Control system of mechanical arm and test method thereof

A technology for robotic arms and control systems, applied in robotic arms, program-controlled robotic arms, manufacturing tools, etc., which can solve problems affecting the normal operation of robotic arms, unstable control process, and lack of intelligence

Pending Publication Date: 2022-03-18
CHINA FIRST AUTOMOBILE
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AI-Extracted Technical Summary

Problems solved by technology

However, such a control process is not stable and lacks a certain degree of intelligence, which cannot meet the current situation that the tools used by people can develop towards intelligence and automation.
Usually, the manipulator system is realized by the cooperation of differe...
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Method used

Wherein, controlled object model forms automated test platform with traditional platform, self-adaptive platform, can realize that manipulator control system is carried out automated test by this platform, can be fast when a certain subsystem unit of it works like this To test and discover the loopholes, these new subsystem units can achieve a certain sense of "plug and play" in the cloud environment. And passing the test can reduce the risk of crash of the robotic arm control system during work.
Wherein, the controlled object model is introduced in the automatic test platform to facilitate the interactio...
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Abstract

The embodiment of the invention discloses a control system of a mechanical arm and a testing method of the control system. The control system of the mechanical arm comprises a mechanical arm group control layer, a system management layer, an internal function management layer, a specific function layer, a platform service layer and a man-machine interaction layer. The mechanical arm group control layer, the system management layer, the internal function management layer, the specific function layer, the platform service layer and the man-machine interaction layer control mechanical arms through data calling among the layers. The mechanical arm group control layer, the system management layer, the internal function management layer, the specific function layer and the platform service layer are sequentially arranged from the upper layer to the lower layer; wherein the upper layer can call the lower layer, the lower layer cannot call the upper layer, and the man-machine interaction layer can call all other layers. Therefore, the functions of the mechanical arm control system are designed in a layered mode, so that the mechanical arm control system can complete intelligent calling between layers, and then control over the mechanical arm is achieved.

Application Domain

Programme-controlled manipulator

Technology Topic

PhysicsService layer +10

Image

  • Control system of mechanical arm and test method thereof
  • Control system of mechanical arm and test method thereof
  • Control system of mechanical arm and test method thereof

Examples

  • Experimental program(3)
  • Effect test(1)

