CN111070211B - Vehicle-mounted manipulator one-key grabbing and replacing control method, device and system - Google Patents
Vehicle-mounted manipulator one-key grabbing and replacing control method, device and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The embodiment of the invention provides a vehicle-mounted manipulator one-key grabbing and replacing control method, device and system, belonging to the technical field of manipulator control, wherein the method comprises the following steps: establishing a virtual barrier wall, and constructing a grabbing path and a putting-back path of the manipulator based on the virtual barrier wall; in the grabbing stage, in response to a first instruction sent by a user side, controlling the manipulator to move to a position above a target object, detecting that an execution tail end of the manipulator contacts the target object, controlling a first gripper and a second gripper of the execution tail end to grab the target object at a preset first output pressure, and moving the manipulator to a first target position according to a grabbing path; and controlling the first gripper and the second gripper to release the target object. According to the technical scheme, the grabbing path and the putting back path of the manipulator are determined based on the establishment of the barrier virtual wall, so that the operation safety is effectively guaranteed.
Description
Technical Field
The invention relates to the technical field of manipulator control, in particular to a vehicle-mounted manipulator one-key grabbing and returning control method, a vehicle-mounted manipulator one-key grabbing and returning control device and a vehicle-mounted manipulator one-key grabbing and returning control system.
Background
The condition that the barrier is probably appeared meeting at the in-process that current manipulator snatched and put back in the execution automation, thereby lead to incident or unnecessary loss, current path planning adopts visual algorithm to realize more, but visual algorithm relies on image acquisition, receive sheltering from or have the blind area when image acquisition, can influence path planning's accuracy, and simultaneously, snatching the in-process, the risk that the object atress was uneven and dropped can appear being snatched, in addition, the execution end location to the manipulator before snatching is inaccurate, also can lead to snatching the in-process and is snatched the object atress uneven and drop, thereby lead to incident or unnecessary loss.
Disclosure of Invention
The invention aims to provide a vehicle-mounted manipulator one-key grabbing and returning control method, a vehicle-mounted manipulator one-key grabbing and returning control device and a vehicle-mounted manipulator one-key grabbing and returning control system, and aims to solve the problems that path planning is limited in the automatic grabbing and returning process of the existing manipulator and a grabbed object is at risk of falling in the grabbing process.
In order to achieve the above object, in a first aspect of the present invention, there is provided an on-board manipulator one-touch capture and put-back automatic control method, including:
establishing a virtual barrier wall, and constructing a grabbing path and a putting-back path of a manipulator based on the virtual barrier wall;
a grabbing stage:
the method comprises the steps that a first instruction sent by a user side is responded, the manipulator is controlled to move to the position above a target object, after an execution tail end of the manipulator is detected to be in contact with the target object, a first gripper and a second gripper of the execution tail end are controlled to grab the target object at a preset first output pressure, and the manipulator is moved to a first target position according to a grabbing path;
controlling the first gripper and the second gripper to release the target object;
a release stage:
responding to a second instruction sent by a user side, controlling the manipulator to move to a position above a target object, controlling the first gripper and the second gripper to grip the target object at the first output pressure after detecting that an execution tail end of the manipulator contacts the target object, and moving the manipulator to a second target position according to the replacing path;
and after the first gripper and the second gripper are detected to release the target object, moving the manipulator to a third target position according to the replacing path.
Optionally, the establishing a virtual wall of the obstacle, and constructing a positioning path, a grabbing path, and a putting back path of the manipulator based on the virtual wall of the obstacle includes:
establishing a three-dimensional coordinate system based on the manipulator, and establishing barrier virtual wall coordinate points according to the three-dimensional coordinate system so that all barrier virtual wall coordinate points form a barrier virtual wall;
determining a control point of the manipulator, detecting a position signal of the control point of the manipulator through a detection assembly, and calculating the coordinate of the control point according to the position signal of the control point of the manipulator and the three-dimensional coordinate system, wherein the position signal comprises a pitch angle value, a rotation angle value and a telescopic displacement of the control point;
and constructing an execution path of the manipulator according to the coordinates of the control points and the virtual barrier wall, so that any control point of the manipulator does not interfere with the virtual barrier wall.
Optionally, after the controlling the manipulator to move above the target object in response to the first instruction sent by the user side, the method includes:
acquiring a first image from a first direction and a second image from a second direction;
determining the relative position of the execution end of the manipulator and the target object in a first direction through the first image, and determining the relative position of the execution end of the manipulator and the target object in a second direction through the second image;
when the relative position of the execution tail end of the manipulator in the first direction and the target object is judged to be larger than a first threshold value, the position of the execution tail end of the manipulator in the first direction is adjusted, so that the relative position of the execution tail end of the manipulator and the target object is smaller than the first threshold value; and
and when the relative position of the execution tail end of the manipulator in the second direction and the target object is judged to be larger than the first threshold, adjusting the position of the execution tail end of the manipulator in the second direction so as to enable the relative position of the execution tail end of the manipulator and the target object to be smaller than the first threshold.
