Modular truss robot production line control system and method

Abstract

The invention relates to a modular truss robot production line control system and method, and relates to the technical field of truss robots, and the method comprises the steps: judging whether an emergency task is received or not; if the emergency task is received, the X-axis sliding block needing to execute the emergency task is set as an emergency sliding block, and the moving path of the X-axis sliding block is updated; the size of an object grabbed by a mechanical gripper of the emergency sliding block is obtained, and the first safety range is updated; and judging whether the X-axis sliding block has a coincident path with other X-axis sliding blocks, and adjusting the moving speed according to the coincident path. When the truss robot receives an emergency production task, the moving modes of all the sliding blocks can be allocated, and collision generated when mechanical grippers of the sliding blocks grab different objects is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of truss robots, and in particular to a modular truss robot production line control system and method. Background Art

[0002] Truss robot production lines have been widely used in modern manufacturing, especially in the fields of automobile manufacturing, electronic product assembly, etc. These systems are usually composed of multiple modular sliders, each of which is equipped with a robotic gripper that can move freely on the X-axis of the beam to complete various production tasks. Through this modular design, production companies can flexibly adjust the production line configuration and improve production efficiency and flexibility. However, with the increasing complexity and diversity of production tasks, how to efficiently manage and schedule these sliders has become an important research topic.

[0003] In the existing slider movement, for each production task, a fixed slider movement path needs to be pre-set to ensure that each slider enters the working area in sequence according to a predetermined order, and a fixed movement path is generated by manually adjusting the position and state of the slider or by a path algorithm to avoid collisions between sliders.

[0004] Although the above method solves the basic coordination problem between sliders to a certain extent, it still has obvious shortcomings. Especially when receiving urgent production tasks, when the robot gripper grabs objects of different sizes, there may be a possibility of collision between objects, affecting production efficiency and safety. Therefore, a more efficient control method is urgently needed to optimize the movement strategy of the slider, especially in emergency situations, to ensure the smooth operation of the production line. Summary of the invention

[0005] The first purpose of the present application is to provide a modular truss robot production line control method, which can adjust the movement mode of each slider when the truss robot receives an urgent production task, thereby reducing the collision of the slider's mechanical gripper when grasping different objects.

[0006] In the first aspect, the present application provides a modular truss robot production line control method, which adopts the following technical solution: A modular truss robot production line control method, comprising: Determine whether an emergency task has been received; If an emergency task is received, the X-axis slider that needs to perform the emergency task is set as an emergency slider, and the moving path of the emergency slider is updated; Obtaining the size of the object that the manipulator claw of the emergency slider needs to grasp in the emergency task; According to the size of the object, updating the first safety range of the emergency slider; According to the coverage range of the first safety range of the emergency slider in the moving path, it is determined whether the coverage range of the emergency slider overlaps with the coverage range of other X-axis sliders that have not received the emergency task allocation; If there is an overlapping path, the emergency slider is controlled to move at a first speed before reaching the initial node of the overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement of the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time.

[0007] By adopting the above technical solution, when an emergency task is received, after confirming the moving path of the emergency slider, the safety range of the emergency slider is dynamically updated according to the size of the object to be grasped, and the X-axis slider that has not received the emergency task allocation is controlled to enter the overlapping path first and complete the movement on the overlapping path. The emergency slider then enters and reaches the target node of the emergency task within a preset time through speed allocation, so as to avoid collision between the objects grasped by the manipulator claw of the emergency slider and the objects grasped by the manipulator claws of other X-axis sliders as much as possible without changing the moving paths of each X-axis slider, thereby improving the safety of production line operation.

[0008] In a preferred example, the present application may be further configured as follows: the step of updating the first safety range of the emergency slider according to the size of the object includes: The maximum length of the entire object can be obtained by using a visual device and an existing image recognition algorithm to obtain the maximum length between the two endpoints of the entire object in real time, or by using the object size data entered into a database to obtain the maximum length between the two endpoints of the entire object; A first safety range of the emergency slider is set with the end corresponding to the axis of the robot claw of the emergency slider as the center of the circle and the maximum length as the diameter.

[0009] By adopting the above technical solution, the safety range of the emergency slider can be dynamically adjusted according to the size of the objects that need to be grasped in the emergency task, which can effectively prevent the objects grasped by the manipulator claw of the emergency slider from colliding with the objects grasped by the manipulator claws of other sliders during the movement of the new moving path, so that the emergency task can be executed smoothly.

