CN109159118B - Interference mechanism cross operation anti-collision method and device - Google Patents
Interference mechanism cross operation anti-collision method and device Download PDFInfo
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- CN109159118B CN109159118B CN201810996929.2A CN201810996929A CN109159118B CN 109159118 B CN109159118 B CN 109159118B CN 201810996929 A CN201810996929 A CN 201810996929A CN 109159118 B CN109159118 B CN 109159118B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000009471 action Effects 0.000 claims abstract description 224
- 238000007599 discharging Methods 0.000 claims abstract description 75
- 238000001514 detection method Methods 0.000 claims description 7
- 238000007664 blowing Methods 0.000 claims description 3
- 230000000977 initiatory effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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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
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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
- B25J19/06—Safety devices
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses an interference mechanism cross operation anti-collision method and device, wherein an identification rule is established for identifying the action of a manipulator for discharging to a platform; identifying the actions of all the mechanical arms in real time according to rules; after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; whether and when the manipulator a is placed to the mth stage is controlled according to the identification type of the motion of the other manipulators. The invention fully considers the application scene that a plurality of manipulators discharge materials to a plurality of platforms, is suitable for all the conditions that the manipulators discharge materials to the platforms, can scientifically and reasonably arrange the actions of the manipulators, prevents the manipulators from colliding, and avoids the damage of the manipulators and the damage of the whole interference mechanism which is possibly caused.
Description
Technical Field
The invention relates to the technical field of interference mechanism cross operation and collision prevention, in particular to a collision prevention method and device for interference mechanism cross operation.
Background
In the case of cross operation of the interference mechanism, two manipulators are often used to transport articles to the same two platforms during the operation of the machine. The two manipulators are A, B, and the two platforms are platforms 1 and 2, so that when the platforms 1 and 2 need to be fed, the situation that the two manipulators discharge materials in the past at the same time can occur, and the danger of collision of the manipulators exists.
If the number of the mechanical arms exceeds 2, the number of the platforms exceeds 2, application scenes are more complicated, and once the situation that the action arrangement of the mechanical arms is unreasonable occurs, collision is generated among the mechanical arms, so that the mechanical arms and even the whole mechanism are damaged.
Patent CN107247456A discloses a safety anti-collision system for multi-device cross-working area, which includes multiple sensors disposed on different devices, sensors of devices with simple functions directly connected to a position calculation controller, sensors of devices with complex functions connected to a local controller of the devices, and connected to the position calculation controller through the local controller in a communication manner, and an alarm device connected to the position calculation controller. This patent adopts the multiple sensor of installing on different equipment to read data in succession, through the distance relation between the equipment of calculation, can realize the distance between the multiple equipment and judge to report to the police through audible-visual annunciator, remind the operator to operate carefully, improved detection efficiency and security. The collision avoidance method needs to continuously read distance data and perform a large amount of calculation during operation, and needs to consume a large amount of calculation resources.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an interference mechanism cross operation anti-collision method and device, and aims to solve the problem that mechanical hands may collide when the interference mechanisms are in cross operation.
The purpose of the invention is realized by adopting the following technical scheme:
an interference mechanism cross operation anti-collision method comprises the following steps:
the method comprises the following initial steps:
establishing an identification rule, wherein the identification rule is used for identifying the action of the manipulator of the interference mechanism cross operation on the platform; the number of the mechanical arms exceeds 1, and the number of the platforms is a plurality; the identification types of the actions comprise no discharging, discharging to a first platform, discharging to a second platform, … … and discharging to an nth platform, wherein n is the number of the platforms, and n is a positive integer;
identification:
according to a preset identification rule, identifying the actions of all the mechanical arms in real time;
a detection step:
after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; m is a positive integer, and m is less than or equal to n;
a material discharging step:
judging whether the marks of the actions of other manipulators are all non-discharging; if so, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform; if not, judging whether the action identifier of the manipulator in other manipulators is the material feeding to the mth platform;
if so, marking the action of the manipulator A as non-discharging, and waiting for discharging of other manipulators;
and if not, marking the action of the manipulator A as non-discharging, waiting for the actions of other manipulators to be completed, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform.
