CN118144007B - Mechanical arm grabbing stability monitoring and adjusting method, system, equipment and storage medium - Google Patents
Mechanical arm grabbing stability monitoring and adjusting method, system, equipment and storage medium Download PDFInfo
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- CN118144007B CN118144007B CN202410576135.6A CN202410576135A CN118144007B CN 118144007 B CN118144007 B CN 118144007B CN 202410576135 A CN202410576135 A CN 202410576135A CN 118144007 B CN118144007 B CN 118144007B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 94
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- 238000004458 analytical method Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims description 62
- 230000002159 abnormal effect Effects 0.000 claims description 34
- 230000009471 action Effects 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000005764 inhibitory process Effects 0.000 abstract description 3
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- 238000004519 manufacturing process Methods 0.000 description 5
- 230000033228 biological regulation Effects 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of electric and electronic control, in particular to a method, a system, equipment and a storage medium for monitoring and adjusting grabbing stability of a mechanical arm. The scheme includes that a monitoring system of a system structure for grabbing the mechanical arm is arranged, multi-angle monitoring is started by the monitoring system to form maximum video vibration amplitude, whether the maximum video vibration amplitude is stable or not is judged according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm, if yes, auxiliary support of the mechanical arm is started, if yes, whether motion abnormality exists or not is judged, if motion assistance exists, if yes, whether external motion exists is judged, if yes, whether external interference is temporarily affected and processed is judged. According to the scheme, the mechanical arm grabbing stable monitoring is realized by setting the weight, the speed and the external interference influence analysis system and the corresponding inhibition method.
Description
Technical Field
The invention relates to the technical field of electric and electronic control, in particular to a method, a system, equipment and a storage medium for monitoring and adjusting grabbing stability of a mechanical arm.
Background
The stability of electrical and electronic equipment during operation is of paramount importance, and it directly affects the operation efficiency, safety and reliability of the equipment. The following is a specific description of its importance: the operation efficiency is improved: the stable electrical equipment can efficiently complete the established tasks, and reduce the downtime caused by faults or instability, thereby improving the working efficiency. Ensuring operation safety: the electrical equipment has a certain risk in the operation process, and if the equipment is unstable in operation, safety accidents can be caused, so that the life safety of operators is threatened. The economic loss is reduced: unstable equipment may cause production interruption or degradation of product quality, thereby increasing production costs and maintenance expenses.
Before the technology of the invention, the control process of the corresponding mechanical arm in the prior art is mainly carried out based on preset regulation rules and regulation rules, and the stable control strategy is basically track correction based on automatic control principles such as PID and the like, and lacks automatic feedback stable control through an external monitoring system.
Disclosure of Invention
In view of the above problems, the invention provides a method, a system, a device and a storage medium for monitoring and adjusting the grabbing stability of a mechanical arm, which realize the grabbing stability monitoring of the mechanical arm by setting a weight, a speed and an external interference influence analysis system and a corresponding inhibition method.
According to a first aspect of the embodiment of the invention, a method for monitoring and adjusting grabbing stability of a mechanical arm is provided.
In one or more embodiments, preferably, the method for adjusting the grasping stability of the mechanical arm includes:
a monitoring system of a system structure for grabbing the mechanical arm is arranged;
starting a monitoring system to monitor and form the maximum video vibration amplitude at multiple angles;
judging whether the vibration amplitude of the mechanical arm is stable or not according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm;
judging whether the weight is abnormal or not in an unstable state, and starting the auxiliary support of the mechanical arm if the weight is abnormal;
judging whether the motion is abnormal or not when the weight is abnormal in an unstable state, and if so, assisting the movement;
when the operation is unstable and there is no abnormal operation, it is determined whether or not there is an external operation, and if there is an external operation, it is determined whether or not the external disturbance is temporarily affected and handled.
In one or more embodiments, preferably, the monitoring system for setting a system structure of the robotic arm grabbing specifically includes:
arranging a vibrating hammer on the mechanical arm, and monitoring the vibration amplitude of the mechanical arm in the moving process of the mechanical arm by the vibrating hammer;
cameras are arranged around the mechanical arm, and the movement condition of the mechanical arm is recorded.
In one or more embodiments, preferably, the monitoring system is used to start multi-angle monitoring to form a maximum video vibration amplitude, and specifically includes:
forming a monitoring video of the mechanical arm according to the monitoring system;
And forming maximum video vibration amplitude at different angles according to the comparison of the monitoring videos.