[0010] In a preferred example, the present application may be further configured as follows: the step of determining whether the coverage of the emergency slider overlaps with the coverage of other X-axis sliders that have not received the emergency task allocation according to the coverage of the first safety range of the emergency slider in the moving path, comprises: Obtaining the first safety range of other X-axis sliders that have not received the emergency task allocation and the updated first safety range of the emergency slider; Move the center of the first safety range of each X-axis slider and the emergency slider that have not received the emergency task allocation on the moving path, and record the coverage of several first safety ranges in the moving path; If there is an overlapping portion between the coverage range of the X-axis slider that has not received the emergency task allocation and the emergency slider, the overlapping portion is an overlapping path.

[0011] By adopting the above technical solution, in the overlapping part of the coverage range of the X-axis slider that has not received the emergency task allocation and the emergency slider, there is a risk of collision between the objects grasped by the robot claws of each slider, and the overlapping part is determined as the overlapping path. By adjusting the slider speed, it is possible to effectively avoid collisions between the objects grasped by the robot claws of each slider without changing the moving paths of the X-axis sliders that have not received the emergency task allocation, thereby improving the safety and efficiency of the production line.

[0012] In a preferred example, the present application can be further configured as follows: if there is an overlapping path, the emergency slider is controlled to move at a first speed before reaching the initial node of the overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement of the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time, including: The moving path between the position nodes of the radius of the first safety range from the initial node of the moving path to the initial node of the overlapped path and the end corresponding to the axis of the manipulator claw of the emergency slider is set as the first path; Setting the end corresponding to the axis of the manipulator claw of the emergency slider as a second path in the remaining path portion of the moving path; According to the moving speed of the X-axis slider that has not received the emergency task allocation, the moving time of the end corresponding to the axis of the manipulator claw of the X-axis slider in the sum of the overlapped path length and the first safety range diameter length of the X-axis slider is calculated and set as the third time; Calculate and obtain a first time of the emergency slider, where the first time is a difference between a start time of movement of the emergency slider and a third time; Calculate and obtain a first speed by combining the first time and the first path; The second time consumed by the emergency slider on the second path is calculated and obtained according to the difference between the time when the end corresponding to the axis of the manipulator claw of the emergency slider reaches the target node of the emergency task and the first time; The second time and the second path are combined to calculate and obtain a second speed.

[0013] By adopting the above technical solution, the emergency slider moves forward at the first speed on the first path and arrives before the grasped object enters the initial node of the overlapping path. At this time, the object grasped by the robotic claw of the X-axis slider that has not received the emergency task allocation has completed the movement on the overlapping path. When the emergency slider uses the second speed on the second path, it can reach the target node of the emergency task within a preset time while trying to avoid collision between the object grasped by the robotic claw of the emergency slider and the object grasped by the robotic claw of the X-axis slider that has not received the emergency task allocation on the overlapping path.

[0014] In a preferred example, the present application may be further configured as follows: after the step of updating the first safety range of the emergency slider according to the size of the object, the step further includes: Determine whether the updated first safety ranges of the plurality of emergency sliders have overlapping paths within the coverage of the moving path; If there is an overlapping path, obtaining the step priority of the emergency slider on the overlapping path in the emergency task; The emergency slider with a high priority in the step is controlled to move at a preset moving speed, and the emergency slider with a low priority in the step is controlled to move at a first speed before reaching the initial node of the overlapping path, and after the emergency slider with a high priority in the step completes the movement of the overlapping path, it moves at a second speed greater than the first speed.

[0015] By adopting the above technical solution, while reducing the collision between the emergency sliders, the emergency slider with a higher step priority enters the target node of the emergency task first, thereby improving the response efficiency of the entire production line node.

[0016] In a preferred example, the present application can be further configured as follows: if there is an overlapping path, the emergency slider is controlled to move at a first speed before reaching the initial node of the overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement of the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time, and the step also includes: The obstacle safety distance corresponding to the axis of the robot gripper of each X-axis slider is set as the center of the circle, and the obstacle safety distance greater than the maximum length of the object is set as the second safety range; Move the center of the second safety range of each X-axis slider on the moving path, and record the coverage of several second safety ranges in the moving path; By means of an infrared detection device, determining whether an obstacle has entered the coverage range of the second safety range in the moving path; If an obstacle enters the coverage of the second safety range in the moving path, the X-axis slider is controlled to stop moving and wait for the obstacle to leave the second safety range; If the obstacle leaves the second safety range, the third speed is used to move to the target node of the emergency task. The third speed is calculated based on the remaining path of the X-axis slider from the current position node of the moving path to the target node of the emergency task, and the difference between the consumed time on the moving path and the preset time to arrive at the target node of the emergency task.

[0017] By adopting the above technical solution, a second safety range is set and real-time monitoring is performed using a visual device. When an obstacle is detected entering the range, the X-axis slider will stop moving immediately, restart after the obstacle leaves, and calculate a new optimal moving speed to ensure that the emergency task can be successfully completed within the scheduled time.

