Intelligent control method for multi-mode switching manipulator

Abstract

The present invention discloses an intelligent control method for a multi-mode switching manipulator device, which relates to the technical field of manipulator control. The method comprises the following steps: when a mode switching instruction needs to be switched, obtaining a high interference phase interval corresponding to a mode switching instruction to be transmitted, and judging whether a real-time electromagnetic field strength belongs to the high interference phase interval corresponding to the mode switching instruction to be transmitted. If so, a transmission suspension signal is generated, otherwise, no processing is performed. Whether to suspend transmission is determined according to the high interference phase interval of the instruction to be transmitted and the real-time electromagnetic field strength, and suspending transmission when the electromagnetic field conditions are unfavorable to avoid invalid transmission operations. Suspending transmission can prevent these error signals from affecting the mode switching of the manipulator, avoid switching abnormalities or failure to achieve expected effects due to interference, and improve the accuracy and stability of electrical control of the manipulator device.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator control, and in particular to an intelligent control method for a multi-mode switching manipulator device. Background Art

[0002] In the electrical control system of automated production, multi-mode switching manipulators have been widely used. On an automated production line, the multi-mode switching of the manipulator can realize the adaptive grasping operation of different workpiece shapes and sizes. With the increasing complexity of production processes and the continuous improvement of precision requirements, higher requirements are placed on the electrical control accuracy and stability of the manipulator.

[0003] Electrical equipment generates electromagnetic fields when in operation. In a production environment, there are often electromagnetic fields from various other sources, such as electromagnetic radiation from adjacent equipment and electromagnetic fields from power transmission lines. These electromagnetic fields may interact with the electrical control signals of the robot device and interfere with its normal transmission.

[0004] However, when the robot device is electrically controlled, the surrounding electromagnetic field will interfere with the transmission of the robot's various form switching instructions, causing signal transmission delays or even distortion or errors, affecting the robot's form switching, making the robot's form switching unable to operate as expected, affecting the accuracy and efficiency of grasping and the electrical control effect of the robot device; based on this, an intelligent control method for a multi-form switching robot device is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent control method for a multi-mode switching robot device, which solves the technical problem that when the robot device is electrically controlled, the surrounding electromagnetic field interferes with the transmission of the robot's various mode switching instructions, causing signal transmission delays or even distortion or errors, thereby affecting the robot's mode switching.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] An intelligent control method for a multi-mode switching manipulator device includes the following steps:

[0008] Step 1: Obtain the sending time of the control signal by the control end and the execution time of the control signal by the execution end respectively corresponding to the execution of each form switching instruction by the manipulator device, as well as the instruction execution result;

[0009] Step 2: Analyze the sending time of the control signal by the control end and the execution time of the control signal by the execution end when the manipulator device executes each form switching instruction, and obtain the interference rate corresponding to each form switching instruction;

[0010] Step 3: Analyze the execution results of the instructions corresponding to each form switching instruction in each corresponding stage interval, and obtain the execution error rate of each form switching instruction in each corresponding stage interval;

[0011] Step 4: Comprehensively analyze the phase delay duration and phase execution error rate of each form switching instruction in each corresponding phase interval to obtain the high interference phase interval corresponding to each form switching instruction;

[0012] Step 5: When the form switching instruction needs to be switched, obtain the high interference phase interval corresponding to the form switching instruction to be transmitted, and at the same time determine whether the real-time electromagnetic field strength belongs to the high interference phase interval corresponding to the form switching instruction to be transmitted. If it does, generate a transmission suspension signal to suspend the transmission operation of the form switching instruction to be transmitted, and wait for the electromagnetic field conditions to improve before transmitting. Otherwise, do not do anything.

[0013] As a further solution of the present invention: the specific method of obtaining the interference rate corresponding to each form switching instruction is:

[0014] S1: Select an instruction from each form switching instruction as the target instruction;

[0015] According to the electromagnetic field strength values ​​Cb corresponding to the target instruction in the preset number of executions b times, the maximum value C of each electromagnetic field strength value Cb is obtained. max and minimum value C min , according to the maximum value C max and minimum value C min Generate multiple stage intervals of target instructions, b is a positive integer;

[0016] S2: randomly selecting one of the multiple phase intervals of the target instruction as the calibration phase interval;

[0017] Obtain the sending time and execution time of the control signal corresponding to the target instruction in the d times of historical execution data, mark the absolute value of the difference between the execution time and the sending time of the control signal corresponding to the target instruction in the d times of historical execution data as the execution time Rd, calculate the standard deviation U of the execution time Rd by the standard deviation calculation formula and analyze it, and obtain the benchmark transmission time of the target instruction in the calibration phase interval according to the analysis result;

[0018] The difference between the reference transmission time and the rated transmission time T of the target instruction in the calibration phase interval is used as the phase delay time F1 of the target instruction in the calibration phase interval;

[0019] S3: Repeat the above step S2 to obtain the corresponding stage delay time of the target instruction in each stage interval;

[0020] S4: Repeat the above steps S1-S3 to obtain the stage delay duration of each form switching instruction in each corresponding stage interval.