Optionally, during the moving of the manipulator according to the grabbing path, the method further comprises:
detecting a first pressure value between the first gripper and the target object and a second pressure value between the second gripper and the target object, and increasing the output pressure of the second gripper when judging that the difference between the first pressure value and the second pressure value is larger than a second threshold value, so that the difference between the first pressure value and the second pressure value is smaller than the second threshold value, wherein the first pressure value is larger than the second pressure value.
Optionally, during the moving of the manipulator according to the grabbing path, the method further comprises:
and when detecting that the relative displacement between the execution tail end of the manipulator and the target object is greater than a third threshold value, controlling the first gripper and the second gripper to grip the target object at a second output pressure, wherein the second output pressure is greater than the first output pressure.
Optionally, in the grabbing stage, the controlling the first gripper and the second gripper to release the target object includes:
s1, controlling the first gripper and the second gripper to release the target object at a set angle, and detecting a third pressure value between the first gripper and the target object and a fourth pressure value between the second gripper and the target object;
s2, judging whether the third pressure value and the fourth pressure value reach set values, if so, turning to S4, and if not, turning to S3;
s3, judging whether the difference value between the third pressure value and the fourth pressure value is smaller than a fourth threshold value, if so, turning to S1, and if not, controlling the first gripper and the second gripper to stop releasing the target object and giving an alarm;
and S4, controlling the manipulator to move so that the execution tail end of the manipulator does not contact with the target object, and finishing the release of the target object.
Optionally, the method further comprises:
and when the linear distance between the coordinate of any control point of the manipulator and the coordinate of any virtual wall coordinate point of the barrier is judged to be smaller than a threshold value, controlling the manipulator to stop acting.
In a second aspect of the present invention, an on-vehicle manipulator one-touch grabbing and returning automatic control device is provided, which includes a memory and a processor, wherein the memory stores instructions, and the instructions are executed by the processor to implement the on-vehicle manipulator one-touch grabbing and returning automatic control method.
In a third aspect of the present invention, there is provided an on-vehicle manipulator one-touch grab put-back automatic control system, comprising:
the vehicle-mounted manipulator one-key grabbing and returning automatic control device;
a detection device for detecting whether the execution end of the manipulator contacts the target object, and
whether the first gripper and the second gripper at the executing end release the target object.
In a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon instructions which, when run on a computer, cause the computer to execute the on-board manipulator one-touch grab put-back automatic control method described above.
According to the technical scheme, the grabbing path and the putting back path of the manipulator are determined based on the establishment of the barrier virtual wall, so that the manipulator is effectively prevented from colliding with the barrier in the operation process, the safety of the manipulator in the operation process is guaranteed, and meanwhile, whether grabbing action is executed or not is judged by detecting whether the execution tail end of the manipulator is in contact with a target object or not after positioning, the grabbing safety is further guaranteed, and the grabbing success rate is improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of an implementation of a method for controlling an onboard manipulator to automatically grip and return by one key according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural diagram of a manipulator of an onboard manipulator one-touch grabbing and returning automatic control method according to a preferred embodiment of the present invention;
fig. 3 is a schematic diagram of a first spare tire of a vehicle-mounted manipulator one-touch grabbing and replacing automatic control method according to a preferred embodiment of the present invention;
fig. 4 is a schematic diagram of an image acquisition auxiliary positioning of an onboard manipulator one-touch grabbing and returning automatic control method according to a preferred embodiment of the present invention;
fig. 5 is a flowchart of a target object release process in a grabbing stage of an on-board manipulator one-touch grabbing and returning automatic control method according to a preferred embodiment of the present invention;
fig. 6 is a flowchart illustrating a spare tire grip path executing method of an onboard manipulator one-touch grip replacement automatic control method according to a preferred embodiment of the present invention;
fig. 7 is a flow chart of executing the spare tire replacement path of the onboard manipulator one-touch grabbing and replacing automatic control method according to the preferred embodiment of the present invention.
Description of the reference numerals
1-a first spare tire, 2-a second spare tire, 3-a third spare tire, 101-a turntable rotary encoder, 102-a main arm pitch angle sensor, 103-a telescopic arm length sensor, 104-a folding arm pitch angle sensor, 105-an execution terminal pitch angle sensor, 106-an execution terminal rotary angle sensor, 107-a left hand grip pressure sensor, 108-a right hand grip pressure sensor, 109-a displacement sensor, 110-a left hand grip angle sensor, 111-a right hand grip angle sensor, 112-a left hand grip proximity switch, 113-a right hand grip proximity switch, 201-a first camera, 202-a second camera.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As shown in fig. 1, in a first aspect of this embodiment, there is provided an on-board manipulator one-touch grabbing and returning automatic control method, including:
establishing a virtual barrier wall, and constructing a grabbing path and a putting-back path of the manipulator based on the virtual barrier wall;
a grabbing stage:
the method comprises the steps that a first instruction sent by a user side is responded, the manipulator is controlled to move to the position above a target object, after an execution tail end of the manipulator is detected to be in contact with the target object, a first gripper and a second gripper of the execution tail end are controlled to grab the target object at a preset first output pressure, and the manipulator is moved to a first target position according to a grabbing path;
controlling the first gripper and the second gripper to release the target object;
a release stage:
responding to a second instruction sent by the user side, controlling the manipulator to move to the position above the target object, controlling the first gripper and the second gripper to grip the target object at a first output pressure after detecting that the execution tail end of the manipulator contacts the target object, and moving the manipulator to a second target position according to the replacing path;
and after detecting that the first gripper and the second gripper release the target object, moving the manipulator to a third target position according to the release path.
