CN114670204A - Industrial robot control system based on intelligent manufacturing production line - Google Patents
Industrial robot control system based on intelligent manufacturing production line Download PDFInfo
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- CN114670204A CN114670204A CN202210459725.1A CN202210459725A CN114670204A CN 114670204 A CN114670204 A CN 114670204A CN 202210459725 A CN202210459725 A CN 202210459725A CN 114670204 A CN114670204 A CN 114670204A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The invention discloses an industrial robot control system based on an intelligent manufacturing production line, which comprises: the robot management mechanism is connected with the servo control mechanism through a CAN bus, the robot management mechanism is in wireless communication with the upper computer system, the servo control mechanism comprises an internal sensing unit, an execution unit and a servo unit, the internal sensing unit is connected with the servo unit, and the servo unit controls the robot to act through the execution unit; the robot management mechanism comprises a robot management unit, a work control unit, an action control unit and a wireless communication unit. The industrial robot control system is provided with the internal sensor unit and the external sensor unit, so that the environment where the robot is located can be monitored well, the control reliability is improved, the industrial robot control system is communicated with an upper computer system through wireless communication, monitoring is facilitated, and the industrial robot control system has a good application prospect.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot control system based on an intelligent manufacturing production line.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
A control machine system of the robot is a core mechanism for controlling the robot and is a place for intelligently generating the robot. At present, a control machine system of a robot is not perfect enough, a single speed and position sensor is mostly adopted to control a servo unit of the robot, the control performance is limited, good communication with an upper computer cannot be carried out, and the remote setting of parameters of the robot is realized.
Disclosure of Invention
The invention provides an industrial robot control system based on an intelligent manufacturing production line, which aims to solve the problems in the prior art.
The invention provides an industrial robot control system based on an intelligent manufacturing production line, which comprises: the robot management mechanism is connected with the servo control mechanism through a CAN bus and is in wireless communication with the upper computer system;
the servo control mechanism comprises an internal sensing unit, an execution unit and a servo unit, wherein the internal sensing unit is connected with the servo unit, and the servo unit controls the robot to act through the execution unit; the robot management mechanism comprises a robot management unit, a work control unit, an action control unit and a wireless communication unit.
Preferably, the robot management unit is used for being externally connected with the environment monitoring camera and the external sensor unit and carrying out wireless communication with the upper computer system through the wireless communication unit, the robot management unit is further connected with the operation control unit and the action control unit respectively, the operation control unit is connected with the action control unit, and the action control unit is connected with the servo unit.
Preferably, the internal sensing unit comprises a position sensor, a speed sensor and a temperature sensor;
the external sensor unit includes: visual sensors, distance sensors, tactile sensors, and auditory sensors.
Preferably, still include PLC controller, LCD module, key panel, magnetic wheel drive control module, swing drive control module, position drive control module, centering detection control module, robot position detection module, CCD tracking module, power detection module, CAN communication module and host computer, the PLC controller is connected with LCD module, key panel, magnetic wheel drive control module, swing drive control module, position drive control module, centering detection control module, robot position detection module, CCD tracking module, power detection module respectively, the PLC controller still connects CAN communication bus through CAN communication module, CAN communication bus is connected with the host computer.
Preferably, the robot system further comprises a robot communication module, a data aggregation module and a plurality of encoders;
the robot communication module is used for obtaining feedback data after the data aggregation module receives an access instruction sent by the robot control cabinet and sending the feedback data to the robot control cabinet, wherein the feedback data is obtained by combining data respectively fed back by at least one encoder.
Preferably, after receiving an access instruction sent by the robot control cabinet, the data aggregation module analyzes the access instruction to obtain an access instruction of at least one encoder; the data aggregation module sends the access instruction of at least one encoder to the corresponding encoders respectively; and after receiving the data respectively fed back by at least one encoder, the data aggregation module combines the data respectively fed back by at least one encoder to obtain the feedback data.