[0021] As a further solution of the present invention: the specific method of generating multiple stage intervals of the target instruction is:

[0022] The maximum value C max and minimum value C min As the upper and lower limits of the target command electromagnetic intensity range, respectively, the target command electromagnetic intensity range [C min , C max ]; at the same time, the electromagnetic intensity interval of the target instruction is evenly divided into multiple stage intervals.

[0023] As a further solution of the present invention, the specific method of analyzing the standard deviation of the execution time Rd and then obtaining the benchmark transmission time of the target instruction in the calibration phase interval is:

[0024] When the standard deviation U is greater than the preset threshold Y1, the average of the maximum and minimum values ​​in the execution time Rd is used as the benchmark transmission time of the target instruction in the calibration phase interval. When the standard deviation U is less than or equal to the preset threshold Y1, the average of the execution time Rd is used as the benchmark transmission time of the target instruction in the calibration phase interval.

[0025] As a further solution of the present invention, a specific method for obtaining the execution error rate of each form switching instruction in each corresponding stage interval is as follows:

[0026] S01: Select the same instruction as that in step S1 from each form switching instruction as the target instruction, and adopt the same method as that in step S1 to obtain multiple phase intervals of the target instruction;

[0027] S02: when the electromagnetic field strength of the target instruction is within the calibration phase interval, the ratio between the number of data distortions or errors r and d in the d-time historical execution data of the target instruction is marked as the execution error rate of the target instruction within the calibration phase interval;

[0028] S03: Repeat the above step S02 to obtain the execution error rate of the target instruction corresponding to each stage interval;

[0029] S04: Repeat the above steps S01-S03 to obtain the stage execution error rate of each form switching instruction in each corresponding stage interval.

[0030] As a further solution of the present invention: the specific method of obtaining the high interference phase intervals corresponding to each form switching instruction is:

[0031] A comprehensive analysis is performed on the stage delay duration and stage execution error rate of each form switching instruction in its corresponding stage interval to obtain the interference coefficient corresponding to each stage interval of each form switching instruction, so that the interference coefficient corresponding to each stage interval of each form switching instruction is compared with the preset threshold value Q1 one by one, and the stage interval with an interference coefficient greater than the preset threshold value Q1 is marked as a high-interference stage interval corresponding to the form switching instruction, otherwise, no processing is performed.

[0032] As a further solution of the present invention: the specific method of obtaining the interference coefficient corresponding to each stage interval of each form switching instruction is:

[0033] The sum of the products of the stage delay duration and the stage execution error rate of each form switching instruction in its corresponding stage interval and its corresponding preset fixed coefficients β1 and β2 is marked as the interference coefficient corresponding to each stage interval of each form switching instruction, where β1 and β2 satisfy 1=β1+β2, and β1<β2.

[0034] Beneficial effects of the present invention:

[0035] The present invention determines the high-interference phase intervals corresponding to each form switching instruction, and when the form switching instruction needs to be switched, determines whether to suspend transmission according to the high-interference phase interval of the instruction to be transmitted and the real-time electromagnetic field strength. When the electromagnetic field conditions are unfavorable, the transmission is suspended to avoid invalid transmission operations. Suspending transmission can prevent these erroneous signals from affecting the form switching of the manipulator, avoid switching anomalies or failure to achieve the expected effect due to interference, improve the accuracy and stability of the electrical control of the manipulator device, and reduce the potential damage to the manipulator device caused by erroneous control signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] Figure 1 It is a schematic diagram of the framework structure of the intelligent control method for the multi-mode switching manipulator device of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0039] Embodiment 1

[0040] See also Figure 1 As shown, the present invention is an intelligent control method for a multi-mode switching manipulator device, comprising the following steps:

[0041] Step 1: Obtain the historical execution data corresponding to each form switching instruction executed by the manipulator device, and the electromagnetic field strength corresponding to each execution. The historical execution data includes the time when the control end sends the control signal, the time when the execution end executes the control signal, and the instruction execution result. The instruction execution result includes data distortion or error.

