Multi-power-up path fitting planning method for oil field dosing robot arm

Abstract

The invention discloses a multi-power-liter path fitting planning method for an oil field dosing robot arm. The multi-power-liter path fitting planning method comprises the following steps that 1, a rectangular coordinate mechanical arm with a liquid path hose is connected; movement of the hose is decomposed into movement of two areas through the omni-directional guide wheels, movement of the first area is three-dimensional rectangular coordinates, and the second area is a hose follow-up area rotating along with the omni-directional guide wheels. 2, the manipulator reaches a destination through segmented positioning of coarse positioning and fine positioning, a low-power curve path is used for coarse positioning, the manipulator can reach the destination through a rising power curve according to external reference information for fine positioning, in this way, on the whole path, the stroke of a liquid path hose of the manipulator arm is shorter, and the working efficiency of the manipulator arm is improved. And the optimization of the path of the liquid path hose is realized. Linear acceleration, secondary acceleration, tertiary acceleration, constant speed and linear or secondary deceleration are combined through a comprehensive control strategy, a smoother acceleration and deceleration process can be provided, and the method is suitable for motion scenes requiring accurate control.

Description

Technical Field

[0001] The invention belongs to the field of oilfield dosing robots, in particular to a multiple power-raising path fitting planning method for an oilfield dosing robot arm. Background Art

[0002] Among the various manual, semi-automatic and intelligent dosing treatment equipment in existing oil fields, due to the fixed nature of their interfaces, they can only be operated in fixed containers or pipelines, and the lid needs to be opened manually to add the medicine into the medicine tank, and the medicine cannot be obtained flexibly. Since there are many types of medicines and they are often toxic or corrosive, they cause great harm to operators. The existing dosing equipment cannot achieve full process automation (for example, a uniform viscosity reduction dosing device for oil fields CN117739280A, an automatic dosing device for oil field development CN219194543U). Other various intelligent or non-intelligent dosing in oil fields are similar to the patented technologies cited above, which solve the dosing problem after entering the tank or pipeline, and the liquid circuits use hard connections.

[0003] In production practice, the complexity of the front-end input of drugs and containers makes it impossible to achieve full process automation using the above-mentioned methods. If the full process of dosing production is to be automated, automation must be achieved between the front-end barreled drugs and the dosing tanks. This requires the use of a robotic arm equipped with a liquid addition / liquid extraction hose to quickly achieve various complex tank finding, tank opening, and liquid replacement operations in a three-dimensional fixed area. Path planning in three-dimensional applications involves multiple nodes and multiple paths, which is relatively complex in terms of computing power or cost. It is necessary to consider six constraints: obstacle avoidance effect, energy consumption, path smoothness, range of motion, robot operation stability, and path planning precision. It is suitable for multi-joint complex paths (for example: a method for evaluating robot path planning results CN113561186A), and the design is difficult. Summary of the invention

[0004] In three-dimensional space, when a hose (attached to a robotic arm) is used to add medicine and extract medicine from an external common medicine barrel, it is convenient for changing the type of medicine and maintaining the equipment, but it limits the length of the liquid pipeline (it cannot be rigidly bent or twisted). Therefore, a simple multiple power-raising path fitting planning method is proposed to reduce the design difficulty and increase the implementation speed, so as to solve the defects in the existing technology.

[0005] The present invention is achieved through the following technical solutions:

[0006] The multiple power-raising path fitting planning method for the oilfield dosing robot arm includes the following steps:

[0007] Step 1: The rectangular coordinate robot arm with the fluid hose is decomposed into two regions through the omnidirectional guide wheel. The movement of the first region is the three-dimensional rectangular coordinate, and the second region is the hose follow-up region that rotates with the omnidirectional guide wheel. Since the second region does not need to be considered in the design calculation, a design that requires complex calculations in a three-dimensional space is turned into a three-coordinate search under reference point control.

[0008] Step 2: The three-coordinate search enables the robot to reach the destination through the segmented positioning of coarse positioning-fine positioning. A low-power curve path is used in coarse positioning, and the fine positioning can reach the destination through an ascending power curve based on external reference information. In this way, the liquid hose stroke of the robot arm is shortened throughout the path, thereby optimizing the liquid hose path.