Example Embodiment

[0022] Example 1
[0023] figure 1 This is a structural block diagram of a control system for a robotic arm provided in Embodiment 1 of the present invention. refer to figure 1 , the control system of the robotic arm includes: a robotic arm group control layer 100, a system management layer 200, an internal function management layer 300, a specific function layer 400, a platform service layer 500 and a human-computer interaction layer 600; wherein, the robotic arm group control layer 100. The system management layer 200, the internal function management layer 300, the specific function layer 400, the platform service layer 500, and the human-computer interaction layer 600 are used to control the robotic arm through data calls between layers; The group control layer 100, the system management layer 200, the internal function management layer 300, the specific function layer 400, and the platform service layer 500 are arranged in order from the upper layer to the lower layer; wherein, the upper layer can call the lower layer, the lower layer cannot call the upper layer, and the human-computer interaction Layer 600 can call all other layers.
[0024] Among them, the functional service of the management layer 100 of the robotic arm group is to realize remote management and control of the robotic arm through cloud technology. The function service of the system management layer 200 is to schedule the system in the robot arm. The function service of the internal function management layer 300 is the function service for coordinating the internal functions of the system. The specific function layer 400 represents a functional service that controls a specific function. The platform service layer 500 is used to decompose and manage the general functions of the robotic arm in a unified manner, such as diagnostic management, power management, logging, and the like. The human-computer interaction layer 600 is used for unified management of the interaction (including control and information display, etc.) between humans and the robotic arm.
[0025] Among them, the control layer 100 of the robotic arm group can call the data of the system management layer 200, the internal function management layer 300, the specific function layer 400 and the platform service layer 500; the system management layer 200 can call the internal function management layer 300, the specific function layer 400, The data of the platform service layer 500, but the data of its upper layer, that is, the control layer of the robot arm group 100, cannot be called; the internal function management layer 300 can call the data of the specific function layer 400 and the platform service layer 500, but cannot call its upper-layer robot arm The data of the group control layer 100 and the system management layer 200; the specific function layer 400 can call the data of the platform service layer 500, but cannot call the data of its upper robot arm group control layer 100, system management layer 200, and internal function management layer 300 ; The platform service layer 500 is the bottom layer, and cannot call the data of the upper robotic arm group control layer 100, system management layer 200, internal function management layer 300, and specific function layer 400; however, the human-computer interaction layer 600 can call the data of all layers . It can be seen that the function of the robotic arm control system is designed in layers based on the principle of service, and the functional modules are divided according to the above-mentioned layers, and the functional modules of different layers show different service function groups. Through this service-oriented strict layered design, the services of the robotic arm control system will be abstracted into atomic services, and intelligent calls can be completed between layers, thereby realizing the control of the robotic arm and improving intelligent control. ,Improve work efficiency.
[0026] The technical solution of the embodiment of the present invention can realize that the upper functional layer can flexibly call the data of its lower functional layer. When a certain layer in the lower layer is abnormal, the data can be called through the lower functional layer. For example, under normal circumstances, The system management layer 200 realizes the motion planning of the robot arm by calling the data of the internal function management layer 300, but when the internal function management layer 300 is abnormal and cannot be called any more, the system management layer 200 can also directly call the underlying specific function layer. 400 data to realize the motion control of the robotic arm. Compared with the control system of the robotic arm in the prior art, the data transmission between the modules is distributed, and the reusability of data resources can be improved, and the entire system will not collapse due to the failure of a function module. , thereby improving the reliability of the robotic arm control system.
[0027]The technical solution of this embodiment provides a control system for a robotic arm, the control system for the robotic arm includes: a robotic arm group control layer, a system management layer, an internal function management layer, a specific function layer, a platform service layer, and a human-machine layer. Interaction layer; among them, the robot arm group control layer, system management layer, internal function management layer, specific function layer, platform service layer, and human-computer interaction layer are used to control the robot arm through data calls between layers; Among them, the robotic arm group control layer, system management layer, internal function management layer, specific function layer, and platform service layer are arranged in order from the upper layer to the lower layer; among them, the upper layer can call the lower layer, the lower layer cannot call the upper layer, and the human-computer interaction layer All other layers can be called. It can be seen from this that by designing the functions of the robotic arm control system in layers, and dividing the function modules according to the above-mentioned layers, the function modules of different layers show different service function groups, and the functions located in the upper layer can call the lower layer functions. data, but the lower layer cannot call the upper layer. Through this service-oriented strict layered design, the services of the robotic arm control system will be abstracted into atomic services, and intelligent calls can be completed between layers, thereby realizing the control of the robotic arm and improving intelligent control. ,Improve work efficiency.

