Position information monitoring method and device for industrial robot

Abstract

The invention belongs to the technical field of robot application, and provides a position information monitoring method and device for an industrial robot. The position information monitoring method comprises the steps that position information of a target object is sent to a control device, and the position information comprises a position coordinate value and a position offset vector; reachability detection is carried out on the position coordinate values and the position offset vectors through the control device; when one of the position coordinate value and the position offset vector is unreachable, adjusting the position of the target object, and resending the adjusted position information to the control device for detection; and when both the position coordinate value and the position offset vector are reachable, performing motion control on the robot. According to the position information monitoring method and device for the industrial robot, the position of the target object can be adjusted when it is judged that the position coordinate value and the position offset vector are unreachable, and the adjusted position information is sent again.

Description

Technical Field

[0001] The present application relates to the field of robot application technology, and in particular to a method and device for monitoring position information of an industrial robot. Background Art

[0002] With the continuous development of industrial robot applications, the collaborative work between industrial robots and external devices has become a mainstream trend. In the process of collaborating with external devices, the robot will move according to the position information sent by the external device, where the position information mainly includes the position coordinate value and the position offset vector. If the position coordinate value or the position offset vector is unreachable, the robot will alarm and shut down, greatly reducing production efficiency and may even affect the normal operation of the entire production line.

[0003] Accordingly, the art needs a new method and device for monitoring position information of an industrial robot to solve the above problems. Summary of the invention

[0004] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0005] To solve the above technical problems, an embodiment of the present invention proposes a position information monitoring method and device for an industrial robot, which can adjust the position of the target object and resend the adjusted position information when it is determined that the position coordinate value and the position offset vector are unreachable.

[0006] In a first aspect, the present invention provides a method for monitoring position information of an industrial robot, the method comprising sending the position information of a target object to a control device, wherein the position information comprises a position coordinate value and a position offset vector; performing reachability detection on the position coordinate value and the position offset vector by the control device; when one of the position coordinate value and the position offset vector is unreachable, adjusting the position of the target object, and resending the adjusted position information to the control device for detection; and when both the position coordinate value and the position offset vector are reachable, performing motion control on the robot.

[0007] In the preferred technical scheme of the above-mentioned position information monitoring method for an industrial robot, the reachability detection of the position coordinate value and the position offset vector is performed by the control device, including: performing workspace detection, singular point detection and joint limit detection on the position coordinate value in the control device to determine the reachability; when the position coordinate value is detected as reachable, performing workspace detection, singular point detection and joint limit detection on the position offset vector to determine the reachability; wherein, when the workspace detection, singular point detection and joint limit detection are all reachable, the position coordinate value or the position offset vector is detected as reachable, and when any of the workspace detection, singular point detection and joint limit detection is unreachable, the position coordinate value or the position offset vector is detected as unreachable.

[0008] In the preferred technical solution of the position information monitoring method for an industrial robot, the working space is a hemispherical space, the preset radius of the hemispherical space is R, a Cartesian coordinate system is established, the position coordinate value P = [X, Y, Z], and the working space detection is performed on the position coordinate value P, including: when the position coordinate value P is in the hemispherical space, it is judged whether it meets the following formula X 2 +Y 2 +Z 2 ≤R 2 , and Z>0; if the position coordinate value P satisfies the formula, it is determined that the workspace detection meets the requirements; otherwise, it is determined that the position coordinate value P is unreachable.

[0009] In the preferred technical solution of the position information monitoring method for an industrial robot, the robot is a six-axis robot, and the six-axis robot includes six joints. The joint limit detection is performed on the position coordinate value P, including: obtaining the maximum joint limit of each joint as θ imax and the minimum joint limit is θ imin , where the value range of i is [1,6]; perform kinematic inverse solution on the position coordinate value P to obtain the joint value θ of the target point of each axis of the six-axis robot i , determine the joint value θ of the target point i Does it satisfy the following formula: θ imin ≤θ i ≤θ imax ; If the joint value θ i If the formula is satisfied, it is determined that the joint limit detection meets the requirements; otherwise, it is determined that the position coordinate value is unreachable.