Therefore, according to the technical scheme, the positioning path, the grabbing path and the putting back path of the manipulator are determined based on the established barrier virtual wall, the manipulator is effectively prevented from colliding with the barrier in the operation process, the safety of the manipulator in the operation process is guaranteed, meanwhile, whether grabbing action is executed or not is judged by detecting whether the manipulator execution tail end is in contact with a target object or not after positioning, the grabbing safety is further guaranteed, and the grabbing success rate is improved.
As shown in fig. 2 and 3, the manipulator is generally composed of a turntable, a main arm, a telescopic arm, a folding arm and an actuating end which are connected in sequence, wherein, the turntable is used for controlling the rotation angle of the main arm, the main arm is used for driving the telescopic arm, the folding arm and the execution tail end to execute pitching motion, the telescopic arm can execute telescopic motion, so as to meet the operation requirement, increase the operation coverage, the folding arm can execute and drive the executing end to perform pitching motion, and the executing end can execute rotating motion, the execution tail end comprises a first gripper and a second gripper which are symmetrically arranged and respectively comprise a left gripper and a right gripper, the left gripper and the right gripper jointly act to grab an object, and the manipulator mainly comprises 8 action modes which are respectively rotary of the rotary table, pitching of the main arm, stretching/shrinking of the telescopic arm, pitching of the folding arm, rotary of the execution tail end, pitching of the execution tail end, unfolding/folding of the left gripper and unfolding/folding of the right gripper. Because the operation area of the vehicle-mounted manipulator is mainly in the vehicle rear cabin which comprises different types such as a square cabin and a passageway cabin, the manipulator has the risk of collision of obstacles in the operation process. The execution main body of the embodiment is a controller, taking three spare tires in a vehicle rear compartment as an example, when an operator needs to grab a first spare tire 1, a first instruction is sent to the controller through a remote controller or a man-machine interaction device arranged in a cab, the man-machine interaction device can be a touch screen, the controller controls an execution tail end of a manipulator in a blank grabbing state to reach the position right above the first spare tire 1 placed in the vehicle rear compartment according to the first instruction, after the position of the execution tail end is determined, the controller receives data collected by a detection device, and judges whether the execution tail end is in contact with the first spare tire 1 according to the collected data, the detection device in the embodiment comprises a pressure sensor and a travel switch arranged on the execution tail end, a left grab hand pressure sensor 107, a left grab hand proximity switch 112 and a left grab hand grab angle sensor 110 arranged on a left grab, and a right grab hand grab pressure sensor 108 arranged on a right grab hand grab, The controller controls the left hand grip and the right hand grip to be unfolded according to a set angle according to angle signal data collected by the left hand grip angle sensor 110 and the right hand grip angle sensor 111, judges that the execution tail end is contacted with the first spare tire 1 when a travel switch signal right below the execution tail end and signals of the left hand grip proximity switch 112 and the right hand grip proximity switch 113 are collected, simultaneously judges that the execution tail end is closely contacted with the first spare tire 1 when a pressure value right below the execution tail end reaches a set threshold value, controls the left hand grip and the right hand grip to respectively grip the first spare tire 1 by preset first output pressure, generates a gripping path of the first spare tire 1 according to a set safety release position and an obstacle virtual wall after the first spare tire 1 is determined to be gripped by the controller, and controls the manipulator to act according to the gripping path of the first spare tire 1, snatch first spare tyre 1 from the initial position on the vehicle to the outer safety release position of vehicle, to different target object, different range values can be set for to first output pressure, and to snatching the spare tyre, the spare tyre can not drop and can not lead to the spare tyre to warp because of first output pressure value is too big when the first output pressure range of settlement should satisfy snatching the spare tyre. And after the manipulator reaches the first target position, the controller controls the left gripper and the right gripper to release the target object. When the spare tire is put back, an operator sends a second instruction to the controller through the remote controller or the human-computer interaction device, the controller controls the execution tail end of the manipulator to reach the position right above a first spare tire 1 outside the vehicle according to the second instruction, the controller receives data collected by the detection device, judges that the execution tail end is in contact with the first spare tire 1 according to the collected data, controls the left gripper and the right gripper to grip the first spare tire 1 at a first output pressure, generates a put-back path according to the set put-back position of the first spare tire 1 and the barrier virtual wall after judging that the manipulator grips the first spare tire 1, moves the manipulator to a second target position, namely the initial position of the first spare tire 1 in the rear cabin of the vehicle according to the put-back path, releases the first spare tire 1, and judges that the left gripper and the right gripper release the first spare tire 1 through the data collected by the detection device, and continuously moving the manipulator to a third target position, namely the set safety position according to the replacing path. When the grasping position and the placing back position of the target object on the vehicle are fixed, the grasping path and the placing back path may also be constructed in advance. Wherein the put-back path is composed of two parts, the first part is a path from an initial position when the target object is not grabbed to a release position where the target object is grabbed onto the vehicle, and the second part is a path from the release position of the target object on the vehicle to a safety position of the robot.