Example Embodiment

[0028] Embodiment 2
[0029] figure 2 is a structural block diagram of a control system of a robotic arm provided in the second embodiment of the present invention, image 3 It is a schematic structural diagram of a hardware circuit board provided in Embodiment 2 of the present invention. On the basis of the foregoing Embodiment 1, optionally, refer to figure 2 The robotic arm group control layer 100 at least includes an OTA service management unit 110, a robotic arm management unit 120 and an enterprise account management unit 130, and the OTA service management unit 110, the robotic arm management unit 120 and the enterprise account management unit 130 are interconnected.
[0030] The OTA service management unit 110 implements remote control and management of the robotic arm management unit 120 and the enterprise account management unit 130 through cloud technology. The OTA service management unit 110 may call data of the robotic arm management unit 120 and the enterprise account management unit 130 . The robot arm management unit 120 can call the data of the system management layer 200, the internal function management layer 300, the specific function layer 400, and the platform service layer 500, and can control and manage multiple robot arm groups by calling the data of each layer as needed . The enterprise account management unit 130 can also call the data of the system management layer 200, the internal function management layer 300, the specific function layer 400, and the platform service layer 500 to manage the numbering, naming, and ID identification of each robotic arm.
[0031] Among them, the management layer 100 of the robotic arm group is managed through the cloud, and the difference between the cloud technology and the traditional software platform is that the application is virtualized. Based on this advanced cloud management technology, the OTA service management unit 110 can realize remote management and control of the robotic arm in the cloud, receive, manage and backup the state data of the robotic arm in real time, and upgrade and manage the control software. . Therefore, based on cloud technology, the problem that the traditional control process of the robotic arm is easily affected by external factors and is unstable to a certain extent is solved.
[0032] The functional services of this layer are not limited to a single robotic arm, and the purpose is to realize the collaborative control of the robotic arm group. The specific implementation process may be as follows: the operator remotely sends motion control instructions for each robotic arm to the OTA service management unit 110 through the cloud technology, and the OTA service management unit 110 sends the control instructions to the robotic arm management unit 120 through the cloud technology. The unit 120 acquires the actual motion state data of each manipulator by calling the lower layer data (for example, the specific function layer 400 ), and generates collaborative control instructions to each manipulator according to the actual motion state data of each manipulator and the motion control instructions for each manipulator. The motion control unit 310 of the robotic arm is used to realize the coordinated control of each robotic arm.
[0033] Optionally, continue to refer to figure 2 , the system management layer 200 includes at least an intention judgment unit 210 and a motion planning unit 220, and the intention judgment unit 210 and the motion planning unit 220 are electrically connected; wherein, the motion planning unit 220 is used to generate planning control instructions by calling the data of the internal function management layer 300 .
[0034] Wherein, the intention judgment unit 210 judges the intention of the operator by sensing the data related to the behavior state such as the image and gesture of the operator, and sends a control request to the motion control unit 310 of the robot arm. It is through the intention judgment unit 210 that the robotic arm perceives the operator's intention and controls the lower-level modules, such as the motion control unit 310 .
[0035] Among them, the motion planning unit 220 can call the data of the internal function management layer 300, for example, call the data of the communication control unit 320, the perception control unit 330 and the signal conversion and fusion unit 340, so as to realize real-time monitoring of the variable factors in the surrounding environment and Obtain real-time change data, and make new plans for the control of the robotic arm according to the real-time change data, that is, generate corresponding planning control instructions to optimize the motion of the robotic arm. And the motion planning unit 220 has the ability to monitor the task path after a given destination (eg, a point in three-dimensional space), and realize the optimization of mechanical energy by adjusting the motion state of the robotic arm. For example, when an obstacle is encountered during the movement of the robotic arm, the acquired obstacle data information is fed back to the motion control unit 310 to control the movement of the robotic arm in real time.
[0036] Optionally, continue to refer to figure 2 , the motion planning unit 220 is further configured to generate planning control instructions by calling the data of the specific functional layer 400 when an abnormality occurs in the internal functional management layer 300 .
[0037] Wherein, when the internal function management layer 300 is abnormal, for example, when the data of the communication control unit 320, the perception control unit 330 and the signal conversion and fusion unit 340 are abnormal, the motion planning unit 220 can no longer call the data of the internal function management layer 300. Real-time monitoring of variable factors in the surrounding environment makes it impossible to plan and control the movement of the robotic arm in real time. At this time, the motion planning unit 220 can also call data from the lower functional layer, that is, the specific functional layer 400, for example, call the most basic motion state image data, displacement data, angle data, etc. of the robotic arm, and then according to the most basic motion The state image data, displacement data, angle data, etc. generate planning control instructions to realize the optimal control of the motion of the robotic arm. Therefore, the specific functional layer 400 can be regarded as a redundant or backup functional layer for the motion planning unit 220 to realize the optimal control of the robotic arm. The advantage of this design is that when an abnormality occurs in a certain layer, the data of other functional layers can also be called by calling Continue to implement the corresponding functions to ensure that the control system of the robotic arm is not interrupted due to an abnormality of a certain layer, thereby improving the reliability of the control of the robotic arm control system.
[0038] Optionally, continue to refer to figure 2 , the internal function management layer 300 at least includes a motion control unit 310, a communication control unit 320, a perception control unit 330, and a signal conversion and fusion unit 340. interconnected.
