper computer continuously sends oPINS (1, 0, E) signals for 2 times, the transfer robot execution arm can stretch into the material chamber to perform the placing operation, and if the upper computer continuously sends oPINS (1, 0, E) signals for 3 times, the 3 rd time does not serve as the condition that the transfer robot execution arm stretches into the chamber, the chamber can be confirmed only by 2 times in general.
In one possible embodiment, when the carrying robot's carrying arm performs the extending or retracting action, the main controller MCU issues a tri-axial linear interpolation command to the carrying robot's carrying arm's servo or step-by-step carrying controller, so that the carrying robot's carrying arm moves linearly.
Specifically, three-axis linear interpolation is performed from the current position to the final point coordinate x:15,000 Y:16,000 Z:20,000 on the XYZ axis of the transfer robot, and linear acceleration/deceleration driving is performed at an initial speed of 500PPS acceleration of 40000PPS and an see driving speed of 5000PPS in interpolation driving.
The master controller MCU selects WR registers in the MCX314 chip through the 4-bit address bus, wherein the registers are WR0 when the A0, A1 and A2 address buses are 0,0 and 0, WR1 when the A0, A1 and A2 address buses are 0,0 and 1, and so on.
The main controller MCU performs WORD read and write values to WR registers in the MCX314 chip through the 16-bit address buses of D0 to D15, such as the first row write value to WR5, then the A0, A1, A2 address selections are 1,0,1, D0 to D15, and 16-ary data is written 0024H.
In one possible embodiment, during the movement of the executing arm of the carrying robot, the servo or step execution controller of the executing arm of the carrying robot controls the servo or step motor corresponding to the executing arm of the carrying robot to execute the trapezoidal acceleration and deceleration action.
Referring to fig. 5, when the rotation speed of the driving motor of the carrying robot for executing the arm is from 0 to 3000, the acceleration time is required at this time, and the calculation process of the parameters of the MCX314 for realizing trapezoidal acceleration and deceleration is as follows:
The deceleration is linearly increased from the initial speed 500PPS to the driving speed 15000PPS within 0.3 seconds, the range r=4000000, the multiplying power=2 (15000-500)/0.3= 48,333PPS/SEE, the acceleration a=193 (48333/125)/2=193, the initial speed sv= 250 500/2=250, and the driving speed v=7, 500 15000/2=7, 500.
In one possible embodiment, during the movement of the carrying arm of the carrying robot, if the carrying arm of the carrying robot shakes, the servo or stepping execution controller of the carrying arm of the carrying robot controls the servo or stepping motor corresponding to the carrying arm of the carrying robot to execute the S-type acceleration and deceleration action.
Specifically, when the rotation speed of the driving motor of the carrying arm of the carrying robot is from 0 to 3000, acceleration time is required at this time, if trapezoid acceleration and deceleration is performed so that the carrying arm of the carrying robot shakes, the S-shaped acceleration and deceleration can be used, and the calculation process of the MCX314 for realizing the S-shaped acceleration and deceleration is as follows:
Referring to fig. 6, an example of acceleration to 40KPPS with a full S-curve in 0.4 seconds is shown, which is calculated first without considering the initial velocity as 0, and thus the velocity is increased to 1/2 (20 KPPS) of 40KPPS at 1/2 (0.2 seconds) of 0.4 seconds, and the acceleration is increased to 40KPPS at the remaining 0.2 seconds, at which time the acceleration increases linearly up to 0.2 seconds, and the area of this integral value slope is equal to the increase velocity of 20KPPS, and thus the acceleration of 0.2 seconds is 20000X 2/0.2=200 KPPS/SEE, and the rate of increase of the acceleration is 200K/0.2= 1,000KPPS/SEC 2.
Wherein, when the complete S-curve acceleration and deceleration is operated, the speed depends on the change rate of the acceleration and deceleration, so that the acceleration and deceleration are set to be more than 200KPPS/SEC in order to avoid generating partial S-curve.