In one or more embodiments, preferably, the determining whether the vibration is stable according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm specifically includes:
obtaining the maximum video vibration amplitude and the vibration amplitude of the mechanical arm, and judging whether the mechanical arm meets a first calculation formula or not;
when the first calculation formula is not satisfied, the mechanical arm is in an unstable state;
When the first calculation formula is met, the mechanical arm is in a stable state;
The first calculation formula is as follows:
K×B+S＜Y；
wherein K is a conversion coefficient, S is the maximum video vibration amplitude, B is the vibration amplitude of the mechanical arm, and Y is a stable contrast margin.
In one or more embodiments, preferably, in the unstable state, it is determined whether there is a weight abnormality, and if there is a weight abnormality, the mechanical arm auxiliary support is started, including:
judging whether a second calculation formula is satisfied or not in an unstable state;
when the second calculation formula is met, the mechanical arm is considered to have no weight abnormality;
When the second calculation formula is not satisfied, the mechanical arm is considered to have weight abnormality, and auxiliary support of the mechanical arm is started;
The second calculation formula is as follows:
G＜Y1；
where G is the object weight and Y1 is the moving weight margin.
In one or more embodiments, preferably, when the state is unstable and there is no weight abnormality, it is determined whether there is an action abnormality, and if there is an action abnormality, the movement assistance specifically includes:
Judging whether the moving speed of the current mechanical arm meets a third calculation formula or not;
when the third calculation formula is met, the mechanical arm is considered to have no abnormal action;
when the third calculation formula is not satisfied, judging that the motion is abnormal, judging the current vibration direction, and starting the interference of the opposite direction of the vibration to serve as the movement auxiliary to reduce the vibration;
the third calculation formula is as follows:
V＜Y2；
where V is the object weight and Y2 is the movement speed margin.
In one or more embodiments, preferably, when the operation is unstable and there is no abnormal operation, it is determined whether there is an external operation, and if there is an external operation, it is determined whether the external interference is temporarily affected and processed, including:
Setting a closed curved surface, wherein the closed curved surface can wrap the whole moving range of the mechanical arm and the object to be grabbed;
judging whether an object passing through a closed curved surface exists within 5 seconds before the unstable state occurs or not through a multi-angle video when the unstable state does not exist and the motion is abnormal;
If the maximum diameter of the object exists and meets the fourth calculation formula, the external interference is considered to exist, otherwise, the external interference is considered to be absent;
continuously judging whether an object which meets a fourth calculation formula passes through a closed curved surface or not within 60 seconds when external interference exists, and if so, moving a shielding plate to a passing path of the object under the influence of continuity;
if the object which meets the fourth calculation formula and passes through the closed curved surface is judged to be no longer in 60 seconds, the object is considered to be a temporary influence, and the vibration of the mechanical arm is reduced by increasing the damped rubber rod and then the mechanical arm continues to work;
The fourth calculation formula is as follows:
D>Y3；
wherein D is the maximum diameter of the object, and Y3 is the diameter contrast margin.
According to a second aspect of the embodiment of the invention, a mechanical arm grabbing stability monitoring and adjusting system is provided.
In one or more embodiments, preferably, the robotic arm gripping stability monitoring and adjustment system includes:
The system setting module is used for setting a monitoring system of a system structure grabbed by the mechanical arm;
the multi-angle sensing module is used for starting multi-angle monitoring by using the monitoring system to form the maximum video vibration amplitude;
the stability analysis module is used for judging whether the vibration amplitude of the mechanical arm is stable or not according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm;
the weight abnormality processing module is used for judging whether weight abnormality exists or not in an unstable state, and starting the auxiliary support of the mechanical arm if the weight abnormality exists;
The speed abnormality processing module is used for judging whether the action abnormality exists or not when the weight abnormality does not exist in an unstable state, and if the action abnormality exists, the movement assistance is performed;
and the external abnormality processing module is used for judging whether external actions exist or not when the actions are abnormal in an unstable state, and judging whether external interference is temporarily influenced and processed if the actions exist.
According to a third aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement a method according to any of the first aspect of embodiments of the present invention.
According to a fourth aspect of embodiments of the present invention there is provided an electronic device comprising a memory and a processor, the memory being for storing one or more computer program instructions, wherein the one or more computer program instructions are executable by the processor to implement the method of any of the first aspects of embodiments of the present invention.
The technical scheme provided by the embodiment of the invention can comprise the following beneficial effects:
According to the scheme, the on-line evaluation and monitoring method for the stability state of the mechanical arm by combining the multi-angle vibration structure is constructed, and the rapid analysis of the stability of the mechanical arm is realized.
According to the scheme, stability analysis and adjustment are realized through weight, speed and external interference impact analysis, and the grabbing stability of the mechanical arm is improved rapidly.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for monitoring and adjusting the gripping stability of a robotic arm according to one embodiment of the invention.