[0010] In the preferred technical solution of the position information monitoring method for an industrial robot, the position coordinate value P is subjected to singular point detection, including: obtaining robot link parameters L1, L2, L3, L4, L5, L6, L7 and calculating Rs, where Rs is 2% of the total length of the robot link; calculating the top singular point P of each axis according to the following formula: top , elbow singular point P elbow and wrist singular point P wrist

[0011]

[0012] If the coordinate position value P is at the singular point P top , P elbow and P wrist If the singular point detection is outside the spherical area with Rs as the center and Rs as the radius, it is determined that the singular point detection meets the requirements; otherwise, it is determined that the position coordinate value is unreachable.

[0013] In the preferred technical solution of the position information monitoring method for an industrial robot, the working space is a hemispherical space, the preset radius of the hemispherical space is R, and when the position coordinate value P is reachable, the working space detection of the position offset vector n includes: calculating the offset position coordinate value Q by the formula Q=P+n=(X+ΔX,Y+ΔY,Z+ΔZ), wherein the position offset vector n=[ΔX,ΔY,ΔZ], and the position coordinate value P=[X,Y,Z]; when the position coordinate value P is in the hemispherical space, judging whether it meets the following formula: (X+ΔX) 2 +(Y+ΔY) 2 +(Z+ΔZ) 2 ≤R 2 , and Z+ΔZ>0; if the offset position coordinate value Q satisfies the formula, it is determined that the workspace detection meets the requirements; otherwise, it is determined that the position offset vector n is unreachable.

[0014] In the preferred technical solution of the position information monitoring method for an industrial robot, the center of the Cartesian coordinate system is O. When the position coordinate value P is reachable and the offset position coordinate value Q is not reachable, the method further includes: offsetting from the position coordinate value P along the direction of the position offset vector n to obtain the intersection coordinate value Q with the hemisphere boundary. max According to the formula Calculate the maximum offset Among them, a is and Angle; Calculate the maximum offset of the corrected position offset vector n' Among them, e n is the unit direction vector of n, and K is the offset coefficient.

[0015] In the preferred technical solution of the position information monitoring method for an industrial robot, the robot is a six-axis robot, and the six-axis robot includes six joints. The joint limit detection of the position offset vector n includes: obtaining the maximum joint limit of each joint as θ' imax and the minimum joint limit is θ' imin , where the value range of i is [1,6]; perform kinematic inverse solution on the offset position coordinate value Q to obtain the joint value θ' of the target point of each axis of the six-axis robot i , determine the joint value θ of the target point i Does it satisfy the following formula: θ' imin ≤θ' i ≤θ' imax ; If the joint value θ' i If the formula is satisfied, it is determined that the joint limit detection meets the requirements; otherwise, it is determined that the position offset vector n is unreachable.

[0016] In the preferred technical solution of the position information monitoring method for an industrial robot, the position offset vector n is subjected to singular point detection, including: obtaining robot link parameters L1, L2, L3, L4, L5, L6, L7 and calculating Rs, where Rs is 2% of the total length of the robot link; calculating the top singular point P' of each axis according to the following formula toP , elbow singular point P' elbow and wrist singular point P' wrist

[0017]

[0018] If the offset position coordinate value Q is at the singular point P' toP , P' elbow and P' wrist If it is outside the spherical area with Rs as the center and Rs as the radius, it is determined that the singular point detection meets the requirements; otherwise, it is determined that the position offset vector n is unreachable.