[0039] The motion control unit 310 is an execution unit that implements the motion function of the robotic arm, and is configured to receive the planning control instruction sent by the motion planning unit 220 and control the motion of the robotic arm according to the planning control instruction. The communication control unit 320 is used to control the communication management between the internal function management layer 300 and the specific function layer 400 , the platform service layer 500 and the human-computer interaction layer 600 . The perception control unit 330 is configured to receive environmental perception data of the specific functional layer 400 , such as motion state data of the robotic arm, motion environment image data of the robotic arm, displacement data, angle data, and the like. The signal conversion and fusion unit 340 is configured to perform fusion conversion on each environmental perception data acquired by the perception control unit 330 . Optionally, continue to refer to figure 2 The specific function layer 400 at least includes an image acquisition unit 410, a displacement detection unit 420, an angle detection unit 430 and a communication unit 440. The image acquisition unit 410, the displacement detection unit 420, the angle detection unit 430 and the communication unit 440 are connected to each other.
[0040] The image acquisition unit 410 is configured to collect image data of the motion state of the robotic arm, image data of the motion environment of the robotic arm, and the like. The image acquisition unit 410 is a camera, such as a CCD industrial camera. The displacement detection unit 420 may be a displacement detection sensor for detecting the movement displacement of the robotic arm. The angle detection unit 430 is used to detect the rotation angle information of the robotic arm, and may be an angular displacement sensor, such as a gyroscope. The communication unit 440 is used to realize the communication transmission between the specific function layer 400 and the platform service layer 500 and the human-computer interaction layer 600. The communication mode can be wired communication, wireless communication, or a combination of wired communication and wireless communication. It can be set according to the actual situation, and no specific limitation is made here.
[0041] Optionally, continue to refer to figure 2 , the platform service layer 500 at least includes: a time management unit 510 , a storage management unit 520 , a log recording unit 530 and an energy management unit 540 .
[0042] The platform service layer 500 is used to decompose and manage the general functions of the robotic arm in a unified manner, such as time management, storage management, energy management, log recording, and the like. Among them, the time management unit 510 is used to realize the timing adjustment and control of the manipulator group, to ensure the consistency of the clocks of all the manipulators, and it is convenient for them to maintain the consistency of motion behaviors when manipulating multiple manipulators. The storage management unit 520 is used for storing the control data of the mobile phone arm. The log recording unit 530 records the working state of the robotic arm in the form of a log, which is convenient for the operator to check and play back the working state of the robotic arm. The energy management unit 540 is used to manage the usage amount, remaining amount, etc. of the energy required for the robot arm to perform motion. Among them, the energy of the robotic arm control system may be hydraulic pressure, electrical energy, and the like. In addition, the platform service layer 500 also includes a diagnosis management unit and a power management unit, wherein the diagnosis management unit evaluates the working status of some systems in the robotic arm through regional diagnosis, and if necessary, if a system crashes or has a major error, Diagnostic management will force shut down some systems in this area. The power management unit is used to manage the power supply unit of the robot arm. In addition to providing energy to the system in the robot arm, the power management unit also has the functions of current and voltage overload protection and energy storage.
[0043] Optionally, continue to refer to figure 2 , the human-computer interaction layer 600 at least includes: a gesture recognition unit 610 , a voice recognition unit 620 , a face recognition unit 630 and a fingerprint recognition unit 640 .
[0044] Among them, the human-computer interaction layer 600 is used for unified management of the interaction between humans and the robotic arm. The purpose of human-computer interaction management is to manage the interaction between various systems (including software and hardware) on the robotic arm and the user, and is a visual human-computer interaction interface. Human-computer interaction is the embodiment of the intelligent use of tools. A good human-computer interaction experience will greatly increase the user's sense of identity for using tools. At the same time, the human-computer interaction interface is an encapsulation of the overall functions of the robotic arm, and only exposed to the outside world. Interfaces and rules used.
[0045] Optionally, functional modules such as the motion drive module, clock, power supply, storage, sensing receiving module, and CPU of the robotic arm can be integrated on the hardware circuit board, image 3 A schematic showing the hardware board, as image 3, The hardware circuit board contains three interfaces for communication with the outside, such as two DB25 interfaces and USB interfaces, among which, one DB25 interface is electrically connected to external sensors (such as cameras, gyroscopes, etc.), and the other DB25 is connected to the drive of the robotic arm The module is connected, and the USB interface is connected with the PC. The perception receiving module on the hardware circuit board can receive and fuse the signals of various sensors, and the driving module can complete the precise control of the motor on the robotic arm. At the same time, the hardware circuit board also includes storage, power supply, clock, etc.

Example Embodiment

[0046] Embodiment 3
[0047] Figure 4 It is a schematic structural diagram of a test platform provided in Embodiment 3 of the present invention. The third embodiment of the present invention provides a test method applied to the control system of the robotic arm described in any embodiment of the present invention, and the method includes the following steps:
[0048] Step 1: Based on the traditional platform and adaptive platform of AUTOSAR, the controlled object model and the robotic arm are exchanged for data and information; among them, the traditional platform, the adaptive platform and the controlled object model are time scheduled through the clock.

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Description & Claims & Application Information

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