CN114952779A - Robot multi-target track optimization algorithm device - Google Patents
Robot multi-target track optimization algorithm device Download PDFInfo
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- CN114952779A CN114952779A CN202210362347.5A CN202210362347A CN114952779A CN 114952779 A CN114952779 A CN 114952779A CN 202210362347 A CN202210362347 A CN 202210362347A CN 114952779 A CN114952779 A CN 114952779A
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-target track optimization algorithm device of a robot, which comprises the multi-target track optimization algorithm device, wherein the multi-target track optimization algorithm device comprises a closed simulation test field, a robot body, a multi-track simulation device, a measuring and monitoring device and an integrated data platform, the closed simulation test field comprises a main simulation field and a data platform storage chamber, the robot body comprises a driving seat and a mechanical arm arranged on the driving seat, the multi-track simulation device comprises tracks and a target simulator, the tracks are divided into a plurality of groups and are integrally arranged on the main simulation field, and the driving seat is slidably arranged on the tracks. The multi-track optimization algorithm system designed by the invention has the advantages of optimal time, optimal energy consumption and optimal impact, and the multi-objective optimization is to comprehensively optimize the three items to obtain a corresponding Pareto solution set, select an optimal solution according to the actual situation and display the optimal solution on an integrated data platform, thereby facilitating better data presentation.
Description
Technical Field
The invention relates to the technical field of robot multi-target track optimization, in particular to a robot multi-target track optimization algorithm device.
Background
Trajectory planning belongs to the field of robot motion control research. With the further development of the automation degree, the trend of current development is to pursue better, efficient, stable and intelligent mechanical equipment, and the optimization of the operation track can enable the mechanical arm to operate better and more efficiently according to the expectation. Under the premise of considering various working conditions, adding corresponding constraint conditions, such as: working space, velocity, acceleration, jerk, etc. to achieve the desired working effect are always sought by the designer. Aiming at different machines, different design targets are provided according to different design initiatives, and later optimization and improvement are carried out towards the initiatives.
However, the conventional robot multi-target trajectory calculation method has the following problems: (1) the robot multi-target track calculation mode lacks a special efficient algorithm carrier and a scene simulation mechanism, and the calculated data has poor representativeness; (2) the method mainly adopts a genetic algorithm or a simulated annealing algorithm for operation, the genetic algorithm is weak for local search, and the simulated annealing algorithm is poor in whole search space perception capability. For this reason, a corresponding technical scheme needs to be designed to solve the existing technical problems.
Disclosure of Invention
The invention aims to provide a robot multi-target track optimization algorithm device, and solves the technical problems that a robot multi-target track calculation mode lacks a special efficient algorithm carrier and a scene simulation mechanism, and the calculated data representativeness is not strong.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-target track optimization algorithm device of a robot comprises a multi-target track optimization algorithm device, wherein the multi-target track optimization algorithm device comprises a closed simulation test field, a robot body, a multi-track simulation device, a measuring and monitoring device and an integrated data platform, the closed simulation test field comprises a main simulation field and a data platform storage chamber, the robot body comprises a driving seat and a mechanical arm installed on the driving seat, the multi-track simulation device comprises tracks and target simulators, the tracks are divided into a plurality of groups and are integrally installed on the main simulation field, the driving seat is slidably installed on the tracks, the target simulators are divided into a plurality of groups and are evenly installed among the plurality of groups of tracks, the measuring and monitoring device comprises position sensors, a timer, an energy consumption sensor and a panoramic camera, the position sensors are divided into two groups and are respectively installed on the inner wall of the main simulation field, the system comprises a timer, a drive seat, a panoramic camera, a target simulator, a target calculating and monitoring device, a multi-target track optimization algorithm device and a main simulation field, wherein the timer is connected with two groups of position sensors through lines, the energy consumption sensors are connected with the drive seat, the panoramic camera is divided into a plurality of groups and is uniformly installed on the main simulation field, the integrated data platform is installed in a data platform storage chamber and is connected with the target simulator and the measuring and calculating monitoring device through lines, and the multi-target track optimization algorithm device is provided with a robot multi-track optimization detection system.