In summary, the upper computer sends a material taking and placing instruction to the main controller MCU of the transfer robot, wherein the material taking and placing instruction comprises a material taking and placing starting place instruction signal, a material taking and placing destination instruction signal and an execution arm selection instruction signal; after the main controller MCU receives the material taking and placing instruction sent by the upper computer, the main controller MCU analyzes the material taking and placing instruction to obtain a material taking and placing start position signal, a material taking and placing destination signal and an executing arm signal, after the material taking and placing instruction is analyzed, the main controller MCU sends an instruction action response signal to the upper computer, the main controller MCU controls the movement of the transfer robot according to the analysis result of the material taking and placing instruction, so that an executing arm of the transfer robot reaches a first material chamber inlet position corresponding to the material taking and placing start position signal, when the executing arm of the transfer robot reaches the first material chamber inlet position corresponding to the material taking and placing start position signal, the main controller MCU stops acting, whether the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer or not is judged, if the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer, the executing arm of the transfer robot stretches into the first material chamber to take out materials, and when the executing arm of the transfer robot receives the material taking and placing start position signal from the first material chamber of the transfer robot, the main controller MCU judges whether the executing arm of the transfer robot reaches the material chamber preparation completion signal corresponding to the material taking and placing position of the material chamber of the upper computer is judged, if the main controller MCU receives a second material chamber preparation completion signal sent by the upper computer, an execution arm of the transfer robot stretches into the second material chamber to put materials into the second material chamber. The invention can flexibly control according to actual production requirements, the running speed is improved by more than 30% compared with the traditional technology, the control precision is improved by more than 60% compared with the traditional technology, the failure rate is reduced by more than 95% compared with the traditional technology, and the control cost is reduced by more than 95%.
It should be noted that the method of the embodiments of the present disclosure may be performed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present disclosure, the devices interacting with each other to accomplish the methods.
It should be noted that the foregoing describes some embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Example 2
Referring to fig. 7, embodiment 2 of the present invention further provides a motion control system of a logistics transfer robot, including:
The material taking and placing instruction sending module 100 is configured to send a material taking and placing instruction to a main controller MCU of the transfer robot through an upper computer, where the material taking and placing instruction includes a material taking and placing start instruction signal, a material taking and placing destination instruction signal and an execution arm selection instruction signal;
The material taking and placing instruction analysis module 200 is configured to, after the main controller MCU receives a material taking and placing instruction sent by the upper computer, analyze the material taking and placing instruction to obtain a material taking and placing start signal, a material taking and placing destination signal and an execution arm signal;
The material taking and placing action response module 300 is configured to, after the analysis of the material taking and placing instruction is completed, send an instruction action response signal to the upper computer by using the main controller MCU, and control the movement of the transfer robot according to the analysis result of the material taking and placing instruction by using the main controller MCU, so that an execution arm of the transfer robot reaches a first material chamber inlet position corresponding to the material taking and placing start signal;
The material taking out processing module 400 is configured to stop the motion when an execution arm of the transfer robot reaches a position of a first material chamber inlet corresponding to a material taking and placing start signal, determine whether the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer, extend the execution arm of the transfer robot into the first material chamber to take out the material;
The material placement processing module 500 is configured to control an execution arm of the transfer robot to reach a position of an inlet of a second material chamber corresponding to a material placement destination signal after the execution arm of the transfer robot performs material removal from a first material chamber, determine whether the main controller MCU receives a second material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer, stretch into the second material chamber to perform material placement.
In this embodiment, in the material taking out processing module 400, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the upper computer, the execution arm of the transfer robot is controlled to keep stopping at the first material chamber inlet position;
In the material taking out processing module 400, when the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer for the first time, the main controller MCU controls an execution arm of the transfer robot to keep stopping at the inlet position of the first material chamber;
The materials are put into the processing module 500, and if the main controller MCU does not receive the preparation completion signal of the second material chamber sent by the upper computer, the execution arm of the transfer robot is controlled to keep stopping at the inlet position of the second material chamber;
The material placing processing module 500 controls the execution arm of the transfer robot to keep stopping at the inlet position of the first material chamber when the main controller MCU receives the preparation completion signal of the second material chamber sent by the upper computer for the first time, and controls the execution arm of the transfer robot to extend into the second material chamber to place the material when the main controller MCU receives the preparation completion signal of the second material chamber sent by the upper computer for the second time.
In this embodiment, the method further includes:
the execution arm motion processing module 600 is configured to issue a triaxial linear interpolation command to a servo or stepping execution controller of an execution arm of the transfer robot when the execution arm of the transfer robot executes an extending or retracting motion, so that the execution arm of the transfer robot moves linearly;
In the arm motion executing processing module 600, a servo or stepping execution controller of an executing arm of the transfer robot controls a servo or stepping motor corresponding to the executing arm of the transfer robot to execute a trapezoidal acceleration and deceleration action;
in the arm motion executing module 600, if the executing arm of the transfer robot shakes, the servo or stepping executing controller of the executing arm of the transfer robot controls the servo or stepping motor corresponding to the executing arm of the transfer robot to execute the S-type acceleration and deceleration action.