[0019] In a second aspect, the present invention provides a position information monitoring device for an industrial robot, the device comprising a sending module, configured to send the position information of a target object to a control device, wherein the position information comprises a position coordinate value and a position offset vector; a detection module, configured to perform a reachability detection on the position coordinate value and the position offset vector through the control device; a reset module, configured to adjust the position of the target object when one of the position coordinate value and the position offset vector is unreachable, and resend the adjusted position information to the control device for detection; and an execution module, configured to perform motion control on the robot when both the position coordinate value and the position offset vector are reachable.

[0020] The method and device for monitoring the position information of an industrial robot of the present invention have the following technical effects:

[0021] The position information monitoring method for industrial robots monitors the position information before the robot moves, determines the reachability of the position coordinate value and the position offset vector, and if unreachable, feeds back to the external device for adjustment, and then re-issues the new position information, thereby avoiding the shutdown alarm problem caused by the unreachability of the external input position information.

[0022] When the acquired position offset vector is too large, it can be corrected based on the maximum offset, rather than directly determining that the position offset vector is unreachable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0024] Figure 1 is a flow chart of an embodiment of a method for monitoring position information of an industrial robot according to the present invention;

[0025] Figure 2 is a schematic diagram of an embodiment of a position information monitoring device for an industrial robot according to the present invention;

[0026] Figure 3 is a schematic diagram of an embodiment of a hemispherical workspace of the present invention;

[0027] Figure 4 FIG. 4 is a schematic diagram of an embodiment of the maximum offset and the corrected position offset vector of the present invention.

[0028] Reference numerals:

[0029] 11. Sending module; 12. Detection module; 13. Reset module; 14. Execution module. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific applications. For example, the washing device of the present invention can be either a washing machine or a device with a washing function. For another example, the auxiliary control system of the present invention can be applied to household appliances or to office equipment. Such changes in the application object do not deviate from the basic principles of the present invention and should fall within the scope of protection of the present invention.

[0031] It should be noted that, in the description of the preferred embodiment, the terms "up", "down", "left", "right", "inside", "horizontal", "vertical", "longitudinal" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0032] In addition, in the description of the present invention, unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense, for example, it can be directly connected, it can also be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. Although the various steps of the auxiliary control method of the present invention are described in a specific order in this application, these orders are not restrictive. Without departing from the basic principles of the present invention, those skilled in the art can perform the steps in different orders.

[0033] In addition, in order to better illustrate the present invention, numerous specific details are provided in the following specific embodiments. It should be understood by those skilled in the art that the present invention can be implemented without certain specific details. In some examples, components in washing machines, washing equipment and devices with display screens that are well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present invention.

[0034] Figure 1 The figure is a flow chart of an embodiment of a method for monitoring position information of an industrial robot according to the present invention.

[0035] like Figure 1 As shown, in the first aspect of the present invention, this embodiment provides a method for monitoring position information of an industrial robot. The method comprises the following steps:

[0036] S1: Sending the position information of the target object to the control device, wherein the position information includes a position coordinate value and a position offset vector.

[0037] Among them, the external device sends the position information to the control device. The external device refers to the device other than the robot, such as PLC console, vision system, etc. The control device can be, for example, a controller, etc. The position information mainly includes the position coordinate value and the position offset vector. The position coordinate value is the absolute position value in space, and the position offset vector is the relative position value offset in a certain direction based on the position coordinate value. The position coordinate value is often directly located by a vision system, etc., and the position offset vector is set based on the application process requirements. Therefore, the stepper needs to monitor the position coordinate value and the position offset vector at the same time.

[0038] S2: Performing reachability detection on the position coordinate value and the position offset vector through the control device.

[0039] Among them, the control device performs a reachability check on the position information. If both the position coordinate value and the position offset vector are reachable, the position information is considered reachable. In this case, the process jumps to step S4 to be described below. The control device is a controller, and its carrier is located on the robot or on an external device. When the carrier is on the robot, it is necessary to first shield the relevant alarms of the robot's unreachable position, and then feed back the unreachable signal to the external device. When the carrier is on the external device, the position information monitoring can be completed inside the device.

