CN105751199B - The method of operating of all-hydraulic autonomous mechanical arm - Google Patents
The method of operating of all-hydraulic autonomous mechanical arm Download PDFInfo
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- CN105751199B CN105751199B CN201610236245.3A CN201610236245A CN105751199B CN 105751199 B CN105751199 B CN 105751199B CN 201610236245 A CN201610236245 A CN 201610236245A CN 105751199 B CN105751199 B CN 105751199B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of method of operating of all-hydraulic autonomous mechanical arm, belong to mechanical arm technical field.All-hydraulic autonomous mechanical arm includes omni-directional moving platform, and double mechanical arms, dynamical system, vision system and perception and control system are provided on omni-directional moving platform, wherein：Revolution waist device is provided on omni-directional moving platform, double mechanical arms are arranged on by turning round waist device on omni-directional moving platform, and double mechanical arms are with multivariant apery arm structure；Dynamical system uses engine hydraulic drive pattern；Vision system includes navigation camera, big visual field servo camera and trick camera；Perceive includes joint force snesor, joint position sensor and six-dimension force sensor with control system, and the present invention disclosure satisfy that large-mass workpiece moves the demand of operation on a large scale.
Description
Technical field
The present invention relates to mechanical arm technical fields, particularly relate to a kind of method of operating of all-hydraulic autonomous mechanical arm.
Background technology
Past 30 Years, China's manufacturing industry obtain fast-developing and rapid progress under inexpensive labor advantage, become
Manufacture big country of the world.But into since 10 years 21 centuries second, labor cost steeply rises, and is with after 80s, after 90s
The interest that main workforce population works to the industry for being engaged in dull repetition, working environment difference is decreased obviously, and manufacturing industry is with machine
People substitutes artificial demand and is continuously available excitation.
Mobile mechanical arm has huge market potential, and by taking Tire production industry as an example, China's tire yield accounts for the whole world
50%, but vulcanize the work such as the transport of tire base in production technology, storage storage and finished tire selection on the conveyor line also
It needing to be accomplished manually, the flexible installing on tire base to vulcanizer is also largely by manually, and not only labor intensity is big, but also in workshop
Sulfide staining is serious, and very big harm is caused to the occupational health of worker, and tire enterprise is caused recruitment famine, enterprise pair largely occur
The demand of mobile mechanical arm is at 3000 or so, and market capacity is at 5,000,000,000 yuan or so；Mechanical processing (clamping of forging forges,
The clamping welding of weldment, assembling, selection, transport of big quality parts etc.), large size dangerous material and ammunition operation, engineering and city
Also there is hydraulic-driven mobile mechanical arm in political affairs construction and other industries enterprise wilderness demand, and the overall market capacity is at 20,000,000,000 yuan or more.
The characteristics of heavy load autonomous mechanical arm of hydraulic-driven combines mobile robot platform and mechanical arm, simultaneously
With autonomous and operating function, mechanical arm is made to have the motion redundancy of height and the working space of bigger, it can be more
Task in the short time with the completion of more preferably pose in larger scope, the form that can move operation are widely used in the dress of workpiece
Match somebody with somebody, choose, carry, press forging forges clamping and carrying, and automating, being high for production process is realized in the clamping welding of weldment
Effectization, the work big instead of being accomplished manually bad environments, labor intensity are provided with for horizontal the significantly improving of worker's occupational health
It tries hard to keep barrier.
Therefore, the assembling for relatively large workpiece, press forging forge clamping and carrying, the clamping of weldment welding, have
Necessity develops a kind of method of operating for the all-hydraulic autonomous mechanical arm that disclosure satisfy that the demand.
The content of the invention
The present invention provides a kind of all-hydraulic autonomous machine that disclosure satisfy that large-mass workpiece and move job requirements on a large scale
The method of operating of tool arm.
In order to solve the above technical problems, present invention offer technical solution is as follows：
A kind of all-hydraulic autonomous mechanical arm, including omni-directional moving platform, is set on the omni-directional moving platform
There are double mechanical arms, dynamical system, vision system and perception and control system, wherein：
Revolution waist device is provided on the omni-directional moving platform, the double mechanical arms are filled by the revolution waist
It puts and is arranged on the omni-directional moving platform, the double mechanical arms are with multivariant apery arm structure；
The dynamical system uses engine-hydraulic-driven pattern；
The vision system includes navigation camera, big visual field servo camera and trick camera；
The perception includes joint force snesor, joint position sensor and six-dimension force sensor with control system, described
Joint force snesor and joint position sensor are arranged on each joint of the double mechanical arms, and the six-dimension force sensor is set
In the end of every mechanical arm of the double mechanical arms.
Further, every mechanical arm of the double mechanical arms has 6 rotary joints, and each rotary joint is oily by swinging
Cylinder or fluid motor-driven, the revolution waist device is by fluid motor-driven；All hydraulic motor uses electrohydraulic servo valve
Control.