It should be noted that, because the content of information interaction and execution process between the modules of the above system is based on the same concept as the method embodiment in the embodiment 1 of the present application, the technical effects brought by the content are the same as the method embodiment of the present application, and the specific content can be referred to the description in the foregoing illustrated method embodiment of the present application, which is not repeated herein.
Example 3
Embodiment 3 of the present invention provides a non-transitory computer readable storage medium having stored therein program code of a logistic transfer robot motion control method, the program code including instructions for executing the logistic transfer robot motion control method of embodiment 1 or any possible implementation thereof.
Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (Solid STATE DISK, SSD)), etc.
Example 4
The embodiment 4 of the invention provides electronic equipment, which comprises a memory and a processor;
The processor and the memory complete communication with each other through a bus, the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the logistic transfer robot motion control method of the embodiment 1 or any possible implementation manner thereof.
The processor may be implemented by hardware or software, and when implemented by hardware, the processor may be a logic circuit, an integrated circuit, or the like, and when implemented by software, the processor may be a general-purpose processor, and by reading software codes stored in a memory, which may be integrated in the processor, may be located outside the processor, and exist independently.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.).
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (7)
1. The motion control method of the logistics transfer robot is characterized by comprising the following steps of:
A material taking and placing instruction is sent to a main controller MCU of the transfer robot through an upper computer, wherein the material taking and placing instruction comprises a material taking and placing starting place instruction signal, a material taking and placing destination instruction signal and an execution arm selection instruction signal;
After the main controller MCU receives a material taking and placing instruction sent by the upper computer, the main controller MCU analyzes the material taking and placing instruction to obtain a material taking and placing starting place signal, a material taking and placing destination signal and an executing arm signal;
After the material taking and placing instruction analysis is completed, the main controller MCU sends an instruction action response signal to the upper computer, and the main controller MCU controls the movement of the transfer robot according to the analysis result of the material taking and placing instruction, so that an execution arm of the transfer robot reaches the position of the inlet of the first material chamber corresponding to the material taking and placing starting place signal;
Stopping the operation when the executing arm of the transfer robot reaches the position of the inlet of the first material chamber corresponding to the material taking and placing start position signal, judging whether the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer, the executing arm of the transfer robot stretches into the first material chamber to take out the material;
after the executing arm of the transfer robot takes out the materials from the first material chamber, controlling the executing arm of the transfer robot to reach the inlet position of the second material chamber corresponding to the material taking and placing destination signal, judging whether the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer, extending the executing arm of the transfer robot into the second material chamber to carry out material placing;
When the executing arm of the carrying robot executes the extending or retracting action, the main controller MCU issues a triaxial linear interpolation command to a servo or stepping executing controller of the executing arm of the carrying robot, so that the executing arm of the carrying robot moves linearly;
in the process of moving the executing arm of the carrying robot, a servo or stepping executing controller of the executing arm of the carrying robot controls a servo or stepping motor corresponding to the executing arm of the carrying robot to execute trapezoidal acceleration and deceleration actions;
And in the process of moving the executing arm of the carrying robot, if the executing arm of the carrying robot shakes, the servo or stepping executing controller of the executing arm of the carrying robot controls the servo or stepping motor corresponding to the executing arm of the carrying robot to execute the S-shaped acceleration and deceleration action.
2. The method according to claim 1, wherein if the main controller MCU does not receive the first material chamber preparation completion signal sent by the host computer, the execution arm of the transfer robot is controlled to keep stopping at the first material chamber inlet position.
3. The method for controlling movement of a logistics transfer robot according to claim 2, wherein when the main controller MCU receives a first material chamber preparation completion signal sent by the host computer for the first time, an execution arm of the transfer robot is controlled to keep stopping at an entrance position of the first material chamber;
When the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer for the second time, the execution arm of the transfer robot is controlled to extend into the first material chamber to take out the materials.
4. The method according to claim 1, wherein if the main controller MCU does not receive the second material chamber preparation completion signal sent by the host computer, the execution arm of the transfer robot is controlled to keep stopping at the second material chamber entrance position.
5. The method for controlling movement of a logistics transfer robot according to claim 4, wherein when the master controller MCU receives a second material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the transfer robot is controlled to keep stopping at the inlet position of the first material chamber;
When the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer for the second time, the execution arm of the transfer robot is controlled to extend into the second material chamber to carry out material placement.