[0040] S3: When one of the position coordinate value and the position offset vector is unreachable, the position of the target object is adjusted, and the adjusted position information is resent to the control device for detection.

[0041] Among them, the reachability of the position coordinate value is first judged. If it is judged to be unreachable, there is no need to perform the position offset vector reachability detection. If the position coordinate value is judged to be reachable, the position offset vector still needs to be detected for reachability. At this time, if the position offset vector is detected to be unreachable, the position of the target object also needs to be adjusted. After the adjusted position information is sent to the control device, a new round of detection continues, and this cycle is repeated until both are judged to be reachable.

[0042] S4: When both the position coordinate value and the position offset vector are reachable, the robot is controlled in motion.

[0043] When both the position coordinate value and the position offset vector are determined to be reachable, the control device controls the movement of the robot so that it can move to the target position. The target position is the position where the target object is located.

[0044] In a preferred technical solution of the present invention, a control device performs reachability detection on the position coordinate value and the position offset vector, including: performing workspace detection, singular point detection and joint limit detection on the position coordinate value in the control device to determine the reachability; when the position coordinate value is detected as reachable, performing workspace detection, singular point detection and joint limit detection on the position offset vector to determine the reachability; wherein, when the workspace detection, singular point detection and joint limit detection are all reachable, the position coordinate value or the position offset vector is detected as reachable, and when any of the workspace detection, singular point detection and joint limit detection is unreachable, the position coordinate value or the position offset vector is detected as unreachable.

[0045] Specifically, for the target point of the target object, workspace detection, singular point detection and joint limit detection are three important parameters of accessibility, and none of them can be missing. Workspace detection is to detect whether this point exceeds the Cartesian space limit; singular point detection is to detect whether this point is near the singular point. The robot will operate abnormally near the singular point; joint limit detection is to detect whether this point exceeds the joint limit after being inversely solved into joint values. When it is detected that any one of the workspace detection, singular point detection and joint limit detection is unreachable, when judging the reachability of the position coordinate value and the position offset vector, as long as any one of the workspace detection, singular point detection and joint limit detection is unreachable, it will be judged as unreachable.

[0046] Figure 3 FIG. 4 is a schematic diagram of an embodiment of a hemispherical workspace of the present invention.

[0047] like Figure 3 As shown, in a preferred technical solution of the present invention, the working space is a hemispherical space, the preset radius of the hemispherical space is R, a Cartesian coordinate system is established, the position coordinate value P = [X, Y, Z], and the working space detection is performed on the position coordinate value P, including: when the position coordinate value P is in the hemispherical space, it is determined whether it meets the following formula X 2 +Y 2 +Z 2 ≤R 2 , and Z>0; if the position coordinate value P satisfies the formula, it is determined that the workspace detection meets the requirements; otherwise, it is determined that the position coordinate value P is unreachable.

[0048] Specifically, in the preset hemispherical workspace, with the base of the robot as the center O and R as the radius, a Cartesian coordinate system is established, where the position coordinate value of the target point P = [X, Y, Z]. When judging, substitute the coordinate value of P into the formula X 2 +Y 2 +Z 2 ≤R 2, and Z>0, if the formula is satisfied, it means that the target point is within the preset working space. If any of the two conditions is not satisfied, it means that the target point is not within the preset working space, that is, the working space is unreachable, and thus the position coordinate value P is determined to be unreachable.

[0049] In one embodiment, the workspace may also be a rectangular workspace, in which the position coordinate value P=[X, Y, Z] should satisfy the following conditions:

[0050]

[0051] Among them, (X min ,X max ,Y min ,Y max ,Z min ,Z max ) are the limit values ​​of the rectangular workspace.

[0052] In another embodiment, the workspace may also be a cylindrical workspace, in which the position coordinate value P=[X, Y, Z] should satisfy the following conditions:

[0053]

[0054] Wherein, r is the preset cross-sectional radius of the cylinder, and H is the preset height of the cylinder.