In order to ensure that the manipulator does not collide with the obstacle when operating according to the preset execution path, the method for establishing the virtual wall of the obstacle according to the embodiment includes the following steps:
establishing a three-dimensional coordinate system based on the manipulator, and establishing barrier virtual wall coordinate points according to the three-dimensional coordinate system so that all barrier virtual wall coordinate points form a barrier virtual wall;
determining a control point of the manipulator, detecting a position signal of the control point of the manipulator through a detection assembly, and calculating the coordinate of the control point according to the position signal of the control point of the manipulator and the three-dimensional coordinate system, wherein the position signal comprises a pitch angle value, a rotation angle value and a telescopic displacement of the control point;
and constructing an execution path of the manipulator according to the coordinates of the control points and the virtual barrier wall, so that any control point of the manipulator does not interfere with the virtual barrier wall.
Specifically, a three-dimensional coordinate system is established by taking the projection of a rotary table of a manipulator on the ground as an original point, barrier virtual wall coordinate points are established on the basis of the established three-dimensional coordinate system according to the specific outline of the vehicle, barrier virtual walls corresponding to the outline of the vehicle are formed by enclosing all the virtual wall coordinate points, all the barrier virtual wall coordinate points form a barrier virtual wall coordinate library and are stored in a storage electrically connected with a controller, and because different rear cabin types of the vehicle often have fixed shapes and sizes, a plurality of sets of barrier virtual wall coordinate libraries can be established in advance for different types of rear cabins, and when the vehicle is used, only the corresponding barrier virtual wall coordinate libraries need to be called through the controller. In order to avoid collision between the manipulator and the obstacle due to the fact that the manipulator does not act according to a preset execution path due to mechanical reasons, a control point of the manipulator needs to be determined in advance, in this embodiment, each joint point of the manipulator is used as a control point, other points on the manipulator can also be used as control points according to actual conditions, meanwhile, in order to avoid collision between the manipulator and a baffle of a cab and a rear cabin in the rotation process, the maximum rotation angle of any control point on the corresponding height of the cab and the baffle of the rear cabin is calculated in advance, and a controller limits the maximum rotation angle of the control point on the corresponding height according to the rotation angle, so that collision between the manipulator and the cab or the rear cabin is avoided, and the safety of the operation process of the manipulator is. The controller detects position signals of all joint points of the manipulator through a detection component electrically connected with the controller, wherein the position signals of the joint points comprise pitch angle values, rotation angle values and telescopic displacement values of the joint points of the manipulator, and taking the joint points between the telescopic arm and the folding arm as an example, the actions of the joint points comprise telescopic displacement, pitch and rotation, and the position signals of the joint points comprise pitch angles, rotation angles and lengths of the telescopic displacement; taking the joint point between the main arm and the turntable as an example, if the joint point does not perform the telescopic displacement action, the joint point comprises a pitch angle, a rotation angle and a length of telescopic displacement, wherein the length of the telescopic displacement is 0, and since the coordinate of the turntable is known and the length of the main arm is known, the coordinate of the joint point between the telescopic arm and the folding arm based on the established three-dimensional coordinate system can be obtained according to the telescopic displacement, the pitch angle value and the rotation angle value of the telescopic arm, and the coordinates of other joint points can be obtained in the same way. And constructing an execution path of the manipulator according to the determined manipulator control points and the coordinate points of the virtual wall of the obstacle, so that any control point of the manipulator is not overlapped with the coordinates of the coordinate points of the virtual wall of the obstacle, and the execution path of the manipulator can be determined by determining the path of each control point.
In order to eliminate the safety accident that the manipulator performs the path deviation to cause collision with the obstacle due to mechanical wear and aging, the method of the embodiment further comprises the following steps:
and when the minimum distance between the coordinate of any control point of the manipulator and the coordinate point of any virtual wall of the obstacle is judged to be smaller than a threshold value, controlling the manipulator to stop acting.