Fig. 2 is a flowchart of a monitoring system of a system structure for setting a robot gripping in a robot gripping stability monitoring adjustment method according to an embodiment of the present invention.
FIG. 3 is a flow chart of a method for monitoring and adjusting the grabbing stability of a mechanical arm according to an embodiment of the present invention, wherein a monitoring system is used to start multi-angle monitoring to form maximum video vibration amplitude.
Fig. 4 is a flowchart of a method for monitoring and adjusting the grabbing stability of a mechanical arm according to an embodiment of the present invention, wherein the method is used for judging whether the mechanical arm is stable according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm.
Fig. 5 is a flowchart of a method for monitoring and adjusting the grabbing stability of a mechanical arm according to an embodiment of the present invention, when the mechanical arm is in an unstable state, whether a weight abnormality exists is determined, and if the weight abnormality exists, the mechanical arm auxiliary support is started.
Fig. 6 is a flowchart of a method for monitoring and adjusting the gripping stability of a robot arm according to an embodiment of the present invention, when the robot arm is in an unstable state and no weight abnormality exists, determining whether an abnormality exists, and if so, performing movement assistance.
Fig. 7 is a flowchart of a method for monitoring and adjusting the grasping stability of a robot arm according to an embodiment of the invention, when the robot arm is in an unstable state and there is no abnormal operation, determining whether there is an external operation, and if so, determining whether the external disturbance is temporarily affected and processing.
Fig. 8 is a block diagram of a robotic arm grasp stability monitoring and adjustment system in accordance with an embodiment of the present invention.
Fig. 9 is a block diagram of an electronic device in one embodiment of the invention.
Detailed Description
In some of the flows described in the specification and claims of the present invention and in the foregoing figures, a plurality of operations occurring in a particular order are included, but it should be understood that the operations may be performed out of order or performed in parallel, with the order of operations such as 101, 102, etc., being merely used to distinguish between the various operations, the order of the operations themselves not representing any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, 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 fall within the scope of the invention.
The stability of electrical and electronic equipment during operation is of paramount importance, and it directly affects the operation efficiency, safety and reliability of the equipment. The following is a specific description of its importance: the operation efficiency is improved: the stable electrical equipment can efficiently complete the established tasks, and reduce the downtime caused by faults or instability, thereby improving the working efficiency. Ensuring operation safety: the electrical equipment has a certain risk in the operation process, and if the equipment is unstable in operation, safety accidents can be caused, so that the life safety of operators is threatened. The economic loss is reduced: unstable equipment may cause production interruption or degradation of product quality, thereby increasing production costs and maintenance expenses.
Before the technology of the invention, the control process of the corresponding mechanical arm in the prior art is mainly carried out based on preset regulation rules and regulation rules, and the stable control strategy is basically track correction based on automatic control principles such as PID and the like, and lacks automatic feedback stable control through an external monitoring system.
The embodiment of the invention provides a method, a system, equipment and a storage medium for monitoring and adjusting the grabbing stability of a mechanical arm. According to the scheme, the mechanical arm grabbing stable monitoring is realized by setting the weight, the speed and the external interference influence analysis system and the corresponding inhibition method.
According to a first aspect of the embodiment of the invention, a method for monitoring and adjusting grabbing stability of a mechanical arm is provided.
Fig. 1 is a flowchart of a method for monitoring and adjusting the gripping stability of a robotic arm according to one embodiment of the invention.
In one or more embodiments, preferably, the method for adjusting the grasping stability of the mechanical arm includes:
s101, setting a monitoring system of a system structure of mechanical arm grabbing;
s102, starting multi-angle monitoring by using a monitoring system to form maximum video vibration amplitude;
S103, judging whether the vibration amplitude of the mechanical arm is stable or not according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm;
s104, judging whether the weight is abnormal or not in an unstable state, and starting the auxiliary support of the mechanical arm if the weight is abnormal;
S105, judging whether an action abnormality exists or not when the weight abnormality does not exist in an unstable state, and if the action abnormality exists, moving the auxiliary;
s106, judging whether external actions exist or not when the actions are unstable and abnormal, and judging whether external interference is temporarily affected and processed if the actions exist.
In the embodiment of the invention, firstly, whether the current mechanical arm has abnormal conditions or not is confirmed through the similarity of a plurality of angle images, if so, the specific abnormal conditions are analyzed to be of the first type, and the object is overweight; the second type, the action is too fast; third, external interference; furthermore, a stability strategy is given, and automatic mechanical arm stability sensing and adjustment are realized.
Fig. 2 is a flowchart of a monitoring system of a system structure for setting a robot gripping in a robot gripping stability monitoring adjustment method according to an embodiment of the present invention.