[0042] It should be noted that the historical execution data and electromagnetic field strength corresponding to each form switching instruction are recorded and stored by the data center of the manipulator device;

[0043] Step 2: Analyze the historical execution data corresponding to each form switching instruction when the manipulator device executes each form switching instruction, and obtain the interference rate corresponding to each form switching instruction according to the analysis result. The specific method is as follows:

[0044] S1: Select an instruction from each form switching instruction as the target instruction;

[0045] Obtain the historical execution data of the target instruction in the past preset number of times b. The specific value of the preset number of times b is determined by relevant personnel according to actual application scenarios and requirements. It specifically refers to the number of instruction executions counted from the moment the data is obtained, and the moment the data is obtained is not included. b is a positive integer.

[0046] Obtain the electromagnetic field strength values ​​Cb corresponding to the target instruction in the preset number of b executions, and obtain the maximum value C of each electromagnetic field strength value Cb. max and minimum value C min ;

[0047] The maximum value C max and minimum value C min As the upper and lower limits of the target command electromagnetic intensity range, respectively, the target command electromagnetic intensity range [C min , C max ]; at the same time, the electromagnetic intensity interval of the target instruction is evenly divided into multiple stage intervals;

[0048] S2: randomly selecting one of the multiple phase intervals of the target instruction as the calibration phase interval;

[0049] Obtaining the historical execution data corresponding to d times when the electromagnetic field strength of the target instruction is within the calibration phase interval;

[0050] The sending time of the control signal corresponding to the target instruction in the d times of historical execution data is marked as EAd, and the execution time of the control signal by the execution end of the target instruction in the d times of historical execution data is marked as BEd, where d is a different number of historical executions and d is a positive integer;

[0051] Obtain the absolute value of the difference between the execution time and the sending time of the control signal corresponding to the target instruction in the d times of historical execution data, and mark it as the execution time Rd;

[0052] The standard deviation is calculated by the formula: Calculate the standard deviation U of the execution time Rd, where i is a positive integer and Rp is the mean of Rd;

[0053] The standard deviation U of the execution time Rd is compared with the preset threshold value Y1. When the standard deviation U is greater than the preset threshold value Y1, it means that the difference between the execution times Rd of the target instruction in the d-time historical execution data is large and the distribution is relatively uneven. The average of the maximum and minimum execution times Rd is used as the benchmark transmission time Z1 of the target instruction in the calibration phase interval, that is, Z1 = (R min +R max ) / 2, where R max is the maximum value in Rd, R min is the minimum value in Rd;

[0054] When the standard deviation U is less than or equal to the preset threshold value Y1, it means that the difference between the execution time Rd of the target instruction in the d-time historical execution data is small, and the value distribution is relatively uniform. Then the mean value Rp of the execution time Rd is used as the benchmark transmission time Z1 of the target instruction in the calibration phase interval. The specific value of the preset threshold value Y1 is formulated by relevant personnel according to actual application scenarios and requirements;

[0055] The difference between the standard transmission time Z1 of the target instruction in the calibration phase interval and the rated transmission time T is used as the stage delay time F1 of the target instruction in the calibration phase interval. The rated transmission time T is the transmission time set when the target instruction is not affected by the electromagnetic field strength. It is set by relevant personnel according to the operation status of the manipulator device and the data transmission requirements.

[0056] Since the same target instruction is sent from the control end as a control signal to the execution end, the amount of control signal data required to be transmitted is generally the same. Due to the influence of the electromagnetic field strength, there is a difference between the actual transmission time and the rated transmission time T. The target instruction is calibrated by the stage delay time F1 when the electromagnetic field strength is in the calibration stage interval;

[0057] S3: Repeat the above step S2 to obtain the stage delay time Fn corresponding to each stage interval of the target instruction, where n refers to different stage intervals and n is a positive integer;

[0058] S4: Repeat the above steps S1-S3 to obtain the phase delay time of each form switching instruction in each corresponding phase interval;

[0059] Step 3: According to the execution results of the instructions corresponding to each form switching instruction in each corresponding stage interval, the execution error rate of each form switching instruction in each corresponding stage interval is analyzed and obtained. The specific method is:

[0060] S01: Select the same instruction as that in step S1 from each form switching instruction as the target instruction, and adopt the same method as that in step S1 to obtain multiple phase intervals of the target instruction;