Preferably, the data aggregation module judges whether the access instruction is a single instruction or a periodic instruction; if the access instruction is a single instruction, the data aggregation module executes the step of analyzing the access instruction to obtain at least one access instruction of the encoder; if the access instruction is a periodic instruction, the data aggregation module sends the feedback data stored in the previous communication period to the robot control cabinet, then executes the step of analyzing the access instruction to obtain the access instruction of at least one encoder, and stores the feedback data after merging the data respectively fed back by at least one encoder to obtain the feedback data, so as to send the feedback data to the robot control cabinet when receiving the access instruction of the next communication period.
Preferably, the abnormal data of the control system is detected and analyzed, and the abnormal data and the fault reason of each time are recorded; formulating an adjustment scheme according to the fault reason, and recording the adjustment scheme corresponding to the abnormal data and the fault reason in a database; forming the abnormal data, the fault reason and the adjustment scheme into a data block, and sequentially recording the occurrence time of the abnormal data in the data block and the formulation time of the adjustment scheme; presetting a data cleaning time limit; and taking the occurrence time of abnormal data or the set time of an adjustment scheme as a reference point, and automatically deleting the corresponding data block when the data clearing time limit is reached.
Preferably, a moving track is determined based on a position sensor, an initial state model, a target state model and an intermediate state model arranged between the initial state model and the target state model are set; the number of the intermediate state models is at least two;
the middle state model comprises at least one deformation model and at least one displacement model, and the positions of the deformation model and the displacement model are preset;
the deformation model is set by taking track deformation as a main characteristic and action displacement as a secondary characteristic, the displacement model is set by taking action displacement as a main characteristic and track deformation as a secondary characteristic; and ensuring the fusion of the action tracks by setting key frames among the models of the action tracks.
Preferably, the method further comprises the following steps: a sorting device;
the classification device classifies the actions according to different action tracks, and sets corresponding initial state models, intermediate state models and target state models which are classified into the same class;
the classification device classifies the attributes of the same deformation or displacement into the same class according to the deformation or displacement characteristics of the action tracks, wherein the same class can be the same action track of different roles or different action tracks of the same role;
ensuring the fusion of action tracks by adopting a key frame setting mode among the initial state model, the intermediate state model and the target state model of the same type;
packaging all the set models with the key frames into modules with the same characteristics; setting a calling interface for the module; and calling all data and setting modes set by the module according to the calling interface.
Preferably, a classification model is established in advance, the classification device inputs motion trajectory data into the classification model, and the classification model divides the input motion trajectory data into different classes;
the classification model is established in the following way:
collecting action track data to form a track set;
and clustering the data in the track set, wherein the calculation formula is as follows:
wherein q ∈ [1, ∞ >]；Dq(xi,xj) Is xiAnd xjThe distance of (d); the central point of the track set is Pi(xi,yi,zi,θi)，xiIs a displacement in the x-axis direction, is an n-order matrix, xi＝[xi1,xi2,xi3…xin]；yi,zi,θiDisplacement in the y-axis, z-axis and theta angle directions, respectively; the data vector to be measured is Tj(xj,yj,zj,θj)；xjThe displacement of the data to be measured in the x-axis direction is shown as an n-order matrix,xj＝[xj1,xj2,xj3…xjn]；yj,zj,θjrespectively displacement of the data to be measured in the directions of a y axis, a z axis and a theta angle;
according to xiAnd xjThe classification value A of the data to be measured and the central point is determined by the following formulai：
The threshold value of the preset classification value is ATWhen A isi≤ATThen, the measured data is divided into P as the central pointiIn the class (c);
the calculation mode of the angles of the y axis, the z axis and the theta in the data in the track set adopts the x axis calculation method;
and classifying the measurement data in sequence according to the mode to establish a classification model.