On the basis of the above embodiment, preferably, the identification types of the actions include 0, 1, 2, … …, n; 0 means no discharge, 1 means discharge to the first platform, 2 means discharge to the second platform, n means discharge to the nth platform; the platform sending the feeding request is the mth platform;
the material discharging step specifically comprises the following steps:
judging whether the marks of the actions of other mechanical arms are all 0; if the actions of other manipulators are marked as 0, marking the action of the manipulator A as m, and controlling the manipulator A to discharge materials to the mth platform; if the action identifier of the manipulator in the other manipulators is not 0, judging whether the action identifier of the manipulator in the other manipulators is m;
if so, marking the action of the manipulator A as 0, and waiting for other manipulators to discharge materials;
and if not, marking the action of the manipulator A as 0, marking the action of the manipulator A as m after finishing the actions of other manipulators, and controlling the manipulator A to discharge materials to the mth platform.
On the basis of the above embodiment, preferably, the number of the platforms is 1;
the material discharging step specifically comprises the following steps:
judging whether the marks of the actions of other mechanical arms are all 0;
if the marks of the actions of the other manipulators are 0, marking the action of the manipulator A as 1, and controlling the manipulator A to discharge materials to the platform;
and if the action mark of the manipulator in the other manipulators is 1, marking the action mark of the manipulator A as 0, and waiting for other manipulators to discharge materials.
Or, preferably, the number of the mechanical arms is 2, and the number of the platforms is 2; the platform sending the feeding request is a first platform;
the material discharging step specifically comprises the following steps:
if the action mark of the other manipulator is 0, the action mark of the manipulator A is 1, and the manipulator A is controlled to discharge materials to the first platform;
if the action mark of the other manipulator is 1, marking the action mark of the manipulator A as 0, and waiting for the other manipulator to discharge materials;
and if the action mark of the other manipulator is 2, marking the action mark of the manipulator A as 0, waiting for the action of the other manipulator to be finished, marking the action mark of the manipulator A as 1, and controlling the manipulator A to discharge materials to the first platform.
An interference mechanism cross-working bump guard, comprising:
an initiation module to:
establishing an identification rule, wherein the identification rule is used for identifying the action of the manipulator of the interference mechanism cross operation on the platform; the number of the mechanical arms exceeds 1, and the number of the platforms is a plurality; the identification types of the actions comprise no discharging, discharging to a first platform, discharging to a second platform, … … and discharging to an nth platform, wherein n is the number of the platforms, and n is a positive integer;
an identification module to:
according to a preset identification rule, identifying the actions of all the mechanical arms in real time;
a detection module to:
after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; m is a positive integer, and m is less than or equal to n;
the blowing module is used for:
judging whether the marks of the actions of other manipulators are all non-discharging; if so, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform; if not, judging whether the action identifier of the manipulator in other manipulators is the material feeding to the mth platform;
if so, marking the action of the manipulator A as non-discharging, and waiting for discharging of other manipulators;
and if not, marking the action of the manipulator A as non-discharging, waiting for the actions of other manipulators to be completed, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform.
On the basis of the above embodiment, preferably, the identification types of the actions include 0, 1, 2, … …, n; 0 means no discharge, 1 means discharge to the first platform, 2 means discharge to the second platform, n means discharge to the nth platform; the platform sending the feeding request is the mth platform;
the emptying module is used for:
judging whether the marks of the actions of other mechanical arms are all 0; if the actions of other manipulators are marked as 0, marking the action of the manipulator A as m, and controlling the manipulator A to discharge materials to the mth platform; if the action identifier of the manipulator in the other manipulators is not 0, judging whether the action identifier of the manipulator in the other manipulators is m;
if so, marking the action of the manipulator A as 0, and waiting for other manipulators to discharge materials;
and if not, marking the action of the manipulator A as 0, marking the action of the manipulator A as m after finishing the actions of other manipulators, and controlling the manipulator A to discharge materials to the mth platform.
On the basis of the above embodiment, preferably, the number of the platforms is 1;
the emptying module is used for:
judging whether the marks of the actions of other mechanical arms are all 0;
if the marks of the actions of the other manipulators are 0, marking the action of the manipulator A as 1, and controlling the manipulator A to discharge materials to the platform;
and if the action mark of the manipulator in the other manipulators is 1, marking the action mark of the manipulator A as 0, and waiting for other manipulators to discharge materials.