As shown in fig. 2, in one or more embodiments, preferably, the monitoring system of the system structure for setting the grabbing of the mechanical arm specifically includes:
s201, arranging a vibrating hammer on the mechanical arm, and monitoring the vibration amplitude of the mechanical arm in the moving process of the mechanical arm by the vibrating hammer;
S202, cameras are arranged around the mechanical arm, and the movement condition of the mechanical arm is recorded.
In an embodiment of the present invention, a monitoring system for monitoring movement of a robotic arm includes two main components: a vibrating hammer and a camera. Vibration hammer: a vibratory hammer is a device that is mounted on a robotic arm. When the mechanical arm moves, the vibration hammer can monitor the vibration amplitude of the mechanical arm in real time. This is important because excessive vibration can affect the accuracy and stability of the robotic arm and can even lead to mechanical failure. The motion state of the mechanical arm can be timely adjusted by monitoring the vibration amplitude so as to ensure the normal operation of the mechanical arm; a camera head: the camera is arranged around the mechanical arm and used for recording the movement condition of the mechanical arm. The cameras can capture the motion of the mechanical arm from different angles, and provide an overall view angle. By analyzing the videos, the motion state of the mechanical arm, such as the speed, the direction, the position and the like, can be further known; in general, the monitoring system realizes comprehensive monitoring of the movement of the mechanical arm through the vibrating hammer and the camera, thereby ensuring the normal operation of the mechanical arm and improving the working efficiency and the safety of the mechanical arm.
FIG. 3 is a flow chart of a method for monitoring and adjusting the grabbing stability of a mechanical arm according to an embodiment of the present invention, wherein a monitoring system is used to start multi-angle monitoring to form maximum video vibration amplitude.
In one or more embodiments, as shown in fig. 3, the monitoring system is preferably configured to start multi-angle monitoring to form a maximum video vibration amplitude, and specifically includes:
s301, forming a monitoring video of the mechanical arm according to a monitoring system;
S302, forming maximum video vibration amplitude under different angles according to the comparison of the monitoring videos.
In the embodiment of the invention, firstly, through the cameras arranged around the mechanical arm, the motion video of the mechanical arm can be captured from multiple angles. These videos record the dynamic behavior of the robotic arm during operation, including its vibration in different directions and angles. Then, using advanced optical flow and Artificial Intelligence (AI) algorithms, such as WaveCam software, the vibration displacements can be automatically extracted from the video data without any sensors or connecting cables on the robotic arm. The technology is not only suitable for videos recorded by a high-speed camera, but also can analyze videos recorded by a common smart phone, and greatly improves the flexibility and convenience of the system. Then, when analyzing the video, the software can process the vibration signals in the horizontal and vertical directions, respectively, to obtain the vibration characteristics of the robot arm in each direction. For example, by analyzing the phase diagram and the vibration frequency diagram, it is obvious whether the vibration intensity of the mechanical arm in the horizontal direction is greater than the vibration in the vertical direction, and whether there is a vibration peak at a certain specific frequency. Such analysis is critical to understanding the dynamic behavior of the robotic arm, helping to identify possible problems and to optimize. Finally, by comparing vibration data under different angles, the maximum video vibration amplitude of the mechanical arm in the motion process can be found out.
Fig. 4 is a flowchart of a method for monitoring and adjusting the grabbing stability of a mechanical arm according to an embodiment of the present invention, wherein the method is used for judging whether the mechanical arm is stable according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm.
As shown in fig. 4, in one or more embodiments, preferably, the determining whether the vibration is stable according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm specifically includes:
S401, acquiring the maximum video vibration amplitude and the vibration amplitude of the mechanical arm, and judging whether the mechanical arm meets a first calculation formula or not;
s402, when the first calculation formula is not satisfied, the mechanical arm is in an unstable state;
s403, when the first calculation formula is met, the mechanical arm is in a stable state;
The first calculation formula is as follows:
K×B+S＜Y；
wherein K is a conversion coefficient, S is the maximum video vibration amplitude, B is the vibration amplitude of the mechanical arm, and Y is a stable contrast margin.
In the embodiment of the invention, the stability of the mechanical arm is judged by mainly utilizing the maximum video vibration amplitude and the vibration amplitude of the mechanical arm. The process involves a judgment criterion called a "first calculation formula", which is as follows: KXB+S < Y. Wherein the meaning of each parameter is as follows: k is a conversion coefficient for adjusting the vibration amplitude of the mechanical arm to the same magnitude as the maximum video vibration amplitude for comparison. S is the maximum video vibration amplitude, i.e. the maximum vibration amplitude of the mechanical arm at different angles observed in the surveillance video. B is the actual vibration amplitude of the robotic arm, typically measured directly by a sensor or obtained by analyzing video data. Y is a stable contrast margin, which is a preset threshold value for judging whether the mechanical arm is in a stable running state.