Further, the navigation camera is 2 colored monoculars navigation cameras, is separately positioned on the all-around mobile and puts down
The rear and front end of platform, the big visual field servo camera are arranged on the top of the revolution waist device, and the trick camera is 2
Color solid trick camera is separately positioned on the end of every mechanical arm of the double mechanical arms.
Further, the dynamical system uses the airborne engine using combustion gas as the energy to provide power, described comprehensive
Mobile platform is equipped with to detect using the hydraulic pressure driving wheel built in suspension-driving, the surrounding of the omni-directional moving platform
The ultrasonic sensor and wide angle camera of barrier.
Further, the perception further includes to detect posture, the angle of the omni-directional moving platform with control system
It the vertical gyroscope component of speed and acceleration and is passed for detecting the wheel speed of the vehicle wheel rotational speed of the omni-directional moving platform
Sensor.
Further, the band of the controller of the double mechanical arms is wider than the band of the controller of the omni-directional moving platform
It is wide.
A kind of method of operating of all-hydraulic autonomous mechanical arm, the all-hydraulic autonomous mechanical arm have first to move
Operation mode, the omni-directional moving platform movement, the double mechanical arms are static under first pattern, and described first is dynamic
The corresponding method of operating of operation mode includes：
Step (1)：The path tracked is planned using nonholonomic constraint condition；
Step (2)：According to the path that the step (1) is planned, the motor pattern of the omni-directional moving platform, institute are set
Stating motor pattern includes Ackerman steerings, double Ackerman steerings or wheel motor pattern in the same direction；
Step (3)：Measure the course, position and velocity deviation of the omni-directional moving platform；
Step (4)：Based on incomplete omni-directional moving platform kinematics model, calculated using Auto-disturbance-rejection Control described in
Corner and spin rate control quantity needed for omni-directional moving platform；
Step (5)：The bottom control of the corner and rotating speed of the omni-directional moving platform is realized using Auto-disturbance-rejection Control
System.
A kind of method of operating of all-hydraulic autonomous mechanical arm, the all-hydraulic autonomous mechanical arm also have second
Pattern, the omni-directional moving platform is static under second pattern, double mechanical arms movement, and described second
The corresponding method of operating of pattern includes：
Step (1)：The navigation camera guides the omni-directional moving platform so that pose to be specified to enter operation station, and makes
Dynamic, locking；
Step (2)：The big visual field servo camera search workpiece, guides the double mechanical arms convergence workpiece；
Step (3)：When the end of the double mechanical arms reaches near workpieces certain distance, workpiece enters the trick camera
Field range in when, perform step (4), otherwise perform the step (2)；
Step (4)：The double mechanical arms are under the monitoring of the big visual field servo camera, and drawing in the trick camera
It leads and performs job task under the control of Visual servoing control device, if workpiece departs from the field range of the trick camera,
The step (2) is performed, the double mechanical arms are led back near workpieces again.
Further, coordinate of the origin at the barycenter of the omni-directional moving platform, parallel with world coordinate system is selected
Be to freeze world coordinate system as the double mechanical arms and the big visual field servo camera, this freeze world coordinate system with it is described
Omni-directional moving platform moves together.
A kind of method of operating of all-hydraulic autonomous mechanical arm, the all-hydraulic autonomous mechanical arm also have the 3rd
Pattern, the omni-directional moving platform movement, double mechanical arms movement under the 3rd pattern, the described 3rd
The corresponding method of operating of pattern includes：
Step (1)：The navigation camera guides the omni-directional moving platform to be moved near Path of Moving Object；
Step (2)：The big visual field servo camera search, the appearance of monitoring moving target, moving target once occur, institute
It states big visual field servo camera moving target is identified, if moving target is target to be captured, estimates moving target phase
To the distance of the omni-directional moving platform, otherwise continue search for；
Step (3)：The position of moving target to be captured is supplied to the control system of the double-movement mechanical arm, is utilized
The big visual field servo camera guides the omni-directional moving platform to be moved to moving target to be captured, while controls described double
Mobile mechanical arm is moved towards moving target to be captured, until moving target to be captured is completely in the double mechanical arms
When in task space and having certain allowance, control the omni-directional moving platform synchronous with moving target to be captured；
Step (4)：The big visual field servo camera guides the end convergence of double mechanical arms moving target to be captured,
Until moving target to be captured is in the visual field of the trick camera；
Step (5)：Under the monitoring of the big visual field servo camera, the double mechanical arms are guided using the trick camera
Workpiece is captured.