When the manipulator works, the controller acquires a position signal of a control point detected by the detection assembly in real time and calculates the current coordinate value of each control point, the obtained coordinate values are compared with coordinate points in a virtual wall coordinate library of the barrier respectively, the minimum distance between the coordinate of the control point and the coordinate point of the virtual wall of the barrier is calculated, whether the minimum distance is smaller than a preset threshold value or not is judged, if the linear distance between the coordinate of any one control point and the coordinate of any one virtual wall of the barrier is smaller than the preset threshold value, the controller judges that the manipulator enters a dangerous area, and controls the manipulator to stop acting so as to avoid collision. The detection component comprises a rotary table rotary encoder 101 for detecting main arm rotary angle information, a main arm pitch angle sensor 102 for detecting a main arm pitch angle, a telescopic arm length sensor 103 for detecting a telescopic arm length, a folding arm pitch angle sensor 104 for detecting a folding arm pitch angle, an execution terminal pitch angle sensor 105 for detecting an execution terminal pitch angle, an execution terminal rotary angle sensor 106 for detecting an execution terminal rotary angle and the like.
In order to ensure the safety of the grabbing, the grabbing position needs to be controlled so that the central point of the executing terminal is on the same axis as the center of gravity of the target object as much as possible, and the accuracy of the grabbing position is ensured by correcting the position of the executing terminal in at least two different directions during the positioning process of the executing terminal of the manipulator, so that after the manipulator is controlled to move above the target object in response to a first command sent by a user end, the method further comprises:
acquiring a first image from a first direction and a second image from a second direction;
determining the relative position of the execution tail end of the manipulator and the target object in the first direction through the first image, and determining the relative position of the execution tail end of the manipulator and the target object in the second direction through the second image;
when the relative position of the execution tail end of the manipulator in the first direction and the target object is judged to be larger than a first threshold value, the position of the execution tail end of the manipulator in the first direction is adjusted, so that the relative position of the execution tail end of the manipulator and the target object is smaller than the first threshold value; and
and when the relative position of the execution tail end of the manipulator in the second direction and the target object is judged to be larger than the first threshold, adjusting the position of the execution tail end of the manipulator in the second direction so that the relative position of the execution tail end of the manipulator and the target object is smaller than the first threshold.
As shown in fig. 4, after the execution terminal reaches a position right above the target object, the controller acquires, through 2 first and second cameras 201 and 202, images that form an included angle of 90 degrees with each other, to assist in performing terminal positioning, the first and second cameras 201 and 202 respectively acquire first and second images of the execution terminal and the target object in two directions, identify the execution terminal and the target object through contour extraction and feature point matching, acquire coordinates of contour center points of the execution terminal and the target object based on a camera coordinate system, convert the coordinates into actual coordinates, determine whether a horizontal distance between the contour center point of the execution terminal and the contour center point of the target object is greater than a first threshold, and if so, adjust a position of the execution terminal in the first direction until the horizontal distance between the execution terminal position and the target object is less than the first threshold. And similarly, adjusting the position of the execution tail end in the second direction until the horizontal distance between the execution tail end position and the target object is smaller than a first threshold value, and finishing the positioning of the execution tail end. The first direction and the second direction can be respectively the main view direction of the manipulator and the left view direction of the manipulator and can be other directions, after the manipulator is used for a long time, the mechanical structure of the manipulator can be worn and aged, so that the rotation and pitching actions of the manipulator deviate from a set value, the deviation of a grabbing position caused by the deviation caused by mechanical performance is avoided, when a positioning path is executed each time, the tail end positioning is executed on at least two different surfaces, the position of the tail end of the manipulator is adjusted according to a positioning result, the positioning precision is effectively guaranteed, the deviation is eliminated, and the deviation of the grabbing position is avoided.
In order to avoid the situation that the robot arm falls off the gripped object during the gripping process, in an alternative implementation manner of the embodiment, during the process of moving the robot arm according to the gripping path, the method further includes:
and when the difference between the first pressure value and the second pressure value is judged to be larger than a second threshold value, the output pressure of the second hand grip is increased, so that the difference between the first pressure value and the second pressure value is smaller than the second threshold value, wherein the first pressure value is larger than the second pressure value.
The controller receives a first pressure value between the left hand grip and the target object collected by the left hand grip pressure sensor 107 and a second pressure value between the right hand grip and the target object collected by the right hand grip pressure sensor 108 in real time, judges whether the difference between the first pressure value and the second pressure value is larger than a second threshold value or not, and if the difference is larger than the second threshold value, the controller judges that the gravity center of the target object is unbalanced, so that the target object is prevented from falling, the controller controls the right hand grip to increase output pressure, the difference between the first pressure value and the second pressure value is smaller than the second threshold value, the pressure of the left hand grip and the pressure of the right hand grip are relatively balanced, the target object is prevented from falling due to gravity center unbalance, and the first.