Or, preferably, the number of the mechanical arms is 2, and the number of the platforms is 2; the platform sending the feeding request is a first platform;
the emptying module is used for:
if the action mark of the other manipulator is 0, the action mark of the manipulator A is 1, and the manipulator A is controlled to discharge materials to the first platform;
if the action mark of the other manipulator is 1, marking the action mark of the manipulator A as 0, and waiting for the other manipulator to discharge materials;
and if the action mark of the other manipulator is 2, marking the action mark of the manipulator A as 0, waiting for the action of the other manipulator to be finished, marking the action mark of the manipulator A as 1, and controlling the manipulator A to discharge materials to the first platform.
Compared with the prior art, the invention has the beneficial effects that:
the invention discloses an interference mechanism cross operation anti-collision method and device, wherein an identification rule is established for identifying the action of a manipulator for discharging to a platform; identifying the actions of all the mechanical arms in real time according to rules; after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; whether and when the manipulator a is placed to the mth stage is controlled according to the identification type of the motion of the other manipulators. The invention fully considers the application scene that a plurality of manipulators discharge materials to a plurality of platforms, is suitable for all the conditions that the manipulators discharge materials to the platforms, can scientifically and reasonably arrange the actions of the manipulators, prevents the manipulators from colliding, and avoids the damage of the manipulators and the damage of the whole interference mechanism which is possibly caused.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 and fig. 2 are schematic flow charts illustrating a collision avoidance method for cross-working of an interference mechanism according to an embodiment of the present invention;
fig. 3 shows a schematic structural diagram of an interference mechanism cross-working collision avoidance device provided by the embodiment of the invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Detailed description of the preferred embodiment
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a method for collision avoidance in cross-working of an interference mechanism, including:
initial step S101:
establishing an identification rule, wherein the identification rule is used for identifying the action of the manipulator of the interference mechanism cross operation on the platform; the number of the mechanical arms exceeds 1, and the number of the platforms is a plurality; the identification types of the actions comprise no discharging, discharging to a first platform, discharging to a second platform, … … and discharging to an nth platform, wherein n is the number of the platforms, and n is a positive integer;
an identification step S102:
according to a preset identification rule, identifying the actions of all the mechanical arms in real time;
a detection step S103:
after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; m is a positive integer, and m is less than or equal to n;
a discharging step S104:
judging whether the marks of the actions of other manipulators are all non-discharging; if so, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform; if not, judging whether the action identifier of the manipulator in other manipulators is the material feeding to the mth platform;
if so, marking the action of the manipulator A as non-discharging, and waiting for discharging of other manipulators;
and if not, marking the action of the manipulator A as non-discharging, waiting for the actions of other manipulators to be completed, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform.
The embodiment of the invention can establish an identification rule for identifying the action of the manipulator to discharge to the platform; identifying the actions of all the mechanical arms in real time according to rules; after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; whether and when the manipulator a is placed to the mth stage is controlled according to the identification type of the motion of the other manipulators. The embodiment of the invention fully considers the application scene that a plurality of manipulators discharge materials to a plurality of platforms, and is suitable for all the situations that the manipulators discharge materials to the platforms.
Preferably, the identification type of the action may include 0, 1, 2, … …, n; 0 means no discharge, 1 means discharge to the first platform, 2 means discharge to the second platform, n means discharge to the nth platform; the platform sending the feeding request is the mth platform;
the discharging step S104 may specifically be:
judging whether the marks of the actions of other mechanical arms are all 0; if the actions of other manipulators are marked as 0, marking the action of the manipulator A as m, and controlling the manipulator A to discharge materials to the mth platform; if the action identifier of the manipulator in the other manipulators is not 0, judging whether the action identifier of the manipulator in the other manipulators is m;
if so, marking the action of the manipulator A as 0, and waiting for other manipulators to discharge materials;
and if not, marking the action of the manipulator A as 0, marking the action of the manipulator A as m after finishing the actions of other manipulators, and controlling the manipulator A to discharge materials to the mth platform.
The manipulator action identification method has the advantages that actions of the manipulator are identified by Arabic numerals, simplicity and intuition are achieved, a user can understand the corresponding manipulator action conveniently, and user experience is improved.
Preferably, the number of platforms may be 1;
the discharging step S104 may specifically be:
judging whether the marks of the actions of other mechanical arms are all 0;
if the marks of the actions of the other manipulators are 0, marking the action of the manipulator A as 1, and controlling the manipulator A to discharge materials to the platform;
and if the action mark of the manipulator in the other manipulators is 1, marking the action mark of the manipulator A as 0, and waiting for other manipulators to discharge materials.