Compared with the prior art, the invention has the following advantages:
the invention provides an industrial robot control system based on an intelligent manufacturing production line, which comprises: the robot management mechanism is connected with the servo control mechanism through a CAN bus and is in wireless communication with the upper computer system; the servo control mechanism comprises an internal sensing unit, an execution unit and a servo unit, wherein the internal sensing unit is connected with the servo unit, and the servo unit controls the robot to act through the execution unit; the robot management mechanism comprises a robot management unit, a work control unit, an action control unit and a wireless communication unit.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an industrial robot control system based on an intelligent manufacturing line in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a servo control mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot management unit according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
An embodiment of the present invention provides an industrial robot control system based on an intelligent manufacturing production line, and please refer to fig. 1 to 3, the control system includes: the robot management mechanism is connected with the servo control mechanism through a CAN bus and is in wireless communication with the upper computer system;
the servo control mechanism comprises an internal sensing unit, an execution unit and a servo unit, wherein the internal sensing unit is connected with the servo unit, and the servo unit controls the robot to act through the execution unit; the robot management mechanism comprises a robot management unit, a work control unit, an action control unit and a wireless communication unit.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment comprises the following steps: the robot management mechanism is connected with the servo control mechanism through a CAN bus and is in wireless communication with the upper computer system; the servo control mechanism comprises an internal sensing unit, an execution unit and a servo unit, wherein the internal sensing unit is connected with the servo unit, and the servo unit controls the robot to act through the execution unit; the robot management mechanism comprises a robot management unit, a work control unit, an action control unit and a wireless communication unit.
The beneficial effects of the above technical scheme are: the scheme provided by the embodiment comprises the following steps: the robot management mechanism is connected with the servo control mechanism through a CAN bus and is in wireless communication with the upper computer system; the servo control mechanism comprises an internal sensing unit, an execution unit and a servo unit, wherein the internal sensing unit is connected with the servo unit, and the servo unit controls the robot to act through the execution unit; the robot management mechanism comprises a robot management unit, a work control unit, an action control unit and a wireless communication unit.
The industrial robot control system is provided with the internal sensor unit and the external sensor unit, so that the environment where the robot is located can be monitored well, the control reliability is improved, the industrial robot control system is communicated with an upper computer system through wireless communication, monitoring is facilitated, and the industrial robot control system has a good application prospect.
In another embodiment, the robot management unit is used for being externally connected with an environment monitoring camera and an external sensor unit and carrying out wireless communication with an upper computer system through a wireless communication unit, and is also respectively connected with the operation control unit and the action control unit, the operation control unit is connected with the action control unit, and the action control unit is connected with the servo unit.
The working principle of the technical scheme is as follows: the scheme that this embodiment adopted is that robot management unit is used for external environmental monitoring camera, external sensor unit to carry out wireless communication through wireless communication unit and upper computer system, robot management unit still is connected with operation control unit, action control unit respectively, operation control unit is connected with action control unit, action control unit is connected with servo unit.
The beneficial effects of the above technical scheme are: adopt the scheme that this embodiment provided robot management unit is used for external environmental monitoring camera, external sensor unit to carry out wireless communication through wireless communication unit and upper computer system, robot management unit still is connected with operation control unit, action control unit respectively, operation control unit is connected with action control unit, action control unit is connected with servo unit.
In another embodiment, the internal sensing unit comprises a position sensor, a speed sensor, a temperature sensor;
the external sensor unit includes: visual sensors, distance sensors, tactile sensors, and auditory sensors.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the internal sensing unit comprises a position sensor, a speed sensor and a temperature sensor; the external sensor unit includes: visual sensors, distance sensors, tactile sensors, and auditory sensors.
The beneficial effects of the above technical scheme are: the internal sensing unit adopting the scheme provided by the embodiment comprises a position sensor, a speed sensor and a temperature sensor; the external sensor unit includes: visual sensors, distance sensors, tactile sensors, and auditory sensors.
In another embodiment, still include PLC controller, LCD module, key panel, magnetic wheel drive control module, swing drive control module, position drive control module, centering detection control module, robot position detection module, CCD tracking module, power detection module, CAN communication module and host computer, the PLC controller is connected with LCD module, key panel, magnetic wheel drive control module, swing drive control module, position drive control module, centering detection control module, robot position detection module, CCD tracking module, power detection module respectively, the PLC controller still connects CAN communication bus through CAN communication module, CAN communication bus is connected with the host computer.