As a preferable mode of the present invention, the driving seat includes a base and a driving wheel installed on the base, one side of the driving wheel is provided with a driving motor, a power output end of the driving motor is connected with the driving wheel, and the driving motor is connected with the energy consumption sensor through a line.
In a preferred embodiment of the present invention, the target simulator includes a support base and an infrared sensor mounted on the support base, the support base is mounted between the rails, and a detection end of the infrared sensor is mounted on an edge of the support base.
As a preferred mode of the present invention, the robot multi-track optimization detection system includes a robot operation module, a multi-track simulation module, a robot detection sensing module, a robot efficiency measurement and calculation module, a robot energy consumption measurement and calculation module, and a robot life measurement and calculation module, wherein the robot operation module is respectively connected to the multi-track simulation module, the robot detection sensing module, the robot efficiency measurement and calculation module, the robot energy consumption measurement and calculation module, and the robot life measurement and calculation module through a line.
As a preferred mode of the present invention, the robot efficiency measuring and calculating module, the robot energy consumption measuring and calculating module, and the robot life measuring and calculating module are connected to the integrated data processing module.
As a preferred mode of the present invention, the integrated data processing module includes a genetic algorithm and a simulated annealing algorithm, and the genetic algorithm and the simulated annealing algorithm are connected to a Pareto solution set and derive an optimal solution.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention designs a device specially used for carrying out multi-target track algorithm on a robot, the multi-target track optimization algorithm device comprises a closed simulation test field, a robot body, a multi-track simulation device, a measuring and monitoring device and an integrated data platform, wherein the robot to be measured is placed in the closed simulation test field, the simulation measurement and calculation processing is carried out on the multi-track simulation device erected on the robot body, the multi-track operation route is provided for the operation of the robot body by utilizing the track through the track and the target simulator included in the multi-track simulation device, and the appointed position of the target simulator is reached, the data in operation is obtained by measuring, calculating and monitoring the device, the obtained content comprises time data, energy consumption data and service life data, and therefore, the running track is optimized and the common evaluation indexes are generally three items: time is optimal (efficiency), energy consumption is optimal (energy saving), impact is optimal (service life), and representative data values are obtained.
2. According to the scheme, a special multi-track optimization algorithm system is arranged in the operation process of the multi-target track optimization algorithm device, the multi-target optimization is that the three items are comprehensively optimized to obtain a corresponding Pareto solution set when the time is optimal (efficiency), the energy consumption is optimal (energy saving) and the impact is optimal (service life), the optimal solution is selected according to the actual situation, and the optimal solution is displayed on an integrated data platform, so that data can be displayed better.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a structural view of the driving seat of the present invention;
fig. 3 is a structural diagram of the multi-track optimization detection system of the robot.