[0055] In another embodiment, the workspace may also be a composite workspace of a hemispherical workspace and a rectangular workspace. In the composite workspace, the position coordinate value P=[X, Y, Z] should satisfy the following conditions:

[0056]

[0057] Wherein, R and r have the same meanings as above.

[0058] In a preferred technical solution of the present invention, the robot is a six-axis robot including six joints, and the joint limit detection is performed on the position coordinate value P, including: obtaining the maximum joint limit of each joint as θ imax and the minimum joint limit is θ imin , where the value range of i is [1,6]; perform kinematic inverse solution on the position coordinate value P to obtain the joint value θ of the target point of each axis of the six-axis robot i , determine the joint value θ of the target point i Does it satisfy the following formula:

[0059] θ imin ≤θ i ≤θ imax ;

[0060] If the joint value θ i If the formula is satisfied, it is determined that the joint limit detection meets the requirements; otherwise, it is determined that the position coordinate value is unreachable.

[0061] Specifically, the six-axis robot has six joints, each of which has a maximum joint limit and a minimum joint limit, denoted as: θ imax and θ imin . Among them, the value of i is 6 integers from 1 to 6. Perform kinematic inverse solution on the position coordinate value P = [X, Y, Z] to obtain the joint value [θ1, θ2, θ3, θ4, θ5, θ6] corresponding to the target point of each axis joint. Determine whether the joint value [θ1, θ2, θ3, θ4, θ5, θ6] satisfies the above formula. Perform 12 judgments on the six joint values. If they all satisfy the above formula, the joint limit detection is considered to be reachable, otherwise, it is unreachable.

[0062] For example, suppose the joint limits of the six joints obtained by measurement are as follows: [-170, 170, -100, 100, -90, 90, -180, 180, -90, 90, -180, 180], and then suppose the joint values ​​obtained by inverse solution of the position coordinate value P are [100, 50, 120, 110, 60, 80]. Since -170 < 100 < 170, axis 1 is within the limit. Since -100 < 50 < 100, axis 2 is within the limit. However, axis 3 has a limit of 120 > 90, which exceeds the maximum limit of axis 3, so axis 3 is within the limit. It is considered that the joint limit detection is unreachable.

[0063] In a preferred technical solution of the present invention, singular point detection is performed on the position coordinate value P, including: obtaining robot link parameters L1, L2, L3, L4, L5, L6, L7 and calculating Rs, where Rs is 2% of the total length of the robot link; calculating the top singular point P of each axis according to the following formula top , elbow singular point P elbow and wrist singular point P wrist

[0064]

[0065] If the coordinate position value P is at the singular point P top , P elbow and P wrist If it is outside the spherical area with Rs as the center and Rs as the radius, it is determined that the singular point detection meets the requirements; otherwise, it is determined that the position coordinate value is unreachable.

[0066] Specifically, when the target point is near a singular point, the robot will run abnormally. Therefore, it is necessary to calculate the top singular point, elbow singular point, and wrist singular point through the robot link parameters and joint limits to determine whether they meet the requirements. It is known that the coordinate position value P cannot be located at a singular point P. top , P elbow and P wrist The spherical area with Rs as the center and L1 as the radius. Based on this, first obtain the robot's connecting rod parameters L1, L2, L3, L4, L5, L6, L7. When the robot is selected, its connecting rod parameters are also determined. At this time, multiply the total length of the robot's connecting rod by 2% to obtain the spherical area radius Rs. Based on the previously obtained maximum joint limit and minimum joint limit of the robot, the singular point P can be solved by the above formula. top , P elbow and P wrist . Then you can easily make a judgment.