The judging process is as follows:
Firstly, obtaining the maximum video vibration amplitude S and the vibration amplitude B of the mechanical arm, and then calculating the value of KXB+S according to a first calculation formula.
Finally, comparing the calculated result with a stability contrast margin Y:
If KXB+S < Y, the mechanical arm is considered to be in a stable state;
If KXB+S is not less than Y, the mechanical arm is considered to be in an unstable state.
This stability determination method provides an operator with a quantitative tool to evaluate the dynamic performance of the robotic arm during actual operation. By adjusting the values of K and Y, the stability criteria can be tailored to the actual situation, thereby ensuring that the robotic arm can operate under conditions that meet specific stability requirements.
Fig. 5 is a flowchart of a method for monitoring and adjusting the grabbing stability of a mechanical arm according to an embodiment of the present invention, when the mechanical arm is in an unstable state, whether a weight abnormality exists is determined, and if the weight abnormality exists, the mechanical arm auxiliary support is started.
In one or more embodiments, as shown in fig. 5, preferably, in the unstable state, it is determined whether there is a weight abnormality, and if there is a weight abnormality, the mechanical arm auxiliary support is started, including:
S501, judging whether a second calculation formula is satisfied or not in an unstable state;
s502, when the second calculation formula is met, the mechanical arm is considered to have no weight abnormality;
S503, when the second calculation formula is not satisfied, considering that the mechanical arm has weight abnormality, and starting the auxiliary support of the mechanical arm;
The second calculation formula is as follows:
G＜Y1；
where G is the object weight and Y1 is the moving weight margin.
In the embodiment of the invention, when the mechanical arm is detected to be in an unstable state, how to further judge whether weight abnormality exists or not, and starting the process of auxiliary support of the mechanical arm according to the situation. The term "second calculation formula" is used herein to evaluate whether the weight of the object is outside the expected range, as follows: g < Y1.
Wherein the meaning of each parameter is as follows: g is the weight of the object, i.e. the actual weight of the object that is grasped or handled by the robotic arm, typically measured by a sensor. Y1 is a moving weight margin, which is a preset threshold value used to determine whether the weight of the object exceeds the maximum weight that the robot arm can safely handle during dynamic operation.
The judgment process is such that when the robot arm is judged to be in an unstable state (based on the result of the first calculation formula), it is necessary to further check whether the weight of the currently handled object is normal. According to a second calculation formula, comparing the actual object weight G with a moving weight margin Y1, wherein if G is less than Y1, the weight of the object is considered to be in a normal range, the mechanical arm has no weight abnormality, and if G is more than or equal to Y1, the weight of the object is considered to exceed a safety range, and the mechanical arm has weight abnormality. When weight abnormality is detected, the robot arm auxiliary support system is started in order to secure operational safety and stability of the robot arm. This may include increasing support points, reducing movement speed, adjusting the travel path, etc. to assist the robotic arm in completing operations or safely stopping the current task. By means of the mechanism, the monitoring system can evaluate the movement stability of the mechanical arm in real time and can also react to potential weight problems, so that equipment damage or safety accidents caused by overload are avoided.
Fig. 6 is a flowchart of a method for monitoring and adjusting the gripping stability of a robot arm according to an embodiment of the present invention, when the robot arm is in an unstable state and no weight abnormality exists, determining whether an abnormality exists, and if so, performing movement assistance.
As shown in fig. 6, in one or more embodiments, preferably, when the state is unstable and there is no weight abnormality, it is determined whether there is an action abnormality, and if there is an action abnormality, the movement assistance specifically includes:
S601, judging whether the moving speed of the current mechanical arm meets a third calculation formula or not;
S602, when the third calculation formula is met, the mechanical arm is considered to have no abnormal action;
S603, when the third calculation formula is not satisfied, judging that the motion is abnormal, judging the current vibration direction, and starting the interference of the opposite direction of the vibration to serve as the movement auxiliary to reduce the vibration;
the third calculation formula is as follows:
V＜Y2；
where V is the object weight and Y2 is the movement speed margin.
In the embodiment of the invention, under the condition that the mechanical arm is in an unstable state and no weight abnormality is detected, how to further judge whether the mechanical arm has an abnormal action or not and take a moving auxiliary measure according to the situation. The "third calculation formula" mentioned here is for evaluating whether the moving speed of the robot arm is out of the safety range, and the formula is as follows: v < Y2.