The invention has the advantages that：
Compared with prior art, all-hydraulic autonomous mechanical arm of the invention, since double mechanical arms are by turning round waist
Device is arranged on omni-directional moving platform, and double mechanical arms have multivariant apery arm structure, can complete " to return
Turn ", " pitching ", " roll ", the actions such as " crawl ", can preferably adapt to move the needs of operation；Vision system is distinctive to lead
Navigate camera, big visual field servo camera and trick camera, is the accurate navigation of omni-directional moving platform and accurate installation, the essence of target
Standard judges and crawl provides guarantee；Dynamical system uses the pattern of engine-hydraulic-driven, meets double mechanical arms and carries out greatly
The requirement of mass workpiece assembling, moving-target crawl job task to high power density energy and high dynamic response ability；Perceive with
Control system includes joint force snesor, joint position sensor and six-dimension force sensor so that double mechanical arms possess power control
Ability realizes flexible assembly function.To sum up, the present invention disclosure satisfy that large-mass workpiece moves the demand of operation on a large scale, fill out
The blank of the automation of production process in Tire production industry has been mended, has been provided for horizontal the significantly improving of worker's occupational health strong
It ensures, brings huge market value.
Description of the drawings
Fig. 1 is the overall structure diagram of the all-hydraulic autonomous mechanical arm of the present invention；
Fig. 2 is the structure diagram of the double mechanical arms of the all-hydraulic autonomous mechanical arm of the present invention；
Fig. 3 is that the double mechanical arms of the all-hydraulic autonomous mechanical arm of the present invention move the signal of closed-loop control handoff procedure
Figure.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of all-hydraulic autonomous mechanical arm, as shown in Figure 1 to Figure 2, including comprehensive shifting
Moving platform 1 is provided with double mechanical arms 2, dynamical system, vision system on omni-directional moving platform 1 and perceives and be with control
System, wherein：
Revolution waist device 11 is provided on omni-directional moving platform 1, double mechanical arms 2 set 11 by turning round waist device
On omni-directional moving platform 1, double mechanical arms 2 are with multivariant apery arm structure；
Dynamical system uses engine-hydraulic-driven pattern；
Vision system includes navigation camera 31, big visual field servo camera 32 and trick camera 33；
Perceive includes joint force snesor, joint position sensor and six-dimension force sensor 41, joint power with control system
Sensor and joint position sensor are arranged on each joint of double mechanical arms 2, and six-dimension force sensor 41 is arranged on double mechanical arms 2
Every mechanical arm end.
During specific design, double mechanical arms configuration is designed with its load capacity, working space, control accuracy and operating rate etc.
Performance indicator, using big rigidity, lightweight as Main Design Principles；Use quality is light in material selection, the high hard aluminium processed of rigidity
Material；It in structure design, is connected using thin board type structure, long cylinder uses the flanged type mechanism of light wall pipe, while is ensureing double mechanical arms
On the premise of rigidity, increase lightening hole at connector, in addition encoder is connected to the outer end of babinet, this connection mode is significantly
Reduce the length and radius needed for babinet, so as to alleviate joint weight, reduce the moment of inertia in entire joint；Optimization design
On, on the basis of CAD modelings using ANSYS analysis softwares the rigidity of double mechanical arms and lightweight are done it is further check with it is excellent
Change, so that it is determined that each joint meets the minimum thickness of connecting plate on the premise of rigidity requirement, and using Topology Optimization Method
Lightweight topological structure is obtained, processing technology is considered, chooses optimal designing scheme.
The present invention all-hydraulic autonomous mechanical arm, due to double mechanical arms by turn round waist device be arranged on it is comprehensive
On mobile platform, and double mechanical arms have multivariant apery arm structure, can complete " turn round ", " pitching ", " horizontal stroke
The actions such as rolling ", " crawl " can preferably adapt to the needs of mobile operation；The distinctive navigation camera of vision system, big visual field are watched
Camera and trick camera are taken, is that the accurate of omni-directional moving platform is navigated and accurate installation, the accurate judgement and crawl of target carry
It has supplied to ensure；Dynamical system uses the pattern of engine-hydraulic-driven, meet double mechanical arms carry out large-mass workpiece assembling,
Moving-target captures requirement of the job task to high power density energy and high dynamic response ability；Perceive includes closing with control system
Save force snesor, joint position sensor and six-dimension force sensor so that double mechanical arms possess power control ability, utilize six-dimensional force
The reaction force of workpiece when sensor detects flexible assembly operation realizes mechanical arm Shared control and provides support.To sum up, this hair
The bright demand that disclosure satisfy that large-mass workpiece and move operation on a large scale, has filled up the automation of production process in Tire production industry
Blank provides powerful guarantee for horizontal the significantly improving of worker's occupational health, brings huge market value.