[0009] In the above-mentioned multiple power-rising path fitting planning method for the oilfield dosing robot arm, the coarse positioning uses a low-power curve path, namely, linear acceleration.

[0010] As described above, the multiple power-rising path fitting planning method for the oilfield dosing robot arm, the precise positioning can reach the destination through the power-rising curve according to the external reference information.

[0011] The multiple power-rising path fitting planning method for the oilfield dosing robot arm as described above, wherein the segmented positioning path of the coarse positioning-fine positioning uses the multiple power-rising path fitting method, and the method comprises the following steps:

[0012] Step 1: Retrieve the video recognition result n as the coarse positioning-precise positioning of the target end point of this section;

[0013] Step 2: Enter the coarse positioning-fine positioning segment;

[0014] Step 3: Initial linear acceleration phase;

[0015] Step 4: Intermediate quadratic curve acceleration stage;

[0016] Step 5: Cubic curve acceleration stage and cubic curve uniform speed stage;

[0017] Step 6: Linear to quadratic curve deceleration stage;

[0018] Step 7: Determine the end point of the visual target. If it is the final precise positioning target, execute the robot operation. If it is not the final precise positioning target, perform transition point processing and coordinated control and then return to the first step to operate again.

[0019] In the above-mentioned multiple power-up path fitting planning method for the oilfield dosing robot arm, the speed in the initial linear acceleration stage increases linearly with time, and its calculation formula is: v(t)=a 1 t, where a 1is the constant of initial acceleration, 0≤t≤t 1 .

[0020] As described above, the multiple power-raising path fitting planning method for the oilfield dosing robot arm, the speed in the intermediate quadratic curve acceleration stage increases with the time quadratic curve, and its calculation formula is:

[0021] Among them, v(t 1 )=a 1 ·t 1 is the velocity at the end of the linear acceleration phase, a 2 is the acceleration in the intermediate stage, t 1 ≤t≤t 2 .

[0022] In the above-mentioned multiple power-up path fitting planning method for the oilfield dosing robot arm, the speed in the cubic curve acceleration stage changes with time according to the cubic curve, and its calculation formula is: v(t) =

[0023] v(t 2 )+b·(tt 2 ) 3 ,in: is the speed at the end of the secondary acceleration stage, b is the constant controlling the tertiary acceleration, t 2 ≤t≤t 3 .

[0024] In the above-mentioned multiple power-raising path fitting planning method for the oilfield dosing robot arm, the speed is kept constant in the uniform speed stage of the cubic curve, and the calculation formula is: v(t) = v max , where v max is the maximum speed in the uniform phase, t 3 ≤t≤t 4 .

[0025] In the above-mentioned multiple power-raising path fitting planning method for the oilfield dosing robot arm, the calculation formula for linear deceleration in the linear quadratic curve deceleration stage is: v(t)=v max -a 3 ·(tt 4 ), where a 3 is the constant of linear deceleration, t 4 ≤t≤t f ; The calculation formula for quadratic curve deceleration is: Where a4 is the constant of quadratic deceleration, t 4 ≤t≤t f .

[0026] As described above, the multiple power-raising path fitting planning method for the oilfield dosing robot arm, the velocity equation can be integrated to obtain the position equation s(t), the specific form of which is as follows: For each stage, the integral can be calculated separately to obtain the corresponding displacement equation.

[0027] The advantages of the present invention are: the present invention combines linear acceleration, quadratic acceleration, tertiary acceleration, uniform speed and linear or quadratic deceleration through a comprehensive control strategy, can provide a smoother acceleration and deceleration process, and is suitable for motion scenes requiring precise control, thereby reducing the difficulty of design, improving the speed of implementation, and facilitating promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 is a flow chart of the present invention;

[0030] Figure 2 It is a motion decomposition schematic diagram of the present invention;

[0031] Figure 3 It is a schematic diagram of segmented positioning of coarse positioning-fine positioning of the present invention;

[0032] Figure 4 is a schematic diagram of a coarse positioning path according to an embodiment of the present invention;

[0033] Figure 5 It is a schematic diagram of the precise positioning path of an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1 As shown, the multiple power-raising path fitting planning method for the oilfield dosing robot arm includes the following steps:

[0036] Step 1: The rectangular coordinate robot arm with the fluid hose is decomposed into two regions of motion by the omnidirectional guide wheel (see Figure 2 ), the movement of the first area is a three-dimensional rectangular coordinate, and the second area is the hose follow-up area that rotates with the omnidirectional guide wheel. Since the second area does not need to be considered in the design calculation, a design that requires complex calculations in a three-dimensional space is turned into a three-coordinate search under reference point control;

[0037] Step 2: The three-coordinate search is performed through the segmented positioning of coarse positioning and fine positioning to enable the manipulator to reach the destination (see Figure 3 ), a low-power curve path is used for coarse positioning, and a rising-power curve can be used to reach the destination according to external reference information for fine positioning. This makes the fluid hose travel of the robot arm shorter on the entire path, thus optimizing the fluid hose path.

[0038] Preferably, the coarse positioning described in this embodiment uses a low power curve path, ie, linear acceleration.

[0039] Preferably, the precise positioning described in this embodiment can reach the destination through a rising power curve based on external reference information.

[0040] Preferably, the segmented positioning path of the coarse positioning-fine positioning described in this embodiment uses a multiple power-raising path fitting method, and the method includes the following steps:

[0041] Step 1: Retrieve the video recognition result n as the coarse positioning-precise positioning of the target end point of this section;

[0042] Step 2: Enter the coarse positioning-fine positioning segment;

[0043] Step 3: Initial linear acceleration phase;

[0044] Step 4: Intermediate quadratic curve acceleration stage;

[0045] Step 5: Cubic curve acceleration stage and cubic curve uniform speed stage;

[0046] Step 6: Linear to quadratic curve deceleration stage;

[0047] Step 7: Determine the end point of the visual target. If it is the final precise positioning target, execute the robot operation. If it is not the final precise positioning target, perform transition point processing and coordinated control and then return to the first step to operate again.

[0048] Preferably, in the initial linear acceleration stage described in this embodiment, the speed increases linearly with time, and the calculation formula is: v(t)=a 1 t, where a 1 is the constant of initial acceleration, 0≤t≤t 1 .

[0049] Preferably, in the intermediate quadratic acceleration stage described in this embodiment, the speed increases quadratically with time, and the calculation formula is: Among them, v(t 1 )=a 1 ·t 1 is the velocity at the end of the linear acceleration phase, a 2 is the acceleration in the intermediate stage, t 1 ≤t≤t 2 .

[0050] Preferably, in the cubic curve acceleration stage described in this embodiment, the speed changes with time according to a cubic curve, and the calculation formula is: v(t)=v(t 2 )+b·(tt 2 ) 3 ,in: is the speed at the end of the secondary acceleration stage, b is the constant controlling the tertiary acceleration, t 2 ≤t≤t 3 .

[0051] Preferably, the speed of the cubic curve in the uniform speed stage described in this embodiment remains constant, and the calculation formula is: v(t)=v max , where v max is the maximum speed in the uniform phase, t 3 ≤t≤t 4 .

[0052] Preferably, the calculation formula of linear deceleration in the linear quadratic deceleration stage described in this embodiment is: v(t)=v max -a 3 ·(tt 4 ), where a 3 is the constant of linear deceleration, t 4 ≤t≤t f ; The calculation formula for quadratic curve deceleration is: Where a4 is the constant of quadratic deceleration, t 4 ≤t≤t f .

[0053] Preferably, the velocity equation described in this embodiment can be integrated to obtain the position equation s(t), and the specific form is as follows: For each stage, the integral can be calculated separately to obtain the corresponding displacement equation.

[0054] Preferably, the two sections of the coarse-fine positioning points described in this embodiment (it can also be multiple coarse-fine positioning sections, and the above-mentioned comprehensive motion equation is used in each section) can adjust the t of each section of the acceleration curve (power value acceleration curve) in the motion equation according to the needs of the actual project. nvalue, thereby adjusting the displacement of each power value, thereby adjusting the curvature, smoothness and approach rate of the path curve. According to the specific scenario requirements of the oil field, in the method we obtained, the sum of the acceleration and deceleration segments does not exceed one third of the overall time period, and the other time periods are uniform speed segments.