The working principle of the technical scheme is as follows: the scheme that this embodiment adopted still includes PLC controller, LCD module, key panel, magnetic wheel drive control module, swing drive control module, position drive control module, pendulum heart detection control module, robot position detection module, CCD tracking module, power detection module, CAN communication module and host computer, the PLC controller is connected with LCD module, key panel, magnetic wheel drive control module, swing drive control module, position drive control module, pendulum heart detection control module, robot position detection module, CCD tracking module, power detection module respectively, the PLC controller still connects CAN communication bus through CAN communication module, CAN communication bus is connected with the host computer.
The beneficial effects of the above technical scheme are: the scheme that adopts this embodiment to provide still includes PLC controller, LCD module, key panel, magnetic wheel drive control module, swing drive control module, position drive control module, pendulum heart detection control module, robot position detection module, CCD tracking module, power detection module, CAN communication module and host computer, the PLC controller is connected with LCD module, key panel, magnetic wheel drive control module, swing drive control module, position drive control module, pendulum heart detection control module, robot position detection module, CCD tracking module, power detection module respectively, the PLC controller still connects CAN communication bus through CAN communication module, CAN communication bus is connected with the host computer.
In another embodiment, the robot system further comprises a robot communication module, a data aggregation module and a plurality of encoders;
the robot communication module is used for obtaining feedback data after the data aggregation module receives an access instruction sent by the robot control cabinet and sending the feedback data to the robot control cabinet, wherein the feedback data is obtained by combining data respectively fed back by at least one encoder.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment also comprises a robot communication module, a data aggregation module and a plurality of encoders; the robot communication module is used for obtaining feedback data after the data aggregation module receives an access instruction sent by the robot control cabinet and sending the feedback data to the robot control cabinet, wherein the feedback data is obtained by combining data respectively fed back by at least one encoder.
The beneficial effects of the above technical scheme are: the scheme provided by the embodiment also comprises a robot communication module, a data aggregation module and a plurality of encoders; the robot communication module is used for obtaining feedback data after the data aggregation module receives an access instruction sent by the robot control cabinet and sending the feedback data to the robot control cabinet, wherein the feedback data is obtained by combining data respectively fed back by at least one encoder.
In another embodiment, after receiving an access instruction sent by the robot control cabinet, the data aggregation module analyzes the access instruction to obtain an access instruction of at least one encoder; the data aggregation module sends the access instruction of at least one encoder to the corresponding encoders respectively; and after receiving the data respectively fed back by at least one encoder, the data aggregation module combines the data respectively fed back by at least one encoder to obtain the feedback data.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the data aggregation module analyzes the access instruction to obtain the access instruction of at least one encoder after receiving the access instruction sent by the robot control cabinet; the data aggregation module sends the access instruction of at least one encoder to the corresponding encoders respectively; and after receiving the data respectively fed back by at least one encoder, the data aggregation module combines the data respectively fed back by at least one encoder to obtain the feedback data.
The beneficial effects of the above technical scheme are: after receiving an access instruction sent by the robot control cabinet, the data aggregation module analyzes the access instruction to obtain an access instruction of at least one encoder by adopting the scheme provided by the embodiment; the data aggregation module sends the access instruction of at least one encoder to the corresponding encoders respectively; and after receiving the data respectively fed back by at least one encoder, the data aggregation module combines the data respectively fed back by at least one encoder to obtain the feedback data.