6. A logistic transfer robot motion control system, comprising:
The material taking and placing instruction sending module is used for sending a material taking and placing instruction to the main controller MCU of the transfer robot through the upper computer, wherein the material taking and placing instruction comprises a material taking and placing starting place instruction signal, a material taking and placing destination instruction signal and an execution arm selection instruction signal;
The material taking and placing instruction analysis module is used for analyzing the material taking and placing instruction by the main controller MCU to obtain a material taking and placing start signal, a material taking and placing destination signal and an executing arm signal after the main controller MCU receives the material taking and placing instruction sent by the upper computer;
The material taking and placing action response module is used for sending an instruction action response signal to the upper computer by the main controller MCU after the material taking and placing instruction is analyzed, and controlling the action of the transfer robot by the main controller MCU according to the analysis result of the material taking and placing instruction so that an execution arm of the transfer robot reaches the position of the inlet of the first material chamber corresponding to the material taking and placing start position signal;
The material taking out processing module is used for stopping action when an executing arm of the transfer robot reaches a first material chamber inlet position corresponding to a material taking and placing start position signal, judging whether the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer, and if the main controller MCU receives the first material chamber preparation completion signal sent by the upper computer, the executing arm of the transfer robot stretches into the first material chamber to take out materials;
The material placing processing module is used for controlling the executing arm of the transfer robot to reach the inlet position of the second material chamber corresponding to the material taking and placing destination signal after the executing arm of the transfer robot takes out the material from the first material chamber, judging whether the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer or not, and if the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer, the executing arm of the transfer robot stretches into the second material chamber to carry out material placing;
The executing arm motion processing module is used for sending a triaxial linear interpolation command to a servo or stepping execution controller of the executing arm of the transfer robot by the main controller MCU when the executing arm of the transfer robot executes the extending or retracting action, so that the executing arm of the transfer robot moves linearly;
in the executing arm motion processing module, a servo or stepping execution controller of an executing arm of the carrying robot controls a servo or stepping motor corresponding to the executing arm of the carrying robot to execute trapezoidal acceleration and deceleration actions;
In the executing arm motion processing module, if the executing arm of the transfer robot shakes, the servo or stepping executing controller of the executing arm of the transfer robot controls the servo or stepping motor corresponding to the executing arm of the transfer robot to execute the S-shaped acceleration and deceleration action.
7. The motion control system of a logistic transfer robot according to claim 6, wherein in the material taking-out processing module, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the upper computer, the execution arm of the transfer robot is controlled to keep stopping at the first material chamber inlet position;
In the material taking out processing module, when the main controller MCU receives a first material chamber preparation completion signal sent by the upper computer for the first time, the main controller MCU controls an execution arm of the transfer robot to keep stopping at the inlet position of the first material chamber;
The materials are put into the processing module, and if the main controller MCU does not receive a second material chamber preparation completion signal sent by the upper computer, the execution arm of the transfer robot is controlled to keep stopping at the inlet position of the second material chamber;
And when the main controller MCU receives the second material chamber preparation completion signal sent by the upper computer for the second time, the main controller MCU controls the execution arm of the transfer robot to extend into the second material chamber to carry out material placement.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107032036A (en) * | 2017-05-18 | 2017-08-11 | 北京华沁智联科技有限公司 | Control the method and automatic vending warehouse in automatic vending warehouse |
| CN115593839A (en) * | 2022-12-15 | 2023-01-13 | 成都工业职业技术学院（Cn） | Material handling robot and control method thereof |
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| JPH071463B2 (en) * | 1986-06-30 | 1995-01-11 | フアナツク株式会社 | Robot controller |
| JP4454111B2 (en) * | 2000-06-21 | 2010-04-21 | アイシン・エーアイ株式会社 | Positioning control device |
| JP2005247551A (en) * | 2004-03-05 | 2005-09-15 | Sanyo Electric Co Ltd | Sample storage device |
| EP2144127B1 (en) * | 2008-07-08 | 2014-04-30 | Siemens Aktiengesellschaft | Method and control device for synchronising a collector of a handling device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107032036A (en) * | 2017-05-18 | 2017-08-11 | 北京华沁智联科技有限公司 | Control the method and automatic vending warehouse in automatic vending warehouse |
| CN115593839A (en) * | 2022-12-15 | 2023-01-13 | 成都工业职业技术学院（Cn） | Material handling robot and control method thereof |
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