In the figure, 1, a closed type simulation test field; 2. a robot body; 3. a multi-track simulation device; 4. a measuring and monitoring device; 5. an integrated data platform; 6. simulating a field by the main mode; 7. a data platform storage room; 8. a driving seat; 9. a mechanical arm; 10. a track; 11. a target simulator; 12. a position sensor; 13. a timer; 14. an energy consumption sensor; 15. a panoramic camera; 16. a base; 17. a drive wheel; 18. a support table; 19. an infrared sensor; 20. the motor is driven.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a robot multi-target track optimization algorithm device comprises a multi-target track optimization algorithm device, the multi-target track optimization algorithm device comprises a closed simulation test field 1, a robot body 2, a multi-track simulation device 3, a measuring and monitoring device 4 and an integrated data platform 5, the closed simulation test field 1 comprises a main simulation field 6 and a data platform storage chamber 7, the robot body 2 comprises a driving seat 8 and a mechanical arm 9 arranged on the driving seat 8, the multi-track simulation device 3 comprises tracks 10 and target simulators 11, the tracks 10 are respectively provided with a plurality of groups and are integrally arranged on the main simulation field 6, the driving seat 8 is slidably arranged on the tracks 10, the target simulators 11 are respectively provided with a plurality of groups and are uniformly arranged among the plurality of groups of tracks 10, the measuring and monitoring device 4 comprises a position sensor 12, a timer 13, an energy consumption sensor 14 and a panoramic camera 15, the position sensors 12 are divided into two groups and are respectively installed on the inner wall of the main simulation site 6, the timer 13 is connected with the two groups of position sensors 12 through a circuit, the energy consumption sensor 14 is connected with the driving seat 8, the panoramic camera 15 is divided into a plurality of groups and is evenly installed on the main simulation site 6, the integrated data platform 5 is installed in the integrated data platform 5 and is connected with the target simulator 11 and the measuring and calculating monitoring device 4 through circuits, and the multi-target track optimization algorithm device is provided with a robot multi-track optimization detection system.
Further improved, as shown in fig. 2: the driving seat 8 comprises a base 16 and a driving wheel 17 arranged on the base 16, a driving motor 20 is arranged on one side of the driving wheel 17, the power output end of the driving motor 20 is connected with the driving wheel 17, and the driving motor 20 is connected with the energy consumption sensor 14 through a line to measure and calculate the energy consumption of the driving seat 8.
Further improved, as shown in fig. 1: the target simulator 11 comprises support platforms 18 and infrared sensors 19 installed on the support platforms 18, the support platforms 18 are installed between the rails 10, the detection ends of the infrared sensors 19 are installed at the edges of the support platforms 18, and can sense the robot reaching the target simulator 11, transmit signals to the position sensors 12 and measure and calculate the time of a moving track.
In a further improvement, as shown in fig. 3: the robot multi-track optimization detection system comprises a robot operation module, a multi-track simulation module, a robot detection sensing module, a robot efficiency measuring and calculating module, a robot energy consumption measuring and calculating module and a robot life measuring and calculating module, wherein the robot operation module is respectively connected with the multi-track simulation module, the robot detection sensing module, the robot efficiency measuring and calculating module, the robot energy consumption measuring and calculating module and the robot life measuring and calculating module through lines, the robot operation module, the multi-track simulation module, the robot detection sensing module, the robot efficiency measuring and calculating module, the robot energy consumption measuring and calculating module and the robot life measuring and calculating module are used for respectively simulating the operation and the track of a robot and detecting and sensing the operation of the robot, and the efficiency, the energy consumption and the life of the robot are measured and calculated.
In a further improvement, as shown in fig. 3: the robot efficiency measuring and calculating module, the robot energy consumption measuring and calculating module and the robot service life measuring and calculating module are connected with the integrated data processing module.
Specifically, the integrated data processing module comprises a genetic algorithm and a simulated annealing algorithm, the genetic algorithm and the simulated annealing algorithm are connected with a Pareto solution set and derive an optimal solution, and the calculation results of the algorithms can be improved locally and globally through the matching operation of the genetic algorithm and the simulated annealing algorithm.