In order to avoid the situation that the gripped object falls off during the gripping process, in another optional implementation manner of the embodiment, during the process of moving the manipulator according to the gripping path, the method further comprises:
and when the relative displacement between the execution tail end of the detection manipulator and the target object is larger than a third threshold value, controlling the first gripper and the second gripper to grip the target object at a second output pressure, wherein the second output pressure is larger than the first output pressure.
In the grabbing process of the manipulator, the controller receives a displacement value between the execution tail end and the target object detected by the displacement sensor 109 in real time, and when the displacement value between the execution tail end and the target object is larger than a third threshold value, the left gripper and the right gripper are controlled to grab the target object at a second output pressure, wherein the second output pressure is larger than the first output pressure, so that the friction force between the left gripper and the target object is increased, and the target object is prevented from falling.
After the manipulator arrives at the setting position according to the grabbing route, still need to guarantee the safe release of target object, as shown in fig. 5, at the stage of grabbing, control first tongs and second tongs release target object, include:
s1, controlling the first gripper and the second gripper to release the target object at a set angle, and detecting a third pressure value between the first gripper and the target object and a fourth pressure value between the second gripper and the target object;
s2, judging whether the third pressure value and the fourth pressure value reach the set values, if so, turning to S4, and if not, turning to S3;
s3, judging whether the difference value between the third pressure value and the fourth pressure value is smaller than a fourth threshold value, if so, turning to S1, and if not, controlling the first gripper and the second gripper to stop releasing the target object and giving an alarm;
and S4, controlling the manipulator to move so that the execution tail end of the manipulator does not contact with the target object, and finishing the release of the target object. .
When the existing manipulator releases the target object, the left and right grippers are usually directly controlled to be unfolded for a certain angle to realize release, which may cause that the object is not completely released by the manipulator due to mechanical wear and aging, and then the next action is executed, meanwhile, when the manipulator releases the object, if the object has large mass and irregular shape, and if the ground of the release position is uneven, the object may roll and displace due to direct release, which brings potential safety hazards to surrounding personnel, therefore, in the release process of the embodiment, the target object is released at each set angle, the controller receives a third pressure value between the left gripper and the target object and a fourth pressure value between the right gripper and the target object after each release, and when the third pressure value and the fourth pressure value both reach set values, it is determined that the left gripper and the right gripper have completely released the target object, if any value of the third pressure value and the fourth pressure value is not a set value, the target object is judged not to be completely released, at the moment, whether the difference value between the third pressure value and the fourth pressure value is smaller than a fourth threshold value or not is judged, if yes, next releasing is executed according to a set angle, the process is repeated until the third pressure value and the fourth pressure value are both set values, the target object is judged to be completely released by the left gripper and the right gripper of the manipulator, the controller controls the execution tail end of the manipulator to vertically move upwards, meanwhile, whether the execution tail end of the manipulator completely leaves the target object or not is judged according to a signal fed back by the travel switch until the execution tail end of the manipulator completely leaves the target object, and releasing of the target object is completed. The above setting values can be set according to actual conditions. If the difference value between the third pressure value and the fourth pressure value is larger than the fourth threshold value in the releasing process, the fact that the stress of the left gripper and the right gripper is unbalanced is indicated, the controller judges that the target object is in danger of rolling and toppling, and controls the left gripper and the right gripper to stop releasing the target object and send an alarm to the user side, and therefore potential safety hazards are avoided. As shown in fig. 6 and 7, there are schematic paths for grabbing the first spare tire 1, the second spare tire 2, and the third spare tire 3 and schematic paths for replacing the first spare tire 1, the second spare tire 2, and the third spare tire 3 (shown as tire one, tire 2, and tire 3 in the figures), respectively, so as to respectively describe specific implementation processes for grabbing the first spare tire 1 and replacing the spare tire:
automatic grabbing process of the first spare tire 1:
before grabbing, the oil cylinder pressure of the left hand grab and the right hand grab is enabled to be less than or equal to 5MPa, signals of the travel switch and the proximity switch are free of signals, the fact that the hand grabs do not grab any object is shown, and bus faults, sensor faults, proximity switch faults, travel switch faults and oil cylinder pressure switch faults are avoided.
All automatic snatchs and revolve to 0 action, set for time limit 70s, main arm is automatic to be transferred to tongs top travel switch contact action, set for time limit 15s, and both exceed time limit, alarm, and stop the action. The left hand grab and the right hand grab are synchronously and automatically folded until the pressure of the left hand grab oil cylinder and the right hand grab oil cylinder is more than 21MPa, the set holding time is more than or equal to 2s, and pulse signal interference is prevented.
When grabbing, according to the preset grabbing path, the following steps are sequentially executed:
1) and executing the action: the main arm changes amplitude to 60 degrees (if the starting angle is more than or equal to 60 degrees, the amplitude does not act), the folding arm is folded to form an included angle of 105 degrees with the main arm (if the starting angle is more than or equal to 105 degrees, the folding arm does not act), the arm support extends to a set value L1/the gripper rotates to 0 degree, the upper vehicle rotates to 0 degree, and the arm support is fully contracted.