The manipulator has the advantages that when the manipulators are applied to single-platform operation, the emptying process can be further simplified, the time cost of anti-collision calculation is saved, and the calculation resources are saved.
Preferably, the number of the manipulators can be 2, and the number of the platforms can be 2; the platform sending the feeding request is a first platform;
the discharging step S104 may specifically be:
if the action mark of the other manipulator is 0, the action mark of the manipulator A is 1, and the manipulator A is controlled to discharge materials to the first platform;
if the action mark of the other manipulator is 1, marking the action mark of the manipulator A as 0, and waiting for the other manipulator to discharge materials;
and if the action mark of the other manipulator is 2, marking the action mark of the manipulator A as 0, waiting for the action of the other manipulator to be finished, marking the action mark of the manipulator A as 1, and controlling the manipulator A to discharge materials to the first platform.
The advantage of doing so is, when two manipulators were applied to two platform operations, the blowing process can further be simplified, saves the time cost of crashproof calculation, saves computational resource.
An application scenario of the embodiment of the present invention may be:
the two mechanical hands carry articles to the same two platforms; the two manipulators are respectively A, B, and the two platforms are platforms 1 and 2; identification is represented by WORD;
the manipulator A goes to the platform 1 to write 1 in the WORD of the action A for emptying, the manipulator A goes to the platform 2 to write 2 in the WORD of the action A for emptying, and the manipulator A does not empty and write 0 in the WORD of the action A for emptying; the manipulator B goes to the platform 1 to write 1 in the WORD of the action B for feeding, the manipulator B goes to the platform 2 to write 2 in the WORD of the action B for feeding, and the manipulator B does not feed and writes 0 in the WORD of the action B for feeding;
when the platform 1 needs to be fed:
the manipulator A receives a feeding request: if the WORD of the manipulator B is detected to be 0, writing the WORD of the manipulator A into 1, and removing the platform 1 by the manipulator A to discharge materials; if the WORD of the manipulator B is detected to be 1, the manipulator A does not act, and the manipulator B goes to the platform 1 to discharge materials;
the mechanical arm B receives a feeding request: if the WORD of the manipulator A is detected to be 0, writing the WORD of the manipulator B into 1, and discharging the materials from the platform 1 by the manipulator B; and if the WORD of the manipulator A is detected to be 1, the manipulator B does not act, and the manipulator A goes to the platform 1 to discharge materials.
In the first embodiment, a collision-prevention method for interference mechanism cross operation is provided, and correspondingly, a collision-prevention device for interference mechanism cross operation is also provided. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.
Detailed description of the invention
As shown in fig. 3, an embodiment of the present invention provides an interference mechanism cross-working anti-collision device, including:
an initial module 201 configured to:
establishing an identification rule, wherein the identification rule is used for identifying the action of the manipulator of the interference mechanism cross operation on the platform; the number of the mechanical arms exceeds 1, and the number of the platforms is a plurality; the identification types of the actions comprise no discharging, discharging to a first platform, discharging to a second platform, … … and discharging to an nth platform, wherein n is the number of the platforms, and n is a positive integer;
an identification module 202 configured to:
according to a preset identification rule, identifying the actions of all the mechanical arms in real time;
a detection module 203 for:
after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; m is a positive integer, and m is less than or equal to n;
the emptying module 204 is used for:
judging whether the marks of the actions of other manipulators are all non-discharging; if so, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform; if not, judging whether the action identifier of the manipulator in other manipulators is the material feeding to the mth platform;
if so, marking the action of the manipulator A as non-discharging, and waiting for discharging of other manipulators;
and if not, marking the action of the manipulator A as non-discharging, waiting for the actions of other manipulators to be completed, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform.
The embodiment of the invention can establish an identification rule for identifying the action of the manipulator to discharge to the platform; identifying the actions of all the mechanical arms in real time according to rules; after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; whether and when the manipulator a is placed to the mth stage is controlled according to the identification type of the motion of the other manipulators. The embodiment of the invention fully considers the application scene that a plurality of manipulators discharge materials to a plurality of platforms, and is suitable for all the situations that the manipulators discharge materials to the platforms.