[0067] In a preferred technical solution of the present invention, the working space is a hemispherical space, the preset radius of the hemispherical space is R, and when the position coordinate value P is reachable, the working space detection of the position offset vector n includes: calculating the offset position coordinate value Q by the formula Q=P+n=(X+ΔX,Y+ΔY,Z+ΔZ), wherein the position offset vector n=[ΔX,ΔY,ΔZ], and the position coordinate value P=[X,Y,Z]; when the position coordinate value P is in the hemispherical space, judging whether it meets the following formula: (X+ΔX) 2 +(Y+ΔY) 2 +(Z+ΔZ) 2 ≤R 2 , and Z+ΔZ>0; if the offset position coordinate value Q satisfies the formula, it is determined that the workspace detection meets the requirements; otherwise, it is determined that the position offset vector n is unreachable.

[0068] Specifically, it is first necessary to use the position offset vector n = [ΔX, ΔY, ΔZ] and the position coordinate value P = [X, Y, Z] to solve the offset position coordinate value Q. Then the judgment process is similar to the judgment process of the position coordinate value P = [X, Y, Z] above, so it will not be repeated here.

[0069] Figure 4 FIG. 4 is a schematic diagram of an embodiment of the maximum offset and the corrected position offset vector of the present invention.

[0070] like Figure 3-Figure 4 As shown, in a preferred technical solution of the present invention, the center of the Cartesian coordinate system is O, and when the position coordinate value P is reachable and the offset position coordinate value Q is not reachable, the method further includes: offsetting from the position coordinate value P along the direction of the position offset vector n to obtain the intersection coordinate value Q with the hemisphere boundary maxAccording to the formula Calculate the maximum offset Among them, a is and Calculate the corrected position offset vector n', that is, Among them, e n is the unit direction vector of n, and K is the offset coefficient.

[0071] Specifically, in the hemispherical workspace, if the position coordinate value P is reachable but the offset position coordinate value Q is not reachable, the maximum position offset vector can be calculated first, and then the maximum position offset vector can be used to correct the position offset vector n'. This can avoid the alarm shutdown problem caused by excessive offset. Generally, the critical point is not used as the target point, so the corrected position offset vector n' will be multiplied by an appropriate factor K based on the maximum offset.

[0072] After calculating the corrected position offset vector n', recalculate the offset position coordinate value Q':

[0073] In addition, when the workspace is an arbitrary workspace, the envelope surface equation of the workspace and the ray equation with n as the starting point and in the same direction as n can be used:

[0074]

[0075] Among them, f Envelope is the working space envelope function expression, f Ray is the ray function expression with P as the starting point and in the same direction as n. Solving it, we can get the intersection point Q of the envelope surface and the ray max , the maximum offset can be calculated

[0076] In a preferred technical solution of the present invention, the robot is a six-axis robot including six joints, and the joint limit detection is performed on the position offset vector n, including: obtaining the maximum joint limit of each joint as θ' imax and the minimum joint limit is θ' imin , where the value range of i is [1,6]; perform kinematic inverse solution on the offset position coordinate value Q to obtain the joint value θ' of the target point of each axis of the six-axis robot i , determine the joint value θ of the target point i Does it satisfy the following formula:

[0077] θ' imin ≤θ' i ≤θ' imax ;

[0078] If the joint value θ' iIf the formula is satisfied, it is determined that the joint limit detection meets the requirements; otherwise, it is determined that the position offset vector n is unreachable.

[0079] Specifically, we first need to perform kinematic inverse solution on the offset position coordinate value Q to obtain the joint value θ' of the target point of each axis of the six-axis robot. i The subsequent judgment process is similar to the judgment process of the position coordinate value P=[X, Y, Z] above, so it will not be repeated here.

[0080] In a preferred technical solution of the present invention, singular point detection is performed on the position offset vector n, including: obtaining robot link parameters L1, L2, L3, L4, L5, L6, L7 and calculating Rs, where Rs is 2% of the total length of the robot link; calculating the top singular point P' of each axis according to the following formula toP , elbow singular point P' elbow and wrist singular point P' wrist

[0081]

[0082] If the offset position coordinate value Q is at the singular point P' toP , P' elbow and P' wrist If it is outside the spherical area with Rs as the center and Rs as the radius, it is determined that the singular point detection meets the requirements; otherwise, it is determined that the position offset vector n is unreachable.