As a modification of the present invention, as shown in Figure 1 to Figure 2, every mechanical arm of double mechanical arms 2 can have 6
Rotary joint, each rotary joint can be driven by oscillating oil cylinder or fluid motor-driven, revolution waist device 11 by hydraulic motor
It is dynamic；All hydraulic motor is preferably controlled using electrohydraulic servo valve.This structure meets hydraulic power system to cruising time
With the requirement of big driving power.Large-mass workpiece assembling is carried out to meet double mechanical arms, moving-target captures job task to Gao Gong
The requirement of rate density energy and high dynamic response ability, dynamical system use engine-hydraulic-driven pattern, and system shares 27
Hydraulic actuator, 1 Active suspension hydraulic cylinder and 1 steering oscillating oil cylinder, 6 rotary joints of each mechanical arm are equal
There are oscillating oil cylinder or fluid motor-driven, the rotary motion of two mechanical arms is by 1 fluid motor-driven.To ensure the height of system
Dynamic, whole hydraulic actuators are controlled using electrohydraulic servo valve.To meet hydraulic power system to cruising time and big drive
The requirement of dynamic power, hydraulic system provide power by 1 airborne engine；Low emission is wanted to meet indoor work long hours
It asks, engine forms gas engine-hydraulic power system using combustion gas as the energy.
In order to ensure to navigate, camera 31 realizes accurate navigation during navigation, is provided substantially for Visual servoing control
Information, the functions such as the quick positioning of realization double mechanical arms 2, the quick identification of workpiece, the autonomous positioning of moving-target and crawl, preferably
, navigation camera 31 is 2 colored monoculars navigation cameras, is separately positioned on the rear and front end of omni-directional moving platform 1, big visual field
Servo camera 32 is arranged on the top of revolution waist device 11, and trick camera 33 is 2 color solid trick cameras, is set respectively
In the end of every mechanical arm of double mechanical arms 2.Specifically, the versatility from platform and the high adaptability to environment consider,
For priming platform navigation based on vision guided navigation, platform front and rear respectively installs 1 colored monocular navigation camera；Double mechanical arms are made
Industry uses Visual servoing control scheme, and 1 big visual field servo stereoscopic camera is configured above double mechanical arms waist, which passes through
Pitching and orientation two-dimensional pan-tilt and revolution axis connection, can be synchronized with the movement with waist, also can asynchronous movement, for static workpiece,
The coarse positioning of moving-target and the guiding to double mechanical arms movement；The colour of 1 narrow visual field is respectively arranged in the end of two mechanical arms
Three-dimensional trick camera, for workpiece and moving target identification, be accurately positioned and the accurate control of double-manipulator.2 navigation
The trick camera of camera, 1 big visual field servo camera and 2 narrow scene provides essential information for Visual servoing control jointly, real
The functions such as the now quick positioning of double mechanical arms, the quick identification of workpiece, the autonomous positioning of moving-target and crawl；In mobile platform
Left and right side respectively installs the big visual field camera of 1 low cost additional, and forms security protection vision system with forward and backward navigation camera.
Another as the present invention improves, and it is dynamic that dynamical system preferably uses the airborne engine using combustion gas as the energy to provide
Power can so meet the indoor requirement to work long hours to low emission, and engine forms combustion gas and start using combustion gas as the energy
Machine-hydraulic power system；In order to ensure the present invention can all-around mobile and with high load capability, omni-directional moving platform is adopted
With rubber belt track chassis, built-in differential steering gear, crawler bearing area is big, has damping effect.For comprehensive detection
Barrier around omni-directional moving platform, the surrounding of omni-directional moving platform can be equipped with to detect the ultrasound of barrier
Wave sensor and wide angle camera, wide angle camera can monitor the barrier that ultrasonic sensor can not perceive.Specifically, meeting
Reducing distortion as far as possible while moving damping, by the uncontrollability of platform stance and height change control to minimum.Continuous work
Engine, hydraulic pump can form high temperature heat source, be arranged in the piggyback pod of platform one end, and pass through thermal insulation board and platform
Other parts isolation, influence of the control heat radiation to other devices；Wheelspan, wheelbase, Mass Distribution and wheel system characteristic (are driven
Dynamic, suspension, turn to and tire characteristics) etc. key parameters optimization and mobile mechanical arm global optimization carry out together.Continuous work
Engine, hydraulic pump can form high temperature heat source, be arranged in the piggyback pod of platform one end, and pass through thermal insulation board and platform
Other parts isolation, influence of the control heat radiation to other devices；Wheelspan, wheelbase, Mass Distribution and wheel system characteristic (are driven
Dynamic, suspension, turn to and tire characteristics) etc. the optimization of key parameters move global optimization with double mechanical arms and carry out together.