Wherein the meaning of each parameter is as follows: v is the current movement speed of the robot arm, typically measured in real time by a sensor or by video analysis. Y2 is a movement speed margin, which is a preset threshold value for judging whether the movement speed of the robot arm exceeds the maximum speed at which safe operation is possible in an unstable state.
The judging process is as follows: when the robot arm is judged to be in an unstable state (based on the result of the first calculation formula) and the weight is normal (based on the result of the second calculation formula), it is necessary to further check whether the moving speed thereof is normal. According to a third calculation formula, comparing the actual moving speed V with a moving speed margin Y2: if V is less than Y2, the movement speed of the mechanical arm is considered to be in a normal range, and no action abnormality exists;
if V is more than or equal to Y2, the movement speed of the mechanical arm is considered to be too high, and the movement is abnormal.
When an abnormality in the action is detected, in order to secure the safety of the operation and reduce the vibration, measures are required to assist the movement of the robot arm. This may include adjusting motion planning, reducing speed, increasing intermediate stopping points, etc. Meanwhile, the system judges the current vibration direction and starts the interference force in the opposite vibration direction, so as to serve as the movement assistance to reduce the vibration amplitude.
Fig. 7 is a flowchart of a method for monitoring and adjusting the grasping stability of a robot arm according to an embodiment of the invention, when the robot arm is in an unstable state and there is no abnormal operation, determining whether there is an external operation, and if so, determining whether the external disturbance is temporarily affected and processing.
As shown in fig. 7, in one or more embodiments, preferably, when the state is unstable and there is no abnormal operation, it is determined whether there is an external operation, and if there is an external operation, it is determined whether the external interference is temporarily affected and processed, which specifically includes:
S701, setting a closed curved surface, wherein the closed curved surface can wrap the whole moving range of the mechanical arm and the object to be grabbed;
S702, judging whether an object passing through a closed curved surface exists within 5 seconds before the unstable state occurs or not through a multi-angle video when the unstable state does not exist and the motion abnormality exists;
S703, if the maximum diameter of the object meets a fourth calculation formula, considering that external interference exists, otherwise, considering that the external interference does not exist;
s704, continuously judging whether an object which meets a fourth calculation formula passes through a closed curved surface or not in 60 seconds when external interference exists, and moving a shielding plate to a passing path of the object if the object passes through the closed curved surface and is continuously influenced;
s705, if the object which meets the fourth calculation formula and passes through the closed curved surface is judged to be no longer present in 60 seconds, the object is considered to be a temporary influence, and the vibration of the mechanical arm is reduced through the damping-increasing rubber rod and then the mechanical arm continues to work;
The fourth calculation formula is as follows:
D>Y3；
wherein D is the maximum diameter of the object, and Y3 is the diameter contrast margin.
In the embodiment of the invention, under the condition that the mechanical arm is in an unstable state and no abnormal action is detected, judging whether external interference exists or not, and taking corresponding measures according to the nature of the external interference. The "fourth calculation formula" is used for evaluating whether a large enough object passes through a set closed curved surface, so that interference may be caused to the mechanical arm, and the formula is as follows: d > Y3. Wherein the meaning of each parameter is as follows: d is the maximum diameter of the object through the closed curved surface, and this data can be obtained by analyzing multi-angle video. Y3 is a diameter contrast margin, which is a preset threshold value for determining whether the size of an object passing through the closed curved surface is sufficient to be considered as external disturbance.
The judging process is as follows: a closed curved surface is provided which should be able to completely encompass the full range of motion of the robotic arm and the object it grips. When the mechanical arm is in an unstable state and no action abnormality exists, analyzing multi-angle videos within 5 seconds before the unstable state occurs to judge whether an object passes through a closed curved surface.
If the maximum diameter D of the object is found to meet the fourth calculation formula (namely D > Y3), external interference is considered to exist; conversely, if no object satisfies the fourth calculation formula (i.e., D > Y3), then no external disturbance is considered to exist. If external disturbances are detected, the system will continue to monitor for objects that satisfy the fourth calculation formula again through the closed curved surface for 60 consecutive seconds: if so, it is considered a continuity effect and measures such as moving the shield onto the path of the object to block such interference will be taken. If no object satisfying the fourth calculation formula appears again within 60 seconds in succession, the external disturbance is considered to be temporary. In this case, the system would reduce the vibration of the robot arm by using a rubber rod that increases damping, and then the robot arm could continue to operate.
Through such monitoring and response mechanisms, the system is able to distinguish between temporary and continuity effects when external disturbances cause the robotic arm to be unstable, and take appropriate action to ensure smooth operation.