[0061] S02: Obtain the number of times r that the target instruction has data distortion or errors in the d-time historical execution data when the electromagnetic field strength of the target instruction is within the calibration phase interval from step S2, and mark r / d as the execution error rate P1 of the target instruction within the calibration phase interval;

[0062] S03: Repeat the above step S02 to obtain the execution error rate Pn of the target instruction corresponding to each stage interval, where n is the different stage intervals of the target instruction;

[0063] S04: Repeat the above steps S01-S03 to obtain the stage execution error rate of each form switching instruction in each corresponding stage interval;

[0064] Step 4: Comprehensively analyze the phase delay duration and phase execution error rate of each form switching instruction in each corresponding phase interval, and obtain the high interference phase interval corresponding to each form switching instruction according to the analysis results. The specific method is as follows:

[0065] The sum of the products of the phase delay duration and the phase execution error rate of each form switching instruction in each corresponding phase interval and its corresponding preset fixed coefficients β1 and β2 is marked as the interference coefficient corresponding to each phase interval of each form switching instruction, 1=β1+β2, and β1<β2, and the specific values ​​of β1 and β2 are formulated by relevant personnel according to actual use requirements;

[0066] The interference coefficients corresponding to each phase interval of each form switching instruction are compared with the preset threshold value Q1 one by one, and the phase interval with an interference coefficient greater than the preset threshold value Q1 is marked as a high-interference phase interval corresponding to the form switching instruction. Otherwise, no processing is performed, and then the high-interference phase interval corresponding to each form switching instruction is obtained. The specific value of the preset threshold value Q1 is formulated by relevant personnel according to actual usage requirements;

[0067] During the high interference phase, the electromagnetic field may cause delay, distortion or error in the transmission of the control signal corresponding to the form switching instruction;

[0068] Step 5: When the form switching instruction needs to be switched, the high interference phase interval corresponding to the form switching instruction to be transmitted is obtained, and the real-time electromagnetic field strength is obtained at the same time. If the real-time electromagnetic field strength belongs to the high interference phase interval corresponding to the form switching instruction to be transmitted, a transmission suspension signal is generated to suspend the transmission operation of the form switching instruction to be transmitted, and the transmission is performed after the electromagnetic field conditions are improved. If the real-time electromagnetic field strength does not belong to the high interference phase interval corresponding to the form switching instruction to be transmitted, no processing is performed;

[0069] Firstly, the historical execution data and electromagnetic field strength of the manipulator device are obtained. Then, for each form switching instruction, the electromagnetic intensity interval of each form switching instruction is determined by analyzing the historical execution data of a preset number of times and the segmentation stage interval is obtained. The standard deviation of the execution time of each stage interval is calculated, and then the benchmark transmission time and the stage delay time are obtained. Then, the data distortion or error times of each stage interval are counted to obtain the execution error rate. Then, the stage delay time and the stage execution error rate of each form switching instruction in each corresponding stage interval are comprehensively analyzed to determine the high interference stage interval corresponding to each form switching instruction. Finally, when the form switching instruction needs to be switched, it is determined whether to suspend the transmission according to the high interference stage interval of the instruction to be transmitted and the real-time electromagnetic field strength. The transmission is suspended when the electromagnetic field conditions are unfavorable to avoid invalid transmission operations. Suspending the transmission can prevent these error signals from affecting the form switching of the manipulator, avoid switching abnormalities or failure to achieve the expected effect due to interference, improve the accuracy and stability of the electrical control of the manipulator device, and reduce the potential damage to the manipulator device caused by erroneous control signals.

[0070] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and thresholds in the formula are set by technicians in this field according to actual conditions.