[0083] Specifically, the method for detecting singular points of the offset position coordinate value Q is the same as the above-mentioned method for detecting the material coordinate value P, which will not be described in detail here.

[0084] The position information monitoring method for an industrial robot of the present invention monitors the position information before the robot moves, determines the reachability of the position coordinate value and the position offset vector, and if unreachable, feeds back to an external device for adjustment, and then re-issues new position information, thereby avoiding the shutdown alarm problem caused by the unreachability of external input position information.

[0085] When the acquired position offset vector is too large, it can be corrected based on the maximum offset, rather than directly determining that the position offset vector is unreachable.

[0086] Figure 2 FIG. 4 is a schematic diagram of an embodiment of a position information monitoring device for an industrial robot according to the present invention.

[0087] like Figure 2As shown, in the second aspect of the present invention, this embodiment provides a position information monitoring device for an industrial robot. The device includes: a sending module 11, configured to send the position information of the target object to the control device, wherein the position information includes a position coordinate value and a position offset vector; a detection module 12, configured to perform a reachability detection on the position coordinate value and the position offset vector through the control device; a reset module 13, configured to adjust the position of the target object when one of the position coordinate value and the position offset vector is unreachable, and resend the adjusted position information to the control device for detection; an execution module 14, configured to control the robot's motion when both the position coordinate value and the position offset vector are reachable.

[0088] Specifically, the specific definition of the position information monitoring device for an industrial robot can refer to the definition of the position information monitoring method for an industrial robot mentioned above, which will not be repeated here. Each module in the above-mentioned position information monitoring device for an industrial robot can be implemented in whole or in part by software, hardware, and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0089] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for monitoring position information of an industrial robot, characterized in that: include: Sending position information of the target object to the control device, wherein the position information includes a position coordinate value and a position offset vector; Performing reachability detection on the position coordinate value and the position offset vector by the control device; When one of the position coordinate value and the position offset vector is unreachable, adjusting the position of the target object, and resending the adjusted position information to the control device for detection; When both the position coordinate value and the position offset vector are reachable, the robot is motion controlled.

2. The method according to claim 1, characterized in that The performing reachability detection on the position coordinate value and the position offset vector by the control device includes: In the control device, the position coordinate values ​​are respectively subjected to workspace detection, singular point detection and joint limit detection to determine accessibility; When the position coordinate value is detected as reachable, performing workspace detection, singular point detection and joint limit detection on the position offset vector respectively to determine the reachability; Among them, when the workspace detection, singular point detection and joint limit detection are all reachable, the position coordinate value or the position offset vector detection is reachable; when any of the workspace detection, singular point detection and joint limit detection is unreachable, the position coordinate value or the position offset vector detection is unreachable.

3. The method according to claim 2, characterized in that The working space is a hemispherical space, the preset radius of the hemispherical space is R, a Cartesian coordinate system is established, the position coordinate value P = [X, Y, Z], and the working space detection is performed on the position coordinate value P, including: When the position coordinate value P is in the hemispherical space, determine whether it meets the following formula X 2 +Y 2 +Z 2 ≤R 2 , and Z>0; If the position coordinate value P satisfies the formula, it is determined that the workspace detection meets the requirements; Otherwise, it is determined that the position coordinate value P is unreachable.

4. The method according to claim 3, characterized in that The robot is a six-axis robot including six joints, and the joint limit detection is performed on the position coordinate value P, including: Get the maximum joint limit of each joint as θ imax and the minimum joint limit is θ imin , where the value range of i is [1,6]; Perform kinematic inverse solution on the position coordinate value P to obtain the joint value θ of the target point of each axis of the six-axis robot i , Determine the joint value θ of the target point i Does it satisfy the following formula: i imin ≤θ i ≤θ imax ; If the joint value θ i If the formula is satisfied, it is determined that the joint limit detection meets the requirements; Otherwise, it is determined that the position coordinate value is unreachable.