2) And executing the action: folding arm is folded to a set value A1/claw is opened synchronously to B1.
3) And executing the action: and (3) lowering the main arm to a set value C1 until a travel switch at the top of the gripper contacts, stopping lowering (if the angle of the main arm deviates 2 degrees from the set value C1, giving an alarm), and adjusting the angle of the folding arm according to the angle of the main arm to ensure that the main arm descends in the vertical direction.
4) And executing the action: and (3) synchronously folding the left hand grab and the right hand grab to a set value D1 until the pressure of the left hand grab and the right hand grab is more than 21MPa, stopping the action, namely detecting the angles of the left hand grab and the right hand grab (if the angle of the left hand grab and the right hand grab is different from the set value D1 by 2 degrees, alarming), detecting contact signals of travel switches of the left hand grab and the right hand grab, alarming if the contact signals of all proximity switches on the left hand grab and the right hand grab are not detected, automatically unfolding the left hand grab and the right hand grab to an initial angle B1, continuously folding the left hand grab and the right hand grab to a set condition.
5) And (3) rechecking and detecting the angle C1 of the main arm, the angle D1 of the left gripper and the right gripper, a travel switch signal and the pressure 21MPa of the left gripper oil cylinder and the right gripper oil cylinder, starting the main arm to change the amplitude to E1 (at the moment, the arm folding angle is adjusted according to the angle of the main arm to ensure that the main arm ascends in the vertical direction), stopping the action, and prompting the success of gripping.
Automatic replacement process of the first spare tire 1:
before the gripper is placed back, the pressure of the gripper oil cylinder is more than or equal to 21 MPa; signals are sent to the travel switch and the proximity switch to indicate that the gripper grabs the tire, and no bus fault, no sensor fault, no proximity switch fault, no travel switch fault and no oil cylinder pressure switch fault are ensured.
When the device is put back, the following steps are sequentially executed according to a preset execution path:
1) and executing the action: the main arm changes amplitude to 60 degrees (if the starting angle is larger than 60 degrees, the amplitude does not act)/is folded to form an included angle of 105 degrees with the main arm (if the starting angle is larger than 105 degrees, the folding arm does not act), the arm support extends to a set value L2/the gripper rotates to 0 degree, the upper vehicle rotates to 0 degree, and the arm support contracts fully.
2) And executing the action: the folding arm is folded to H1/main arm and is lowered to I1, namely the automatic cutting-in slow gear lowering action is carried out until the pressure value of a rodless cavity of the luffing cylinder is 0MPa (at the moment, the angle of the main arm is J1, if the difference value exceeds 2 degrees, an alarm is given, the action is stopped, and the replacement failure is prompted), and at the moment, the angle of the folding arm is adjusted according to the angle of the main arm, so that the main arm is ensured to descend in the vertical direction.
3) And executing the action: the left and right grippers are synchronously opened to K1 (at the moment, the left and right gripper travel switches and the proximity switch have no contact signals), amplitude is changed to N1 (at the moment, the arm folding angle is adjusted according to the angle of the main arm to ensure that the main arm rises in the vertical direction), the action is stopped, and the successful replacement is prompted.
In a second aspect of the present invention, a vehicle-mounted manipulator one-touch capture and put back automatic control device is provided, which includes a memory and a processor, wherein the memory stores instructions, and the instructions are executed by the processor to implement the vehicle-mounted manipulator one-touch capture and put back automatic control method.
In a third aspect of the present invention, there is provided an on-vehicle manipulator one-touch grab put-back automatic control system, comprising:
the vehicle-mounted manipulator one-key grabbing and returning automatic control device;
the detection device is used for detecting whether the execution tail end of the manipulator contacts the target object or not and whether the first gripper and the second gripper of the execution tail end release the target object or not.
In a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon instructions, which, when run on a computer, cause the computer to execute the on-board manipulator one-touch grab put-back automatic control method described above.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to make a single chip, a chip, or a processor (processor) execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (10)
1. A vehicle-mounted manipulator one-key grabbing and returning control method is characterized by comprising the following steps:
establishing a virtual barrier wall, and constructing a grabbing path and a putting-back path of a manipulator based on the virtual barrier wall;
a grabbing stage:
the method comprises the steps that a first instruction sent by a user side is responded, the manipulator is controlled to move to the position above a target object, after an execution tail end of the manipulator is detected to be in contact with the target object, a first gripper and a second gripper of the execution tail end are controlled to grab the target object at a preset first output pressure, and the manipulator is moved to a first target position according to a grabbing path; and
controlling the first gripper and the second gripper to release the target object;
a release stage:
responding to a second instruction sent by a user side, controlling the manipulator to move to a position above a target object, controlling the first gripper and the second gripper to grip the target object at the first output pressure after detecting that an execution tail end of the manipulator contacts the target object, and moving the manipulator to a second target position according to the replacing path; and
and after the first gripper and the second gripper are detected to release the target object, moving the manipulator to a third target position according to the replacing path.