[0055] Example

[0056] When using a camera as a tracking device for the manipulator, when the shape of the tracked device is standard (for example, a round barrel, and the lid that needs to be operated on the barrel cover is also round), if a general resolution camera is used for image recognition, the design requirements for the camera and recognition algorithm are reduced, and the applicability is enhanced. The coarse positioning-fine positioning path can be nested in multiple layers as needed, and the above acceleration method can be used in each layer to obtain a faster response than the uniform speed strategy (the speed varies with the power, and the power increases faster). As a controller of the step-by-step approximation method, a broken line motion path can be obtained in layers according to the size of the object to be identified (the coarse positioning path takes the barrel edge as the tracking target, and its path positioning process is as follows Figure 4 As shown in the figure, the precise positioning path takes the edge shape of the barrel cover as the tracking target, and the path positioning process is as follows Figure 5 shown).

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. The above-mentioned zigzag path planning method, which continuously approximates from coarse to fine and adjusts the response speed and design difficulty by raising and lowering powers in each section, is a better implementation mode of the present invention, but the implementation mode of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principle of the present invention should be equivalent replacement methods, and do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Multiple power-raising path fitting planning method for oilfield dosing robot arm, Features: The steps include: Step 1: The rectangular coordinate robot arm with the fluid hose is decomposed into two regions through the omnidirectional guide wheel. The movement of the first region is the three-dimensional rectangular coordinate, and the second region is the hose follow-up region that rotates with the omnidirectional guide wheel. Since the second region does not need to be considered in the design calculation, a design that requires complex calculations in a three-dimensional space is turned into a three-coordinate search under reference point control. Step 2: The three-coordinate search enables the robot to reach the destination through the segmented positioning of coarse positioning-fine positioning. A low-power curve path is used in coarse positioning, and the fine positioning can reach the destination through an ascending power curve based on external reference information. In this way, the liquid hose stroke of the robot arm is shortened throughout the path, thereby optimizing the liquid hose path.

2. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 1, Features: The coarse positioning described uses a low power curve path, ie, linear acceleration.

3. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 1, Features: The precise positioning can reach the destination through a rising power curve according to external reference information.

4. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 1, Features: The segmented positioning path of the coarse positioning-fine positioning uses a multiple power-raising path fitting method, and the method includes the following steps: Step 1: Retrieve the video recognition result n as the rough positioning-precise positioning target end point of this section; Step 2: Enter the coarse positioning-fine positioning segment; Step 3: Initial linear acceleration phase; Step 4: Intermediate quadratic curve acceleration stage; Step 5: Cubic curve acceleration stage and cubic curve uniform speed stage; Step 6: Linear to quadratic deceleration stage; Step 7: Determine the end point of the visual target. If it is the final precise positioning target, execute the robot operation. If it is not the final precise positioning target, perform transition point processing and coordinated control and then return to the first step to operate again.

5. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 4, Features: The speed in the initial linear acceleration stage increases linearly with time, and the calculation formula is: v(t) = a 1 t, where a 1 is the constant of initial acceleration, 0≤t≤t 1 .

6. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 4, Features: The speed in the intermediate quadratic acceleration stage increases quadratically with time, and the calculation formula is: Among them, v(t 1 )=a 1 ·t 1 is the velocity at the end of the linear acceleration phase, a 2 is the acceleration in the intermediate stage, t 1 ≤t≤t 2 .

7. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 4, Features: In the cubic curve acceleration stage, the speed changes with time according to the cubic curve, and the calculation formula is: v(t) = v(t 2 )+b·(tt 2 ) 3 ,in: is the speed at the end of the secondary acceleration stage, b is the constant controlling the tertiary acceleration, t 2 ≤t≤t 3 .

8. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 4, Features: The speed of the cubic curve is kept constant during the uniform speed stage, and the calculation formula is: v(t) = v max , where v max is the maximum speed in the uniform phase, t 3 ≤t≤t 4 .

9. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 4, Features: The calculation formula of linear deceleration in the linear quadratic deceleration stage is: v(t) = v max -a 3 ·(tt 4 ), where a 3 is the constant of linear deceleration, t 4 ≤t≤t f ; The calculation formula for quadratic curve deceleration is: Where a4 is the constant of quadratic deceleration, t 4 ≤t≤t f .

10. The multiple power-raising path fitting planning method for the oilfield dosing robot arm according to claim 4, Features: The velocity equation can be integrated to obtain the position equation s(t), which is in the following form: For each stage, the integral can be calculated separately to obtain the corresponding displacement equation.

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