In the present invention, perception can also include the posture, the angular speed that detect omni-directional moving platform 1 with control system
It is passed with the vertical gyroscope component (not shown) of acceleration and for detecting the wheel speed of the vehicle wheel rotational speed of omni-directional moving platform
Sensor (not shown).It so may insure the all-around mobile and high load capability of omni-directional moving platform so that comprehensive shifting
Moving platform being capable of safe operation.To realize flexible assembly function, double mechanical arms should possess power control ability.For this purpose, except in two-shipper
It is respectively mounted on each joint of tool arm outside 1 joint position sensor, also in the respectively installation 1 general six of the end of 2 mechanical arms
Dimensional force sensor is respectively mounted 1 joint force snesor on each joint of mechanical arm.Meanwhile pacify on omni-directional moving platform
Attitude transducer is filled, simplifies the complexity of double mechanical arms system control.Mechanical arm-movement of servo is felt using view-based access control model and power
Platform total tune method realizes that the coordination of mobile mechanical arm and Shared control, control system architecture are used with hierarchical
For the hybrid architecture of core, hardware architecture uses bus type distributed architecture, and the architecture is by organizational planning, association
The servo tertiary structure that reconciles forms, and is a kind of multilevel distributed structure on the whole.Wherein, " mobile mechanical arm posture and state " by
Sensor is obtained with sensory perceptual system；" stability monitoring " carries out static system, dynamic stability according to specific stability criterion
Judge, when unstable trend occurs in the system of discovery, stop job task in progress by " task scheduling ", start " steady
Determine emergency controller " carry out stability contorting；" security protection monitoring " is to other safety in addition to mobile double mechanical arms stability
Problem is monitored, abnormal including collision, foreign matter intrusion, engine temperature rise, hydraulic oil output pressure/loine pressure extremely
Reduce or raise etc..
Due to when moving double mechanical arms, there is very strong nonlinear Dynamic Coupling between double mechanical arms and mobile platform
Effect, so the bandwidth of the controller of double mechanical arms is preferably greater than the bandwidth of the controller of omni-directional moving platform.It is so mobile
Influence of the platform to double mechanical arms is serious more than influence of the double mechanical arms to mobile platform, can be by mobile platform to double mechanical arms
Influence be minimized, the decoupling control between mobile platform and double mechanical arms is realized with this.
The present invention builds distributed computer control system, using built-in industrial control machine as master using CAN bus structure
Controller realizes the functions such as task scheduling, control targe planning and the stability monitoring of organizational planning's grade, using DSP or list
Piece machine is realized as distributed director and coordinates mass motion coordination control strategy in grade, whole Shared control strategy, stablizes and answer
The generation of anxious control strategy etc., and realize the tasks such as generation of each SERVO CONTROL reference locus and control strategy in servo grade.
It exemplified by the specific course of work, introduces the present invention in Tire production industry by all-hydraulic autonomous mechanical arm and implements
Control method under several movements and work pattern of example.
A. mobile platform moves, and mechanical arm static (PM-MS, Platform Move-Manipulator Stop) is mainly used
In workpiece transport, sometimes also using the pattern when mechanical arm just positions, carrying out motion control to mobile platform in this mode is
It can.
B. mobile platform is static, and manipulator motion (PS-MM, Platform Stop-Manipulator Move) is mainly used
In the positioning and crawl of target, the submissive assembling of workpiece, which needs to implement Single Mechanical arm, double mechanical arms and mobile platform
Motion control and Shared control.
C. mobile platform moves, and manipulator motion (PM-MM, Platform Move-Manipulator Move) is mainly used
In the positioning and crawl of moving-target, which needs to carry out mass motion control and Shared control to mobile platform and mechanical arm.
1. the motion control method of mobile platform under PM-MS patterns
The omni-directional moving platform highest movement speed 3m/s that the present invention develops belongs to low-speed motion, therefore need not consider to take turns
The motion control that kinematics model carries out omni-directional moving platform can be used directly in the dynamics of tire.
The path following control problem participated in for no mechanical arm：
A. the path tracked is planned using nonholonomic constraint condition；
B. the path planned according to step (1), sets the motor pattern of omni-directional moving platform, and motor pattern includes
Ackerman is turned to, double Ackerman are turned to or wheel motor pattern in the same direction；
C. the course, position and velocity deviation of the omni-directional moving platform are measured；
D. based on incomplete omni-directional moving platform kinematics model, calculated using Auto-disturbance-rejection Control described comprehensive
Corner and spin rate control quantity needed for mobile platform；
E. the corner of the omni-directional moving platform and the bottom control of rotating speed are realized using Auto-disturbance-rejection Control.
When limited working space, use pattern dispatching method carries out motor pattern switching control, makes mobile platform from one
Kind pattern, such as keeps straight on, is switched to another pattern, such as traversing, diagonal, pivot stud, wherein, traversing, pivot stud pattern
Mutual conversion between other motor patterns needs mobile platform to be carried out again after stopping, i.e., " stop-go ".
2. mechanical arm controls under PS-MM patterns
A. visual servo scheme
The all-hydraulic autonomous mechanical arm that the present invention develops need not configure overall Vision camera, in the case, installation
Big visual field servo camera above waist is used as half global SERVO CONTROL of mechanical arm, be the preliminary identification of workpiece, positioning and
The quick guiding of mechanical arm provides visual feedback information, forms location-based Visual servoing control system；Mounted on manipulator
The trick camera of end forms the vision based on image and watches for accurate identification, positioning and the accurate guiding of mechanical arm of workpiece
Take control system.