According to a second aspect of the embodiment of the invention, a mechanical arm grabbing stability monitoring and adjusting system is provided.
Fig. 8 is a block diagram of a robotic arm grasp stability monitoring and adjustment system in accordance with an embodiment of the present invention.
In one or more embodiments, preferably, the robotic arm gripping stability monitoring and adjustment system includes:
the system setting module 801 is configured to set a monitoring system of a system structure captured by the mechanical arm;
the multi-angle sensing module 802 is configured to start multi-angle monitoring by using the monitoring system to form a maximum video vibration amplitude;
the stability analysis module 803 is configured to determine whether the vibration of the mechanical arm is stable according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm;
the weight abnormality processing module 804 is configured to determine whether a weight abnormality exists in the unstable state, and if so, start the auxiliary support of the mechanical arm;
a speed abnormality processing module 805 configured to determine whether an operation abnormality exists when the state is unstable and there is no weight abnormality, and if so, to assist movement;
the external exception handling module 806 is configured to determine whether an external action exists when the external action is unstable and no action exception exists, and if so, determine whether external interference is temporarily affected and handled.
In the embodiment of the invention, a system suitable for different structures is realized through a series of modularized designs, and the system can realize closed-loop, reliable and efficient execution through acquisition, analysis and control.
According to a third aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement a method according to any of the first aspect of embodiments of the present invention.
According to a fourth aspect of an embodiment of the present invention, there is provided an electronic device. Fig. 9 is a block diagram of an electronic device in one embodiment of the invention. The electronic device shown in fig. 9 is a general-purpose mechanical arm grabbing stability monitoring and adjusting device, which comprises a general-purpose computer hardware structure, and at least comprises a processor 901 and a memory 902. The processor 901 and the memory 902 are connected by a bus 903. The memory 902 is adapted to store instructions or programs executable by the processor 901. The processor 901 may be a stand-alone microprocessor or may be a set of one or more microprocessors. Thus, the processor 901 performs the process of data and control of other devices by executing the instructions stored in the memory 902, thereby performing the method flow of the embodiment of the present invention as described above. The bus 903 connects the above components together, while connecting the above components to the display controller 904 and display device and input/output (I/O) device 905. Input/output (I/O) device 905 may be a mouse, keyboard, modem, network interface, touch input device, somatosensory input device, printer, and other devices known in the art. Typically, the input/output devices 905 are connected to the system through input/output (I/O) controllers 906.
The technical scheme provided by the embodiment of the invention can comprise the following beneficial effects:
According to the scheme, the on-line evaluation and monitoring method for the stability state of the mechanical arm by combining the multi-angle vibration structure is constructed, and the rapid analysis of the stability of the mechanical arm is realized.
According to the scheme, stability analysis and adjustment are realized through weight, speed and external interference impact analysis, and the grabbing stability of the mechanical arm is improved rapidly.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The method for monitoring and adjusting the grabbing stability of the mechanical arm is characterized by comprising the following steps:
a monitoring system of a system structure for grabbing the mechanical arm is arranged;
starting a monitoring system to monitor and form the maximum video vibration amplitude at multiple angles;
judging whether the vibration amplitude of the mechanical arm is stable or not according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm;
judging whether the weight is abnormal or not in an unstable state, and starting the auxiliary support of the mechanical arm if the weight is abnormal;
judging whether the motion is abnormal or not when the weight is abnormal in an unstable state, and if so, assisting the movement;
Judging whether external actions exist or not when the actions are unstable and abnormal actions do not exist, and judging whether external interference is temporarily affected and processed if the external actions exist;
judging whether the vibration amplitude of the mechanical arm is stable or not according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm, and specifically comprising:
obtaining the maximum video vibration amplitude and the vibration amplitude of the mechanical arm, and judging whether the mechanical arm meets a first calculation formula or not;
when the first calculation formula is not satisfied, the mechanical arm is in an unstable state;
When the first calculation formula is met, the mechanical arm is in a stable state;
The first calculation formula is as follows:
K×B+S＜Y；
wherein K is a conversion coefficient, S is the maximum video vibration amplitude, B is the vibration amplitude of the mechanical arm, and Y is a stable contrast margin;
when the mechanical arm is in an unstable state, judging whether the weight is abnormal or not, and if the weight is abnormal, starting the mechanical arm auxiliary support, wherein the mechanical arm auxiliary support specifically comprises:
judging whether a second calculation formula is satisfied or not in an unstable state;
when the second calculation formula is met, the mechanical arm is considered to have no weight abnormality;
When the second calculation formula is not satisfied, the mechanical arm is considered to have weight abnormality, and auxiliary support of the mechanical arm is started;
The second calculation formula is as follows:
G＜Y1；
Wherein G is the weight of the object, Y1 is the moving weight margin;
And when the unstable state does not exist and the motion abnormality exists, judging whether external motion exists, and if so, judging whether external interference is temporarily affected and processed, wherein the method specifically comprises the following steps of:
Setting a closed curved surface, wherein the closed curved surface can wrap the whole moving range of the mechanical arm and the object to be grabbed;
judging whether an object passing through a closed curved surface exists within 5 seconds before the unstable state occurs or not through a multi-angle video when the unstable state does not exist and the motion is abnormal;
If the maximum diameter of the object exists and meets the fourth calculation formula, the external interference is considered to exist, otherwise, the external interference is considered to be absent;
continuously judging whether an object which meets a fourth calculation formula passes through a closed curved surface or not within 60 seconds when external interference exists, and if so, moving a shielding plate to a passing path of the object under the influence of continuity;
if the object which meets the fourth calculation formula and passes through the closed curved surface is judged to be no longer in 60 seconds, the object is considered to be a temporary influence, and the vibration of the mechanical arm is reduced by increasing the damped rubber rod and then the mechanical arm continues to work;
The fourth calculation formula is as follows:
D>Y3；
wherein D is the maximum diameter of the object, and Y3 is the diameter contrast margin.