In another embodiment, the data aggregation module determines whether the access instruction is a single instruction or a periodic instruction; if the access instruction is a single instruction, the data aggregation module executes the step of analyzing the access instruction to obtain at least one access instruction of the encoder; if the access instruction is a periodic instruction, the data aggregation module sends the feedback data stored in the previous communication period to the robot control cabinet, then executes the step of analyzing the access instruction to obtain the access instruction of at least one encoder, and stores the feedback data after merging the data respectively fed back by at least one encoder to obtain the feedback data, so as to send the feedback data to the robot control cabinet when receiving the access instruction of the next communication period.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the data aggregation module judges whether the access instruction is a single instruction or a periodic instruction; if the access instruction is a single instruction, the data aggregation module executes the step of analyzing the access instruction to obtain at least one access instruction of the encoder; if the access instruction is a periodic instruction, the data aggregation module sends the feedback data stored in the previous communication period to the robot control cabinet, then executes the step of analyzing the access instruction to obtain the access instruction of at least one encoder, and stores the feedback data after merging the data respectively fed back by the at least one encoder to obtain the feedback data, so as to send the feedback data to the robot control cabinet when the access instruction of the next communication period is received.
The beneficial effects of the above technical scheme are: the data aggregation module judges whether the access instruction is a single instruction or a periodic instruction according to the scheme provided by the embodiment; if the access instruction is a single instruction, the data aggregation module executes the step of analyzing the access instruction to obtain at least one access instruction of the encoder; if the access instruction is a periodic instruction, the data aggregation module sends the feedback data stored in the previous communication period to the robot control cabinet, then executes the step of analyzing the access instruction to obtain the access instruction of at least one encoder, and stores the feedback data after merging the data respectively fed back by at least one encoder to obtain the feedback data, so as to send the feedback data to the robot control cabinet when receiving the access instruction of the next communication period.
In another embodiment, abnormal data of the control system is detected and analyzed, and each time of abnormal data and fault reasons are recorded; formulating an adjustment scheme according to the fault reason, and recording the adjustment scheme corresponding to the abnormal data and the fault reason in a database; forming the abnormal data, the fault reason and the adjustment scheme into a data block, and sequentially recording the occurrence time of the abnormal data in the data block and the formulation time of the adjustment scheme; presetting a data cleaning time limit; and taking the occurrence time of abnormal data or the set time of an adjustment scheme as a reference point, and automatically deleting the corresponding data block when the data clearing time limit is reached.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the abnormal data of the control system is detected and analyzed, and the abnormal data and the fault reason of each time are recorded; formulating an adjustment scheme according to the fault reason, and recording the adjustment scheme corresponding to the abnormal data and the fault reason in a database; forming the abnormal data, the fault reason and the adjustment scheme into a data block, and sequentially recording the occurrence time of the abnormal data in the data block and the formulation time of the adjustment scheme; presetting a data cleaning time limit; and taking the occurrence time of abnormal data or the set time of an adjustment scheme as a reference point, and automatically deleting the corresponding data block when the data clearing time limit is reached.
The beneficial effects of the above technical scheme are: the scheme provided by the embodiment is adopted to detect and analyze the abnormal data of the control system and record the abnormal data and the fault reason each time; formulating an adjustment scheme according to the fault reason, and recording the adjustment scheme corresponding to the abnormal data and the fault reason in a database; forming the abnormal data, the fault reason and the adjustment scheme into a data block, and sequentially recording the occurrence time of the abnormal data in the data block and the formulation time of the adjustment scheme; presetting a data cleaning time limit; and taking the occurrence time of abnormal data or the set time of an adjustment scheme as a reference point, and automatically deleting the corresponding data block when the data clearing time limit is reached.
In another embodiment, an initial state model, a target state model and an intermediate state model arranged between the initial state model and the target state model are set based on the position sensor to determine the moving track; the number of the intermediate state models is at least two;
the middle state model comprises at least one deformation model and at least one displacement model, and the positions of the deformation model and the displacement model are preset;
the deformation model is set by taking track deformation as a main characteristic and action displacement as a secondary characteristic, the displacement model is set by taking action displacement as a main characteristic and track deformation as a secondary characteristic; and ensuring the fusion of the action tracks by setting key frames among the models of the action tracks.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that a moving track is determined based on a position sensor, an initial state model, a target state model and an intermediate state model arranged between the initial state model and the target state model are set; the number of the intermediate state models is at least two; the middle state model comprises at least one deformation model and at least one displacement model, and the positions of the deformation model and the displacement model are preset; the deformation model is set by taking track deformation as a main characteristic and action displacement as a secondary characteristic, the displacement model is set by taking action displacement as a main characteristic and track deformation as a secondary characteristic; and ensuring the fusion of the action tracks by setting key frames among the models of the action tracks.