B. the manipulator motion control (PS-MM patterns) of view-based access control model closed loop
B.1 the manipulator motion control of view-based access control model closed loop is removed using mechanical other-mobile platform whole control scheme
Outside 8 (single armeds) of mechanical arm or 15 (both arms) joint actuators, 4 independent suspension actuators of 4 wheels also remaining machine
The motion control of tool arm；
B.2 in servo camera coordinates system, characteristics of image can implicitly include target speed information, therefore the control program
Both mechanical arm convergence can control to fix target, and also can control mechanical arm convergence moving-target；
B.3 coordinate system of the origin at mobile platform barycenter, parallel with world coordinate system is selected to regard as mechanical arm and greatly
" freezing " world coordinate system of field servo camera, the coordinate system are moved together with platform；
B.4 big visual field servo camera, trick camera vision system calibration and usage " vision guided navigation, target identification with it is autonomous
The method provided in alignment system ", image jacobian matrix are estimated using the on-line identification method based on Kalman filter；
B.5 image-Visual servoing control device and image-Position Servo use sliding moding structure or Active Disturbance Rejection Control
Method designs, and so can effectively overcome image jacobian matrix evaluated error, tire micro-strain, joint-friction power, unknown
The uncertainty and the influence of Unmarried pregnancy that load etc. is brought, and gravity, coriolis force etc. are compensated, position-vision is watched
Controller is taken also to design using sliding moding structure or Auto-disturbance-rejection Control.
B.6 manipulator motion closed-loop control handoff procedure
As shown in figure 3, (1) navigation camera guiding omni-directional moving platform enters operation station with specified pose, and brake,
Locking；
(2) big visual field servo camera search workpiece, guides double mechanical arms convergence workpiece；
(3) when the end of double mechanical arms reaches near workpieces certain distance, workpiece enters in the field range of trick camera
When, step (4) is performed, otherwise performs the step (2)；
(4) double mechanical arms are under the monitoring of the big visual field servo camera, and the guiding in trick camera and visual servo
Job task is performed under the control of controller, if workpiece departs from the field range of the trick camera, performs step (2),
Double mechanical arms are led back near workpieces again.
C. single armed Shared control
Single armed Shared control is sextuple using big visual field servo camera or the location information of trick camera feedback, arm end
The operation force information of force snesor feedback feels mixing servo control scheme using vision/power, and controlled quentity controlled variable elects joint velocity or pass as
Power/torque is saved, control method selects Auto-disturbance-rejection Control.
D. both arms Shared control
Intend using following strategy for redundancy, which includes two parts：Position co-ordination controls and power coordinates control.Position
Control method for coordinating is put by introducing the position co-ordination factor, realizes control, the Joint motion impedance of operation object movement locus error
Control and both arms between relative error control；The characteristics of power is coordinated mainly in combination with coordinated manipulation introduces power coordinating factor, builds
The dynamically distributes mechanism of vertical both arms clamp load realizes the coordination control of the size of operation object internal stress.
Redundancy dual robot coordination controls the specific implementation process to be：Operation object crawl is established using object kinetics equation is operated
Model obtains the preliminary distribution of both arms clamp load and desired movement locus according to crawl model and coordination constraint relation；
Then according to the characteristics of coordinated manipulation, the position co-ordination control based on space spring damping parallel model is established；It is finally introducing change
Weighting matrix carries out dynamically distributes to load, makes operation object internal stress and the gross energy of driving minimum, final redundancy double-mechanical
Arm control method for coordinating.
3. mobile platform-mechanical arm integrally controls under PM-MM patterns
The technology path also describes the Visual servoing control solution party of " moving-target autonomous positioning and crawl " key technology
Case.
A. moving-target autonomous positioning and crawl Visual servoing control scheme
A.1 mobile platform servo is navigated.Guidance path as being provided with artificial target in working environment uses navigation camera
Mobile platform navigation is calculated as with mileage, if without the guidance path of artificial target, uses the big visual field for tracking moving-target
Servo camera or trick camera are mobile platform navigation, realize that mobile platform moves the synchronized tracking of moving-target.
A.2 moving-target search, identification.Moving-target is searched for using big visual field servo camera and is tentatively identified, uses hand
Eye camera accurately identifies moving-target；Using big visual field servo camera mechanical arm is guided to use trick to moving-target attachment
Camera accurately guides mechanical arm, and visual servo is provided for the crawl of moving-target.
B. the mobile mechanical arm motion control (PS-MM patterns) of view-based access control model closed loop
B.1 control program requirement trick camera is operated under location-based servo pattern, is realized to moving-target pose
Identification, the accurate guiding to gripping tool, and moving-target in " freezing " reference frame is positioned, calculated mobile flat
The distance between platform and moving-target, guiding mobile platform tracking moving-target are synchronized with the movement.
