Industrial robot automatic detection obstacle avoidance control method

An industrial robot and control method technology, applied in the direction of comprehensive factory control, program control manipulator, manipulator, etc., can solve the problems of low degree of intelligence, inability to achieve large-scale, three-dimensional and all-round detection, and limited sensor detection range, etc. To achieve the effect of improving intelligence and autonomy

Pending Publication Date: 2022-05-27
WUHAN ONEW TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0003] For mobile industrial robots, obstacle avoidance is very important in the process of moving and navigating. However, in the current obstacle avoidance schemes for mobile robots, most of them only install sensors on one part of the robot, but the detection range of one sensor is extremely limited. There is only one detection plane, and it is impossible to realize large-scale, three-dimensional and all-round detection. Further, the obstacle avoidance scheme generated based on the detected obstacle distance data is relatively simple, and the degree of intelligence is not high. For example, it will cause the robot to get stuck in the corner and cannot Get away, so need to improve

Method used

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  • Industrial robot automatic detection obstacle avoidance control method
  • Industrial robot automatic detection obstacle avoidance control method
  • Industrial robot automatic detection obstacle avoidance control method

Examples

Experimental program
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Effect test

Embodiment 1

[0034] like figure 1 As shown, the main components of the industrial robot in this embodiment are the head 100 , the torso 200 and the chassis 300 , and the head 100 , the torso 200 and the chassis 300 are all equipped with sensor modules, thereby realizing the detection of obstacles of different heights. to increase the detection accuracy of obstacle avoidance, and the sensor modules of the head 100, the torso 200 and the chassis 300 have the same structure and configuration, as shown in figure 2 As shown, each sensor module is composed of 8 sensors numbered 1-8, and the detection angle of each sensor is 20-30° (preferably 25°), and the 8 sensors of each sensor module are The detection ranges are connected in sequence to form a fan-shaped detection area; in this embodiment, the sensor is an infrared sensor;

[0035] At the same time, the sensor module signals of the three positions of the head 100, the torso 200 and the chassis 300 have the same priority, and a single trigg...

Embodiment 2

[0055] The difference between this embodiment and Embodiment 1 is that the sensor in this embodiment is a microwave sensor, and when a microwave sensor is used, the time point when the microwave sensor detects wave emission is denoted as T 0 , after the detection wave of the microwave sensor is emitted, it is reflected back to the sensor when it encounters an obstacle, and the moment when the sensor receives the detection wave is T 1 ;

[0056] Obtain the distance X between the industrial robot and the obstacle by calculating formula (1) 0 :

[0057]

[0058] Among them, the motion speed of the industrial robot when the detection wave of the microwave sensor is emitted is V 0 ;

[0059] Get the current travel speed V of the industrial robot in real time 1 , then pass the distance X between the industrial robot and the obstacle 0 with the speed V of current industrial robots 1 Obtained pre-collision time T=X 0 / V 1 .

Embodiment 3

[0061] The difference between this embodiment and Embodiment 1 or 2 is that the controller is further provided with a state detection unit for monitoring the operation parameters of the industrial robot, wherein the operation parameters include temperature, feedback duration and Maintenance records, etc., the temperature is the internal temperature of the industrial robot when it is working, the feedback duration is the time interval from when the industrial robot receives the obstacle avoidance control signal to the execution of the obstacle avoidance action, and the maintenance record is the predetermined time (such as within one month) of the industrial robot. The total number of maintenance, thereby extending the service life of the industrial robot by monitoring the operating parameters of the industrial robot.

[0062] To sum up, in the present invention, sensor modules are arranged on the head, torso and chassis of the industrial robot, and the sensors in each sensor mod...

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Abstract

The invention discloses an automatic detection obstacle avoidance control method for an industrial robot. The method comprises the following steps: setting a distance response threshold value and response time through sensor modules mounted on a head, a trunk and a chassis of the industrial robot; in the advancing process of the industrial robot, any sensor module detects the obstacle distance in real time and transmits the detected obstacle distance data to a controller in the industrial robot for data analysis and processing; and the installation part of the sensor executes a corresponding obstacle avoidance action according to the obstacle avoidance control signal. The sensor modules are arranged at different positions of the robot to form the upper detection plane, the middle detection plane and the lower detection plane so as to realize three-dimensional detection of obstacles, and meanwhile, obstacle avoidance schemes generated according to the detected obstacle distance are more diversified.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, in particular to an automatic detection and obstacle avoidance control method for an industrial robot. Background technique [0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom mechanical devices that are widely used in industrial fields. They have been widely used in various industrial fields such as electronics, logistics, and chemicals. [0003] For mobile industrial robots, obstacle avoidance is very important in the process of moving and navigating. However, in the current mobile robot obstacle avoidance solutions, many sensors are only installed in one part of the robot, but the detection range of one sensor is extremely limited. There is only one detection plane, which cannot achieve large-scale, three-dimensional and all-round detection. Further, the obstacle avoidance scheme generated according to the detected obstacle distance data is relat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666Y02P90/02
Inventor 赵云林钦龚飞
Owner WUHAN ONEW TECH CO LTD
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