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Intelligent control system, method and device for manipulator based on edge computing

An intelligent control system and edge computing technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effects of security assurance, bandwidth avoidance, and convenient management

Active Publication Date: 2021-05-04
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

However, the application of intelligent control theory and methods to the actual control of industrial manipulators will bring many problems: the theoretical algorithms are aimed at each control stage and are independent of each other, while the intelligent control system needs to combine them organically Together, they constitute a complete set of intelligent control processes to ensure the overall intelligence; in addition, intelligent control is different from traditional control methods, and it requires a large amount of computing resources for training based on algorithms and data, which leads to factories needing Possess powerful intelligent computing capabilities, and also need to ensure low latency and high security in the process

Method used

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  • Intelligent control system, method and device for manipulator based on edge computing
  • Intelligent control system, method and device for manipulator based on edge computing
  • Intelligent control system, method and device for manipulator based on edge computing

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Embodiment Construction

[0052] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0053] The first aspect of the present invention provides an intelligent control system of a manipulator based on edge computing, including a manipulator, a sensor, a central cloud, an edge cloud, and an edge node; wherein, the central cloud is provided with control law generation algorithm files, image processing Algorithm files, 3D model generation algorithm files, trajectory planning algorithm files, algorithm file library of inverse kinematics model generation algorithm files of the robotic arm, technically support the edge cloud to complete various tasks necessary for intelligent control.

[0054] The edge cloud uses the algorithm files pr...

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Abstract

The invention belongs to the fields of industrial robots, intelligent control, and edge computing, and discloses an edge computing-based intelligent control system, method, and device for a manipulator, aiming at realizing low-latency, high-security intelligent control of the manipulator. The system includes robotic arms, sensors, central cloud, edge cloud, and edge nodes; the central cloud is equipped with an algorithm file library; the edge cloud obtains the corresponding algorithm files from the central cloud to configure the algorithm program, and obtains the control law model based on the training data. Or construct a 3D model of a virtual scene based on industrial site images; edge nodes obtain sensor information and send it to the edge cloud for calculation; based on the deployed control law, calculate the control amount of the robotic arm. The present invention uses the edge cloud as the core processing platform, cooperates with the central cloud and the device end, and realizes the low-latency, high-security intelligent control of the industrial robot arm on the edge side of the factory.

Description

technical field [0001] The invention belongs to the field of industrial robots, intelligent control and edge computing, and specifically relates to an edge computing-based intelligent control system, method, and device for a manipulator. Background technique [0002] Industrial robotic arms are widely used in industrial sites such as automatic handling, assembly, welding, and spraying. They are indispensable key equipment for the manufacturing industry. Therefore, the control technology for industrial robotic arms is a key technology for the manufacturing industry, and it can also improve the level of my country's manufacturing industry. important technology. However, industrial manipulators generally have multiple kinematic joints (of which six degrees of freedom are the most common), and have many dynamic parameters that are difficult to measure, which leads to the control system of industrial manipulators being strongly coupled and highly nonlinear. and uncertain complex ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664B25J9/1694B25J9/1697
Inventor 陈世超王宇霄熊刚朱凤华胡潇胡斌董西松王飞跃
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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