When in use: when the robot needs to be subjected to multi-target track measurement and calculation, a worker can erect the robot body 2 needing to be measured and calculated on the multi-track simulation device 3, the robot measures and calculates the market of the robot when the robot operates to a target position through the target simulator 11 and the position sensor 12 in the operation process, measures and calculates energy consumption synchronously through the energy consumption sensor 14, transmits the measured and calculated data to the integrated data platform 5 for receipt collection, and summarizes service life data of the robot body 2 in the repeated operation process of the robot body 2, so that the efficiency, the energy consumption and the service life of the robot are measured and calculated.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The robot multi-target track optimization algorithm device comprises a multi-target track optimization algorithm device and is characterized in that: the multi-target track optimization algorithm device comprises a closed simulation test field (1), a robot body (2), a multi-track simulation device (3), a measurement and monitoring device (4) and an integrated data platform (5), wherein the closed simulation test field (1) comprises a main simulation field (6) and a data platform storage chamber (7), the robot body (2) comprises a driving seat (8) and a mechanical arm (9) installed on the driving seat (8), the multi-track simulation device (3) comprises tracks (10) and target simulators (11), the tracks (10) are respectively provided with a plurality of groups and are integrally installed on the main simulation field (6), the driving seat (8) is slidably installed on the tracks (10), the target simulators (11) are respectively provided with a plurality of groups and are uniformly installed between the groups of tracks (10), the measurement and monitoring device (4) is composed of position sensors (12), The system comprises a timer (13), an energy consumption sensor (14) and a panoramic camera (15), wherein the position sensors (12) are respectively provided with two groups and are respectively installed on the inner wall of a main simulation site (6), the timer (13) is connected with the two groups of position sensors (12) through a line, the energy consumption sensor (14) is connected with a driving seat (8), the panoramic camera (15) is respectively provided with a plurality of groups and is uniformly installed on the main simulation site (6), an integrated data platform (5) is installed in the integrated data platform (5) and is connected with a target simulator (11) and a measuring and calculating monitoring device (4) through a line, and the multi-objective track optimization algorithm device is provided with a robot multi-track optimization detection system.
2. The robot multi-objective track optimization algorithm device of claim 1, wherein: the driving seat (8) comprises a base (16) and a driving wheel (17) installed on the base (16), a driving motor (20) is arranged on one side of the driving wheel (17), the power output end of the driving motor (20) is connected with the driving wheel (17), and the driving motor (20) is connected with the energy consumption sensor (14) through a line.
3. The robot multi-objective track optimization algorithm device of claim 1, wherein: the target simulator (11) comprises support platforms (18) and infrared sensors (19) installed on the support platforms (18), the support platforms (18) are installed between the tracks (10), and the detection ends of the infrared sensors (19) are installed on the edges of the support platforms (18).
4. The robot multi-objective track optimization algorithm device of claim 1, wherein: the robot multi-track optimization detection system comprises a robot operation module, a multi-track simulation module, a robot detection sensing module, a robot efficiency measuring and calculating module, a robot energy consumption measuring and calculating module and a robot life measuring and calculating module, wherein the robot operation module is respectively connected with the multi-track simulation module, the robot detection sensing module, the robot efficiency measuring and calculating module, the robot energy consumption measuring and calculating module and the robot life measuring and calculating module through lines.
5. The robot multi-objective track optimization algorithm device of claim 4, wherein: the robot efficiency measuring and calculating module, the robot energy consumption measuring and calculating module and the robot service life measuring and calculating module are connected with the integrated data processing module.
6. The robot multi-objective track optimization algorithm device of claim 5, wherein: the integrated data processing module comprises a genetic algorithm and a simulated annealing algorithm, wherein the genetic algorithm and the simulated annealing algorithm are connected with a Pareto solution set and derive an optimal solution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210362347.5A CN114952779A (en) | 2022-04-07 | 2022-04-07 | Robot multi-target track optimization algorithm device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210362347.5A CN114952779A (en) | 2022-04-07 | 2022-04-07 | Robot multi-target track optimization algorithm device |
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| CN114952779A true CN114952779A (en) | 2022-08-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115309171A (en) * | 2022-10-12 | 2022-11-08 | 维飒科技(西安)有限公司 | Behavior track control method and device of track robot |
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2022
- 2022-04-07 CN CN202210362347.5A patent/CN114952779A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115309171A (en) * | 2022-10-12 | 2022-11-08 | 维飒科技(西安)有限公司 | Behavior track control method and device of track robot |
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Application publication date: 20220830 |
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