2. The method for monitoring and adjusting the grabbing stability of the mechanical arm according to claim 1, wherein the monitoring system for setting the system structure of grabbing the mechanical arm specifically comprises:
arranging a vibrating hammer on the mechanical arm, and monitoring the vibration amplitude of the mechanical arm in the moving process of the mechanical arm by the vibrating hammer;
cameras are arranged around the mechanical arm, and the movement condition of the mechanical arm is recorded.
3. The method for monitoring and adjusting the grabbing stability of the mechanical arm according to claim 1, wherein the monitoring system is used for starting multi-angle monitoring to form the maximum video vibration amplitude, and the method specifically comprises the following steps:
forming a monitoring video of the mechanical arm according to the monitoring system;
And forming maximum video vibration amplitude at different angles according to the comparison of the monitoring videos.
4. The method for monitoring and adjusting the grabbing stability of a mechanical arm according to claim 1, wherein when the mechanical arm is in an unstable state and no weight abnormality exists, determining whether an action abnormality exists, and if so, performing movement assistance, specifically comprising:
Judging whether the moving speed of the current mechanical arm meets a third calculation formula or not;
when the third calculation formula is met, the mechanical arm is considered to have no abnormal action;
when the third calculation formula is not satisfied, judging that the motion is abnormal, judging the current vibration direction, and starting the interference of the opposite direction of the vibration to serve as the movement auxiliary to reduce the vibration;
the third calculation formula is as follows:
V＜Y2；
where V is the object weight and Y2 is the movement speed margin.
5. A robotic arm gripping stability monitoring and adjustment system for implementing the method of any one of claims 1-4, the system comprising:
The system setting module is used for setting a monitoring system of a system structure grabbed by the mechanical arm;
the multi-angle sensing module is used for starting multi-angle monitoring by using the monitoring system to form the maximum video vibration amplitude;
the stability analysis module is used for judging whether the vibration amplitude of the mechanical arm is stable or not according to the maximum video vibration amplitude and the vibration amplitude of the mechanical arm;
the weight abnormality processing module is used for judging whether weight abnormality exists or not in an unstable state, and starting the auxiliary support of the mechanical arm if the weight abnormality exists;
The speed abnormality processing module is used for judging whether the action abnormality exists or not when the weight abnormality does not exist in an unstable state, and if the action abnormality exists, the movement assistance is performed;
and the external abnormality processing module is used for judging whether external actions exist or not when the actions are abnormal in an unstable state, and judging whether external interference is temporarily influenced and processed if the actions exist.
6. A computer readable storage medium, on which computer program instructions are stored, which computer program instructions, when executed by a processor, implement the method of any of claims 1-4.
7. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method of any of claims 1-4.
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| CN109822570A (en) * | 2019-01-31 | 2019-05-31 | 秒针信息技术有限公司 | The monitoring method and device of mechanical arm |
| CN114932560A (en) * | 2022-07-25 | 2022-08-23 | 山东贞元汽车车轮有限公司 | Automatic control method and system for grabbing hub by mechanical arm |
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| CN109822570A (en) * | 2019-01-31 | 2019-05-31 | 秒针信息技术有限公司 | The monitoring method and device of mechanical arm |
| CN114932560A (en) * | 2022-07-25 | 2022-08-23 | 山东贞元汽车车轮有限公司 | Automatic control method and system for grabbing hub by mechanical arm |
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