B.2 except 8 (single armeds) of mechanical arm or 15 (both arms) joint actuators, 4 independent suspensions of 4 wheels perform
Outside device, the 8 driving actuators and steering actuator of 4 wheels also assist in control；
B.3 vision Close loop servo control process
(1) according to information such as environmental map, handmarkings, guided by mobile platform navigation camera and guide mobile mechanical arm
To near moving-target motion path (such as conveyer belt)；
(2) big visual field servo camera search, the appearance of monitoring moving target, moving target once occur, big visual field servo
Moving target is identified in camera, if moving target is target to be captured, estimates moving target with respect to all-around mobile
The distance of platform, otherwise continues search for；
(3) position of moving target to be captured is supplied to the control system of double-movement mechanical arm, is watched using big visual field
It takes camera guiding omni-directional moving platform to move to moving target to be captured, while double-movement mechanical arm direction is controlled to wait to capture
Moving target movement, until moving target to be captured is completely in the task spaces of double mechanical arms and has certain allowance
When, control omni-directional moving platform is synchronous with moving target to be captured；
(4) the end convergence of big visual field servo camera guiding double mechanical arms moving target to be captured, until to be captured
Moving target is in the visual field of trick camera；
(5) under the monitoring of big visual field servo camera, workpiece is captured using trick camera guiding double mechanical arms.
C. mechanical arm-mobile platform Dynamic Coupling effect decoupling control
There is very strong nonlinear Dynamic Coupling when mobile mechanical arm moves, between mechanical arm and mobile platform to make
With, but since the bandwidth of double mechanical arms is than the bandwidth bigger of mobile platform, influence of the mobile platform to mechanical arm is more than mechanical arm
Influence to mobile platform is serious.For this purpose, the present invention one " fast " (high bandwidth) controller of design controls manipulator motion
System, one " slow " (low bandwidth) controller of design control mobile platform, and influence of the mobile platform to double mechanical arms is dropped
To minimum, decoupling control between the two is realized with this.
To sum up, the invention has the advantages that：
1st, the double mechanical arms of all-hydraulic autonomous mechanical arm have the apery arm structure of 15 degree of freedom, can complete
The actions such as " revolution ", " pitching ", " roll ", " crawl " preferably adapt to the needs of operation.
2nd, the distinctive trick camera of all-hydraulic autonomous mechanical arm, navigation camera and big visual field servo camera are platform
Accurate navigation and accurate installation provide guarantee.
3rd, series of processes in the completion Tire production production process that all-hydraulic autonomous mechanical arm can be entirely autonomous,
Operational safety, installation is accurate, efficient work.
4th, the control of all-hydraulic autonomous mechanical arm is realized, has filled up the automation of production process in Tire production industry
In blank, provided a strong guarantee for horizontal the significantly improving of worker's occupational health, bring huge market value.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of method of operating of all-hydraulic autonomous mechanical arm, the all-hydraulic autonomous mechanical arm includes comprehensive shifting
Moving platform is provided with double mechanical arms, dynamical system, vision system on the omni-directional moving platform and perceives and be with control
System, wherein：
Revolution waist device is provided on the omni-directional moving platform, the double mechanical arms are set by the revolution waist device
It puts on the omni-directional moving platform, the double mechanical arms are with multivariant apery arm structure；
The dynamical system uses engine-hydraulic-driven pattern；
The vision system includes navigation camera, big visual field servo camera and trick camera；
The perception includes joint force snesor, joint position sensor and six-dimension force sensor, the joint with control system
Force snesor and joint position sensor are arranged on each joint of the double mechanical arms, and the six-dimension force sensor is arranged on institute
State the end of every mechanical arm of double mechanical arms；It is characterized in that：
The all-hydraulic autonomous mechanical arm has the 3rd pattern, the comprehensive shifting under the 3rd pattern
Moving platform movement, double mechanical arms movement, the corresponding method of operating of the 3rd pattern include：
Step (1)：The navigation camera guides the omni-directional moving platform to be moved near Path of Moving Object；
Step (2)：Once the big visual field servo camera search, the appearance of monitoring moving target, moving target are described big appearance
Moving target is identified in visual field servo camera, if moving target is target to be captured, estimates moving target with respect to institute
The distance of omni-directional moving platform is stated, is otherwise continued search for；
Step (3)：The position of moving target to be captured is supplied to the control system of the double mechanical arms, is regarded greatly using described
Field servo camera guides the omni-directional moving platform to be moved to moving target to be captured, while controls the double mechanical arms court
It is moved to moving target to be captured, until moving target to be captured is completely in the task space of the double mechanical arms simultaneously
When having certain allowance, control the omni-directional moving platform synchronous with moving target to be captured；
Step (4)：The big visual field servo camera guides the end convergence of double mechanical arms moving target to be captured, until
Moving target to be captured is in the visual field of the trick camera；
Step (5)：Under the monitoring of the big visual field servo camera, the double mechanical arms are guided to work using the trick camera
Part is captured.