Preferably, the identification type of the action may include 0, 1, 2, … …, n; 0 means no discharge, 1 means discharge to the first platform, 2 means discharge to the second platform, n means discharge to the nth platform; the platform sending the feeding request is the mth platform;
the emptying module 204 may be configured to:
judging whether the marks of the actions of other mechanical arms are all 0; if the actions of other manipulators are marked as 0, marking the action of the manipulator A as m, and controlling the manipulator A to discharge materials to the mth platform; if the action identifier of the manipulator in the other manipulators is not 0, judging whether the action identifier of the manipulator in the other manipulators is m;
if so, marking the action of the manipulator A as 0, and waiting for other manipulators to discharge materials;
and if not, marking the action of the manipulator A as 0, marking the action of the manipulator A as m after finishing the actions of other manipulators, and controlling the manipulator A to discharge materials to the mth platform.
Preferably, the number of platforms may be 1;
the emptying module 204 may be configured to:
judging whether the marks of the actions of other mechanical arms are all 0;
if the marks of the actions of the other manipulators are 0, marking the action of the manipulator A as 1, and controlling the manipulator A to discharge materials to the platform;
and if the action mark of the manipulator in the other manipulators is 1, marking the action mark of the manipulator A as 0, and waiting for other manipulators to discharge materials.
Preferably, the number of the manipulators can be 2, and the number of the platforms can be 2; the platform sending the feeding request is a first platform;
the emptying module 204 may be configured to:
if the action mark of the other manipulator is 0, the action mark of the manipulator A is 1, and the manipulator A is controlled to discharge materials to the first platform;
if the action mark of the other manipulator is 1, marking the action mark of the manipulator A as 0, and waiting for the other manipulator to discharge materials;
and if the action mark of the other manipulator is 2, marking the action mark of the manipulator A as 0, waiting for the action of the other manipulator to be finished, marking the action mark of the manipulator A as 1, and controlling the manipulator A to discharge materials to the first platform.
The present invention has been described in terms of its practical application, and it is to be understood that the above description and drawings are only illustrative of the presently preferred embodiments of the invention and are not to be considered as limiting, since all changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. Although the present invention has been described to a certain extent, it is apparent that appropriate changes in the respective conditions may be made without departing from the spirit and scope of the present invention. It is to be understood that the invention is not limited to the described embodiments, but is to be accorded the scope consistent with the claims, including equivalents of each element described. Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (8)
1. An interference mechanism cross operation anti-collision method is characterized by comprising the following steps:
the method comprises the following initial steps:
establishing an identification rule, wherein the identification rule is used for identifying the action of the manipulator of the interference mechanism cross operation on the platform; the number of the mechanical arms exceeds 1, and the number of the platforms is a plurality; the identification types of the actions comprise no discharging, discharging to a first platform, discharging to a second platform, … … and discharging to an nth platform, wherein n is the number of the platforms, and n is a positive integer;
identification:
according to a preset identification rule, identifying the actions of all the mechanical arms in real time;
a detection step:
after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; m is a positive integer, and m is less than or equal to n;
a material discharging step:
judging whether the marks of the actions of other manipulators are all non-discharging; if so, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform; if not, judging whether the action identifier of the manipulator in other manipulators is the material feeding to the mth platform;
if so, marking the action of the manipulator A as non-discharging, and waiting for discharging of other manipulators;
and if not, marking the action of the manipulator A as non-discharging, waiting for the actions of other manipulators to be completed, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform.
2. The method of claim 1, wherein the identified types of actions include 0, 1, 2, … …, n; 0 means no discharge, 1 means discharge to the first platform, 2 means discharge to the second platform, n means discharge to the nth platform; the platform sending the feeding request is the mth platform;
the material discharging step specifically comprises the following steps:
judging whether the marks of the actions of other mechanical arms are all 0; if the marks of the actions of the other manipulators are 0, marking the mark of the action of the manipulator A as m, and controlling the manipulator A to discharge materials to the mth platform; if the motion identifier of the manipulator in the other manipulators is not 0, judging whether the motion identifier of the manipulator in the other manipulators is m;
if so, marking the action of the manipulator A as 0, and waiting for other manipulators to discharge materials;
and if not, marking the action of the manipulator A as 0, marking the action of the manipulator A as m after finishing the actions of other manipulators, and controlling the manipulator A to discharge materials to the mth platform.