The beneficial effects of the above technical scheme are: determining a moving track based on a position sensor by adopting the scheme provided by the embodiment, and setting an initial state model, a target state model and an intermediate state model between the initial state model and the target state model; the number of the intermediate state models is at least two; the middle state model comprises at least one deformation model and at least one displacement model, and the positions of the deformation model and the displacement model are preset; the deformation model is set by taking track deformation as a main characteristic and action displacement as a secondary characteristic, the displacement model is set by taking action displacement as a main characteristic and track deformation as a secondary characteristic; and ensuring the fusion of the action tracks by setting key frames among the models of the action tracks.
In another embodiment, further comprising: a sorting device;
the classification device classifies the actions according to different action tracks, and sets corresponding initial state models, intermediate state models and target state models which are classified into the same class;
the classification device classifies the attributes of the same deformation or displacement into the same class according to the deformation or displacement characteristics of the action tracks, wherein the same class can be the same action track of different roles or different action tracks of the same role;
ensuring the fusion of action tracks by adopting a key frame setting mode among the initial state model, the intermediate state model and the target state model of the same type;
packaging all the set models with the key frames into modules with the same characteristics; setting a calling interface for the module; and calling all data and setting modes set by the module according to the calling interface.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment further comprises the following steps: a sorting device; the classification device classifies the actions according to different action tracks, and sets corresponding initial state models, intermediate state models and target state models which are classified into the same class; the classification device classifies the attributes of the same deformation or displacement into the same class according to the deformation or displacement characteristics of the action tracks, wherein the same class can be the same action track of different roles or different action tracks of the same role; ensuring the fusion of action tracks by adopting a key frame setting mode among the initial state model, the intermediate state model and the target state model of the same type; packaging all the set models with the key frames into modules with the same characteristics; setting a calling interface for the module; and calling all data and setting modes set by the module according to the calling interface.
The beneficial effects of the above technical scheme are: the scheme provided by the embodiment further comprises the following steps: a sorting device; the classification device classifies the actions according to different action tracks, and sets corresponding initial state models, intermediate state models and target state models which are classified into the same class; the classification device classifies the attributes of the same deformation or displacement into the same class according to the deformation or displacement characteristics of the action tracks, wherein the same class can be the same action track of different roles or different action tracks of the same role; ensuring the fusion of action tracks by adopting a key frame setting mode among the initial state model, the intermediate state model and the target state model of the same type; packaging all the set models with the key frames into modules with the same characteristics; setting a calling interface for the module; and calling all data and setting modes set by the module according to the calling interface.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An industrial robot control system based on an intelligent manufacturing production line, comprising: the robot management mechanism is connected with the servo control mechanism through a CAN bus and is in wireless communication with the upper computer system;
the servo control mechanism comprises an internal sensing unit, an execution unit and a servo unit, wherein the internal sensing unit is connected with the servo unit, and the servo unit controls the robot to act through the execution unit; the robot management mechanism comprises a robot management unit, a work control unit, an action control unit and a wireless communication unit.
2. The industrial robot control system based on the intelligent manufacturing line as claimed in claim 1, wherein the robot management unit is used for being externally connected with an environment monitoring camera and an external sensor unit and carrying out wireless communication with an upper computer system through a wireless communication unit, the robot management unit is further respectively connected with an operation control unit and a motion control unit, the operation control unit is connected with the motion control unit, and the motion control unit is connected with the servo unit.
3. An industrial robot control system based on an intelligent manufacturing line according to claim 2, characterized in that the internal sensing unit comprises a position sensor, a speed sensor, a temperature sensor;
the external sensor unit includes: visual sensors, distance sensors, tactile sensors, and auditory sensors.