2. the method for operating of all-hydraulic autonomous mechanical arm according to claim 1, which is characterized in that the double-mechanical
Every mechanical arm of arm has 6 rotary joints, and each rotary joint is by oscillating oil cylinder or fluid motor-driven, the revolution waist
Body device is by fluid motor-driven；All hydraulic motor is controlled using electrohydraulic servo valve.
3. the method for operating of all-hydraulic autonomous mechanical arm according to claim 2, which is characterized in that the navigation phase
Machine is 2 colored monoculars navigation cameras, is separately positioned on the rear and front end of the omni-directional moving platform, the big visual field servo
Camera is arranged on the top of the revolution waist device, and the trick camera is 2 color solid trick cameras, is separately positioned on
The end of every mechanical arm of the double mechanical arms.
4. the method for operating of all-hydraulic autonomous mechanical arm according to claim 2, which is characterized in that the dynamical system is adopted
Power is provided for the airborne engine of the energy to combustion gas, the surrounding of the omni-directional moving platform is equipped with to detect obstacle
The ultrasonic sensor and wide angle camera of object.
5. the method for operating of all-hydraulic autonomous mechanical arm according to claim 2, which is characterized in that it is described perception with
Control system further includes to detect the vertical gyroscope group of the posture of the omni-directional moving platform, angular speed and acceleration
Part and the wheel speed sensors for detecting the vehicle wheel rotational speed of the omni-directional moving platform.
6. according to the method for operating of any all-hydraulic autonomous mechanical arm in claim 1 to 5, which is characterized in that
The band of the controller of the double mechanical arms is wider than the bandwidth of the controller of the omni-directional moving platform.
7. the method for operating of all-hydraulic autonomous mechanical arm described in claim 1, which is characterized in that described all-hydraulic autonomous
Mobile mechanical arm also has the second pattern, and the omni-directional moving platform is static, described under second pattern
Double mechanical arms move, and the corresponding method of operating of second pattern includes：
Step (1)：The navigation camera guides the omni-directional moving platform so that pose to be specified to enter operation station, and brake,
Locking；
Step (2)：The big visual field servo camera search workpiece, guides the double mechanical arms convergence workpiece；
Step (3)：When the end of the double mechanical arms reaches near workpieces certain distance, workpiece is regarded into the trick camera
When in the range of, step (4) is performed, otherwise performs the step (2)；
Step (4)：The double mechanical arms under the monitoring of the big visual field servo camera, and the trick camera guiding and
Job task is performed under the control of Visual servoing control device, if workpiece departs from the field range of the trick camera, is performed
The double mechanical arms are led back near workpieces by the step (2) again.
8. the method for operating of all-hydraulic autonomous mechanical arm according to claim 7, which is characterized in that selected origin exists
Coordinate system at the barycenter of the omni-directional moving platform, parallel with world coordinate system is as the double mechanical arms and described regards greatly
Field servo camera freezes world coordinate system, this freezes world coordinate system and is moved together with the omni-directional moving platform.
9. the method for operating of the all-hydraulic autonomous mechanical arm described in claim 2, which is characterized in that described all-hydraulic autonomous
Mobile mechanical arm also has the first pattern, and the omni-directional moving platform moves, is described under first pattern
Double mechanical arms are static, and the corresponding method of operating of first pattern includes：
Step (1)：The path tracked is planned using nonholonomic constraint condition；
Step (2)：According to the path that the step (1) is planned, the motor pattern of the omni-directional moving platform, the fortune are set
Dynamic model formula includes Ackerman steerings, double Ackerman are turned to or wheel motor pattern in the same direction；
Step (3)：Measure the course, position and velocity deviation of the omni-directional moving platform；
Step (4)：Based on incomplete omni-directional moving platform kinematics model, institute is calculated using Active Disturbance Rejection Control (ADRC) method
State the corner and spin rate control quantity needed for omni-directional moving platform；
Step (5)：The corner of the omni-directional moving platform and the bottom control of rotating speed are realized using Auto-disturbance-rejection Control.
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| CN105751200B (en) * | 2014-12-05 | 2017-10-20 | 济南鲁智电子科技有限公司 | The method of operating of all-hydraulic autonomous mechanical arm |
| JP6789728B2 (en) * | 2016-08-31 | 2020-11-25 | 川崎重工業株式会社 | Robot and its driving method |
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| CN109591014B (en) * | 2018-12-18 | 2020-06-23 | 武汉科技大学 | Double-arm coordinated carrying method of double-arm coordinated robot |
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| CN111688526B (en) * | 2020-06-18 | 2021-07-20 | 福建百城新能源科技有限公司 | User side new energy automobile energy storage charging station |
| CN113910234B (en) * | 2021-10-27 | 2022-10-14 | 因格(苏州)智能技术有限公司 | Double-manipulator control method and storage medium |
| CN114872050B (en) * | 2022-06-01 | 2024-05-07 | 清华大学深圳国际研究生院 | Control method and control system for double-arm crawler-type mobile operation robot |
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