[0071] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An intelligent control method for a multi-mode switching manipulator device, characterized in that: The following steps are involved: Step 1: Obtain the sending time of the control signal by the control end and the execution time of the control signal by the execution end respectively corresponding to the execution of each form switching instruction by the manipulator device, as well as the instruction execution result; Step 2: Analyze the sending time of the control signal by the control end and the execution time of the control signal by the execution end when the manipulator device executes each form switching instruction, and obtain the interference rate corresponding to each form switching instruction; Step 3: Analyze the execution results of the instructions corresponding to each form switching instruction in each corresponding stage interval, and obtain the execution error rate of each form switching instruction in each corresponding stage interval; Step 4: Comprehensively analyze the phase delay duration and phase execution error rate of each form switching instruction in each corresponding phase interval to obtain the high interference phase interval corresponding to each form switching instruction; Step 5: When the form switching instruction needs to be switched, the high interference phase interval corresponding to the form switching instruction to be transmitted is obtained, and at the same time, it is determined whether the real-time electromagnetic field strength belongs to the high interference phase interval corresponding to the form switching instruction to be transmitted. If it does, a transmission suspension signal is generated to suspend the transmission operation of the form switching instruction to be transmitted, and the transmission is performed after the electromagnetic field conditions are improved. Otherwise, no processing is performed; The specific method of obtaining the interference rate corresponding to each form switching instruction is: S1: Select an instruction from each form switching instruction as the target instruction; According to the electromagnetic field strength values ​​Cb corresponding to the target instruction in the preset number of executions b times, the maximum value C of each electromagnetic field strength value Cb is obtained. max and minimum value C min , According to the maximum value C max and minimum value C min Generate multiple stage intervals of target instructions, b is a positive integer; S2: randomly selecting one of the multiple phase intervals of the target instruction as the calibration phase interval; Obtain the sending time and execution time of the control signal corresponding to the target instruction in the d times of historical execution data, mark the absolute value of the difference between the execution time and the sending time of the control signal corresponding to the target instruction in the d times of historical execution data as the execution time Rd, calculate the standard deviation U of the execution time Rd by the standard deviation calculation formula and analyze it, and obtain the benchmark transmission time of the target instruction in the calibration phase interval according to the analysis result; The difference between the reference transmission time and the rated transmission time T of the target instruction in the calibration phase interval is used as the phase delay time F1 of the target instruction in the calibration phase interval; S3: Repeat the above step S2 to obtain the corresponding stage delay time of the target instruction in each stage interval; S4: Repeat the above steps S1-S3 to obtain the stage delay duration of each form switching instruction in each corresponding stage interval.

2. The intelligent control method for a multi-mode switching manipulator device according to claim 1, characterized in that: The specific method of generating multiple stage intervals of the target instruction is: The maximum value C max and minimum value C min As the upper limit and lower limit of the target command electromagnetic intensity range, the target command electromagnetic intensity range [C min , C max ]; at the same time, the electromagnetic intensity interval of the target instruction is evenly divided into multiple stage intervals.

3. The intelligent control method for a multi-mode switching manipulator according to claim 1, characterized in that: The specific method of analyzing the standard deviation of the execution time Rd and then obtaining the benchmark transmission time of the target instruction in the calibration phase interval is as follows: When the standard deviation U is greater than the preset threshold Y1, the average of the maximum and minimum values ​​in the execution time Rd is used as the benchmark transmission time of the target instruction in the calibration phase interval. When the standard deviation U is less than or equal to the preset threshold Y1, the average of the execution time Rd is used as the benchmark transmission time of the target instruction in the calibration phase interval.

4. The intelligent control method for a multi-mode switching manipulator according to claim 2, characterized in that: The specific method for obtaining the execution error rate of each form switching instruction in each corresponding stage interval is as follows: S01: Select the same instruction as that in step S1 from each form switching instruction as the target instruction, and adopt the same method as that in step S1 to obtain multiple phase intervals of the target instruction; S02: when the electromagnetic field strength of the target instruction is within the calibration phase interval, the ratio between the number of data distortions or errors r and d in the d-time historical execution data of the target instruction is marked as the execution error rate of the target instruction within the calibration phase interval; S03: Repeat the above step S02 to obtain the execution error rate of the target instruction corresponding to each stage interval; S04: Repeat the above steps S01-S03 to obtain the stage execution error rate of each form switching instruction in each corresponding stage interval.

5. The intelligent control method for a multi-mode switching manipulator device according to claim 4, characterized in that: The specific method of obtaining the high interference phase interval corresponding to each form switching instruction is as follows: A comprehensive analysis is performed on the stage delay duration and stage execution error rate of each form switching instruction in its corresponding stage interval to obtain the interference coefficient corresponding to each stage interval of each form switching instruction, so that the interference coefficient corresponding to each stage interval of each form switching instruction is compared with the preset threshold value Q1 one by one, and the stage interval with an interference coefficient greater than the preset threshold value Q1 is marked as a high-interference stage interval corresponding to the form switching instruction, otherwise, no processing is performed.

6. The intelligent control method for a multi-mode switching manipulator device according to claim 5, characterized in that: The specific method of obtaining the interference coefficient corresponding to each stage interval of each form switching instruction is as follows: The sum of the products of the stage delay duration and the stage execution error rate of each form switching instruction in its corresponding stage interval and its corresponding preset fixed coefficients β1 and β2 is marked as the interference coefficient corresponding to each stage interval of each form switching instruction, where β1 and β2 satisfy 1=β1+β2, and β1<β2.

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