2. The vehicle-mounted manipulator one-touch grabbing and replacing control method according to claim 1, wherein the establishing of the virtual barrier wall and the constructing of the execution path of the manipulator based on the virtual barrier wall comprise:
establishing a three-dimensional coordinate system based on the manipulator, and establishing barrier virtual wall coordinate points according to the three-dimensional coordinate system so that all barrier virtual wall coordinate points form a barrier virtual wall;
determining a control point of the manipulator, detecting a position signal of the control point of the manipulator through a detection assembly, and calculating the coordinate of the control point according to the position signal of the control point of the manipulator and the three-dimensional coordinate system, wherein the position signal comprises a pitch angle value, a rotation angle value and a telescopic displacement of the control point;
and constructing an execution path of the manipulator according to the coordinates of the control points and the virtual barrier wall, so that any control point of the manipulator does not interfere with the virtual barrier wall.
3. The vehicle-mounted manipulator one-touch grabbing and placing control method according to claim 1, wherein after controlling the manipulator to move above a target object in response to a first instruction sent by a user side, the method further comprises:
acquiring a first image from a first direction and a second image from a second direction;
determining the relative position of the execution end of the manipulator and the target object in a first direction through the first image, and determining the relative position of the execution end of the manipulator and the target object in a second direction through the second image;
when the relative position of the execution tail end of the manipulator in the first direction and the target object is judged to be larger than a first threshold value, the position of the execution tail end of the manipulator in the first direction is adjusted, so that the relative position of the execution tail end of the manipulator and the target object is smaller than the first threshold value; and
and when the relative position of the execution tail end of the manipulator in the second direction and the target object is judged to be larger than the first threshold, adjusting the position of the execution tail end of the manipulator in the second direction so as to enable the relative position of the execution tail end of the manipulator and the target object to be smaller than the first threshold.
4. The on-board manipulator one-touch grab put-back control method according to claim 1, wherein in moving the manipulator according to the grab path, the method further comprises:
detecting a first pressure value between the first gripper and the target object and a second pressure value between the second gripper and the target object, and increasing the output pressure of the second gripper when judging that the difference between the first pressure value and the second pressure value is larger than a second threshold value, so that the difference between the first pressure value and the second pressure value is smaller than the second threshold value, wherein the first pressure value is larger than the second pressure value.
5. The on-board manipulator one-touch grab put-back control method according to claim 1, wherein in moving the manipulator according to the grab path, the method further comprises:
and when detecting that the relative displacement between the execution tail end of the manipulator and the target object is greater than a third threshold value, controlling the first gripper and the second gripper to grip the target object at a second output pressure, wherein the second output pressure is greater than the first output pressure.
6. The vehicle-mounted manipulator one-touch grabbing and returning control method according to claim 1, wherein the step of controlling the first gripper and the second gripper to release the target object in a grabbing stage comprises the following steps:
s1, controlling the first gripper and the second gripper to release the target object at a set angle, and detecting a third pressure value between the first gripper and the target object and a fourth pressure value between the second gripper and the target object;
s2, judging whether the third pressure value and the fourth pressure value reach set values, if so, turning to S4, and if not, turning to S3;
s3, judging whether the difference value between the third pressure value and the fourth pressure value is smaller than a fourth threshold value, if so, turning to S1, and if not, controlling the first gripper and the second gripper to stop releasing the target object and giving an alarm;
and S4, controlling the manipulator to move so that the execution tail end of the manipulator does not contact with the target object, and finishing the release of the target object.
7. The vehicle-mounted manipulator one-touch grabbing and returning control method according to claim 2, further comprising:
and when the linear distance between the coordinate of any control point of the manipulator and the coordinate of any virtual wall coordinate point of the barrier is judged to be smaller than a threshold value, controlling the manipulator to stop acting.
8. An on-vehicle manipulator one-click grabbing and returning control device, comprising a memory and a processor, wherein the memory stores instructions, and the instructions are executed by the processor to realize the on-vehicle manipulator one-click grabbing and returning control method according to any one of claims 1 to 7.
9. The utility model provides a vehicle-mounted manipulator a key snatchs puts back control system which characterized in that includes: the vehicle-mounted manipulator one-touch grabbing and replacing control device of claim 8;
the detection device is used for detecting whether the execution tail end of the manipulator contacts a target object or not and whether the first gripper and the second gripper of the execution tail end release the target object or not.
10. A computer-readable storage medium having stored thereon instructions which, when run on a computer, cause the computer to execute the on-board manipulator one-touch grab put-back control method of any one of claims 1 to 7.
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| CN112338920B (en) * | 2020-11-04 | 2022-04-15 | 中国联合网络通信集团有限公司 | Data processing method, device and equipment |
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| CN114648573A (en) * | 2022-03-21 | 2022-06-21 | 三一重工股份有限公司 | Battery grabbing and positioning method, device and equipment |
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