5. The method according to claim 4, characterized in that: Performing singular point detection on the position coordinate value P includes: Obtain robot link parameters L1, L2, L3, L4, L5, L6, L7 and calculate Rs, where Rs is 2% of the total length of the robot link; The top singular point P of each axis is calculated according to the following formula top , elbow singular point P elbow and wrist singular point P wrist If the coordinate position value P is at the singular point P top , P elbow and P wrist is the center of the circle and Rs is the radius, then it is determined that the singular point detection meets the requirements; Otherwise, it is determined that the position coordinate value is unreachable.

6. The method according to claim 2, characterized in that The working space is a hemispherical space, the preset radius of the hemispherical space is R, and when the position coordinate value P is reachable, the working space detection of the position offset vector n includes: The offset position coordinate value Q is calculated by the formula Q=P+n=(X+ΔX,Y+ΔY,Z+ΔZ), where the position offset vector n=[ΔX,ΔY,ΔZ] and the position coordinate value P=[X,Y,Z]; When the position coordinate value P is in the hemispherical space, determine whether it conforms to the following formula: (X+ΔX) 2 +(Y+ΔY) 2 +(Z+ΔZ) 2 ≤R 2 , and Z+ΔZ>0; If the offset position coordinate value Q satisfies the formula, it is determined that the workspace detection meets the requirements; Otherwise, it is determined that the position offset vector n is unreachable.

7. The method according to claim 6, characterized in that The center of the Cartesian coordinate system is O, and when the position coordinate value P is reachable and the offset position coordinate value Q is not reachable, the method further includes: From the position coordinate value P, offset along the direction of the position offset vector n to obtain the intersection coordinate value Q with the hemisphere boundary max ; According to the formula Calculate the maximum offset Among them, a is and The angle of Calculate the maximum offset of the corrected position offset vector n' Among them, e n is the unit direction vector of n, and K is the offset coefficient.

8. The method according to claim 6, characterized in that The robot is a six-axis robot including six joints, and the joint limit detection is performed on the position offset vector n, including: Get the maximum joint limit of each joint as θ' imax and the minimum joint limit is θ' imin , where the value range of i is [1,6]; Perform kinematic inverse solution on the offset position coordinate value Q to obtain the joint value θ' of the target point of each axis of the six-axis robot i , Determine the joint value θ of the target point i Does it satisfy the following formula: I will imin ≤θ' i ≤θ' imax ; If the joint value θ' i If the formula is satisfied, it is determined that the joint limit detection meets the requirements; Otherwise, it is determined that the position offset vector n is unreachable.

9. The method according to claim 8, characterized in that Performing singular point detection on the position offset vector n includes: Obtain robot link parameters L1, L2, L3, L4, L5, L6, L7 and calculate Rs, where Rs is 2% of the total length of the robot link; The top singular point P' of each axis is calculated according to the following formula toP , elbow singular point P' elbow and wrist singular point P' wrist If the offset position coordinate value Q is at the singular point P' toP , P' elbow and P' wrist is the center of the circle and Rs is the radius, then it is determined that the singular point detection meets the requirements; Otherwise, it is determined that the position offset vector n is unreachable.

10. A position information monitoring device for an industrial robot, characterized in that: include: A sending module, configured to send position information of the target object to the control device, wherein the position information includes a position coordinate value and a position offset vector; a detection module configured to perform reachability detection on the position coordinate value and the position offset vector through the control device; a reset module, configured to adjust the position of the target object when one of the position coordinate value and the position offset vector is unreachable, and resend the adjusted position information to the control device for detection; The execution module is configured to control the motion of the robot when both the position coordinate value and the position offset vector are reachable.

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