4. The industrial robot control system based on the intelligent manufacturing line according to claim 1, further comprising a PLC controller, a liquid crystal display module, a key panel, a magnetic wheel drive control module, a swing drive control module, a position drive control module, a center of swing detection control module, a robot position detection module, a CCD tracking module, a power detection module, a CAN communication module, and an upper computer, wherein the PLC controller is respectively connected with the liquid crystal display module, the key panel, the magnetic wheel drive control module, the swing drive control module, the position drive control module, the center of swing detection control module, the robot position detection module, the CCD tracking module, and the power detection module, the PLC controller is further connected with a CAN communication bus through the CAN communication module, and the CAN communication bus is connected with the upper computer.
5. The industrial robot control system based on the intelligent manufacturing production line is characterized by further comprising a robot communication module, a data aggregation module and a plurality of encoders;
the robot communication module obtains feedback data after the data aggregation module receives the access instruction sent by the robot control cabinet, and sends the feedback data to the robot control cabinet, wherein the feedback data are obtained by combining data respectively fed back by at least one encoder.
6. The industrial robot control system based on the intelligent manufacturing production line as claimed in claim 5, wherein the data aggregation module analyzes the access command to obtain the access command of at least one encoder after receiving the access command sent by the robot control cabinet; the data aggregation module sends the access instruction of at least one encoder to the corresponding encoders respectively; and after receiving the data respectively fed back by at least one encoder, the data aggregation module combines the data respectively fed back by at least one encoder to obtain the feedback data.
7. The intelligent manufacturing line-based industrial robot control system of claim 6, wherein the data aggregation module determines whether the access command is a single command or a periodic command; if the access instruction is a single instruction, the data aggregation module executes the step of analyzing the access instruction to obtain at least one access instruction of the encoder; if the access instruction is a periodic instruction, the data aggregation module sends the feedback data stored in the previous communication period to the robot control cabinet, then executes the step of analyzing the access instruction to obtain the access instruction of at least one encoder, and stores the feedback data after merging the data respectively fed back by the at least one encoder to obtain the feedback data, so as to send the feedback data to the robot control cabinet when the access instruction of the next communication period is received.
8. The industrial robot control system based on the intelligent manufacturing production line as claimed in claim 1, wherein the abnormal data of the control system is detected and analyzed, and the abnormal data and the fault reason are recorded every time; formulating an adjustment scheme according to the fault reason, and recording the adjustment scheme corresponding to the abnormal data and the fault reason in a database; forming the abnormal data, the fault reason and the adjustment scheme into a data block, and sequentially recording the occurrence time of the abnormal data in the data block and the formulation time of the adjustment scheme; presetting a data cleaning time limit; and taking the occurrence time of abnormal data or the set time of an adjustment scheme as a reference point, and automatically deleting the corresponding data block when the data clearing time limit is reached.
9. An industrial robot control system based on an intelligent manufacturing line according to claim 3, characterized in that an initial state model, a target state model and an intermediate state model between the initial state model and the target state model are set based on the determination of the movement trajectory by the position sensor; the number of the intermediate state models is at least two;
the middle state model comprises at least one deformation model and at least one displacement model, and the positions of the deformation model and the displacement model are preset;
the deformation model is set by taking track deformation as a main characteristic and action displacement as a secondary characteristic, the displacement model is set by taking action displacement as a main characteristic and track deformation as a secondary characteristic; and ensuring the fusion of the action tracks by setting key frames among the models of the action tracks.
10. An industrial robot control system based on an intelligent manufacturing line according to claim 9, further comprising: a sorting device; the classification device classifies the actions according to different action tracks, and sets corresponding initial state models, intermediate state models and target state models which are classified into the same class;
the classification device classifies the attributes of the same deformation or displacement into the same class according to the deformation or displacement characteristics of the action tracks, wherein the same class can be the same action track of different roles or different action tracks of the same role;
ensuring the fusion of action tracks by adopting a key frame setting mode among the initial state model, the intermediate state model and the target state model of the same type;
packaging all the set models with the key frames into modules with the same characteristics; setting a calling interface for the module; and calling all data and setting modes set by the module according to the calling interface.
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