3. The interference mechanism cross-working anti-collision method according to claim 2, wherein the number of the platforms is 1;
the material discharging step specifically comprises the following steps:
judging whether the marks of the actions of other mechanical arms are all 0;
if the marks of the actions of the other manipulators are 0, marking the action of the manipulator A as 1, and controlling the manipulator A to discharge materials to the platform;
and if the action mark of the manipulator in the other manipulators is 1, marking the action mark of the manipulator A as 0, and waiting for other manipulators to discharge materials.
4. The interference mechanism cross-working anti-collision method according to claim 2, wherein the number of the mechanical arms is 2, and the number of the platforms is 2; the platform sending the feeding request is a first platform;
the material discharging step specifically comprises the following steps:
if the action mark of the other manipulator is 0, the action mark of the manipulator A is 1, and the manipulator A is controlled to discharge materials to the first platform;
if the action mark of the other manipulator is 1, marking the action mark of the manipulator A as 0, and waiting for the other manipulator to discharge materials;
and if the action mark of the other manipulator is 2, marking the action mark of the manipulator A as 0, waiting for the action of the other manipulator to be finished, marking the action mark of the manipulator A as 1, and controlling the manipulator A to discharge materials to the first platform.
5. The utility model provides an interference mechanism cross operation buffer stop which characterized in that includes:
an initiation module to:
establishing an identification rule, wherein the identification rule is used for identifying the action of the manipulator of the interference mechanism cross operation on the platform; the number of the mechanical arms exceeds 1, and the number of the platforms is a plurality; the identification types of the actions comprise no discharging, discharging to a first platform, discharging to a second platform, … … and discharging to an nth platform, wherein n is the number of the platforms, and n is a positive integer;
an identification module to:
according to a preset identification rule, identifying the actions of all the mechanical arms in real time;
a detection module to:
after receiving a feeding request of the mth platform, the manipulator A detects the action identifiers of all other manipulators at the current moment; m is a positive integer, and m is less than or equal to n;
the blowing module is used for:
judging whether the marks of the actions of other manipulators are all non-discharging; if so, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform; if not, judging whether the action identifier of the manipulator in other manipulators is the material feeding to the mth platform;
if so, marking the action of the manipulator A as non-discharging, and waiting for discharging of other manipulators;
and if not, marking the action of the manipulator A as non-discharging, waiting for the actions of other manipulators to be completed, marking the action of the manipulator A as discharging to the mth platform, and controlling the manipulator A to discharge to the mth platform.
6. The interference mechanism cross-working bump guard of claim 5 wherein the identification types of actions include 0, 1, 2, … …, n; 0 means no discharge, 1 means discharge to the first platform, 2 means discharge to the second platform, n means discharge to the nth platform; the platform sending the feeding request is the mth platform;
the emptying module is used for:
judging whether the marks of the actions of other mechanical arms are all 0; if the marks of the actions of the other manipulators are 0, marking the mark of the action of the manipulator A as m, and controlling the manipulator A to discharge materials to the mth platform; if the motion identifier of the manipulator in the other manipulators is not 0, judging whether the motion identifier of the manipulator in the other manipulators is m;
if so, marking the action of the manipulator A as 0, and waiting for other manipulators to discharge materials;
and if not, marking the action of the manipulator A as 0, marking the action of the manipulator A as m after finishing the actions of other manipulators, and controlling the manipulator A to discharge materials to the mth platform.
7. The interference mechanism cross-working bump guard of claim 6 wherein the number of platforms is 1;
the emptying module is used for:
judging whether the marks of the actions of other mechanical arms are all 0;
if the marks of the actions of the other manipulators are 0, marking the action of the manipulator A as 1, and controlling the manipulator A to discharge materials to the platform;
and if the action mark of the manipulator in the other manipulators is 1, marking the action mark of the manipulator A as 0, and waiting for other manipulators to discharge materials.
8. The interference mechanism cross-working collision avoidance device of claim 6, wherein the number of manipulators is 2, and the number of platforms is 2; the platform sending the feeding request is a first platform;
the emptying module is used for:
if the action mark of the other manipulator is 0, the action mark of the manipulator A is 1, and the manipulator A is controlled to discharge materials to the first platform;
if the action mark of the other manipulator is 1, marking the action mark of the manipulator A as 0, and waiting for the other manipulator to discharge materials;
and if the action mark of the other manipulator is 2, marking the action mark of the manipulator A as 0, waiting for the action of the other manipulator to be finished, marking the action mark of the manipulator A as 1, and controlling the manipulator A to discharge materials to the first platform.
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