[0018] In a preferred example, the present application may be further configured as follows: if an obstacle enters the coverage range of the second safety range in the moving path, the step of controlling the X-axis slider to stop moving and waiting for the obstacle to leave the second safety range includes: If an obstacle enters the coverage area of ​​the second safety range in the moving path, an alarm will be sounded until the obstacle leaves the second safety range.

[0019] By adopting the above technical solution, when an obstacle enters the second safety range, the alarm sound can remind the operator to deal with the obstacle in time, or remind the operator to avoid the movement of the slider, effectively avoiding production interruptions or accidents caused by the obstacle.

[0020] In the second aspect, the present application provides a modular truss robot production line control system, which adopts the following technical solution: A modular truss robot production line control system, comprising: Emergency task judgment module: used to judge whether an emergency task has been received; Emergency path updating module: used for setting the X-axis slider required to perform the emergency task as the emergency slider if an emergency task is received, and updating the moving path of the emergency slider; Emergency item acquisition module: used to obtain the size of the item that the manipulator claw of the emergency slider needs to grab in the emergency task; A first safety range updating module: used for updating the first safety range of the emergency slider according to the size of the object; The overlapping path judgment module is used to judge whether the coverage of the emergency slider overlaps with the coverage of other X-axis sliders that have not received the emergency task allocation, according to the coverage of the first safety range of the emergency slider in the moving path; Movement speed planning module: used to control the emergency slider to move at a first speed before reaching the initial node of the overlapping path if there is an overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement of the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time.

[0021] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for controlling a modular truss robot production line when executing the computer program.

[0022] In a fourth aspect, the present application provides a computer storage medium, the following technical solution: A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned modular truss robot production line control method are implemented.

[0023] In summary, the present application has at least one of the following beneficial technical effects: 1. When receiving an emergency task, the application dynamically updates the first safety range of the emergency slider according to the size of the object, effectively reducing the risk of collision between the mechanically grasped objects of the slider and improving production safety; 2. This application improves the ability to cope with emergency tasks by rationally planning the emergency slider and enabling the emergency slider to reach the target node within the preset time, while reducing the collision with the X-axis slider on the overlapping path; 3. This application sets a second safety range and stops and replans the moving speed in time when an obstacle is detected. While avoiding obstacles, it can also enable the emergency slider to reach the target node within the preset time, further ensuring the safety and stability of the production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flow chart of a modular truss robot production line control method in one embodiment of the present application.

[0025] Figure 2It is a sub-step flow chart of step S4 in one embodiment of the present application.

[0026] Figure 3 It is a sub-step flow chart of step S5 in one embodiment of the present application.

[0027] Figure 4 This is a sub-step process of step S6 in one embodiment of the present application. Figure 1 .

[0028] Figure 5 This is a flowchart of the steps added after step S4 in one embodiment of the present application.

[0029] Figure 6 This is a sub-step process of step S6 in one embodiment of the present application. Figure 2 .

[0030] Figure 7 It is a sub-step flow chart of step S611 in one embodiment of the present application.

[0031] Figure 8 It is a structural schematic diagram of a modular truss robot production line control system according to one embodiment of the present application.

[0032] Fig. 9 It is a principle block diagram of an electronic device in one embodiment of the present application.

[0033] Figure numerals: 1. Emergency task judgment module; 2. Emergency path update module; 3. Emergency item acquisition module; 4. First safety range update module; 5. Overlapping path judgment module; 6. Moving speed planning module. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-9 This application is described in further detail.

[0035] refer to Figure 1 , a modular truss robot production line control method, specifically comprising: S1. Determine whether an emergency task has been received.

[0036] Specifically, a production task list is provided, and tasks in the production task list are produced in order according to their delivery time. When the current task is still in production, tasks that are temporarily added and whose delivery time is earlier than other production tasks are urgent tasks.

[0037] S2. If an emergency task is received, the X-axis slider that needs to perform the emergency task is set as the emergency slider, and the moving path of the emergency slider is updated.

[0038] Specifically, the moving path of the emergency slider is the shortest distance from the initial node to the target node of the emergency task, and is within the moving range of the beam on which the X-axis slider is mounted.

[0039] S3. Obtain the size of the object that the manipulator gripper of the emergency slider needs to grasp in the emergency task.

[0040] Specifically, the size of the object can be acquired in real time through a visual device and an existing image recognition algorithm, or from object size data entered into a database.

[0041] S4. Update the first safety range of the emergency slider according to the size of the object.

[0042] Specifically, the first safety range is the maximum range in which the object can move on the moving path of the emergency slider. Outside the first safety range, the object will not be collided. Within the first safety range, there may be a risk of collision with the object.

[0043] S5. According to the coverage of the first safety range of the emergency slider in the moving path, determine whether the coverage of the emergency slider overlaps with the coverage of other X-axis sliders that have not received emergency task allocation.

[0044] Specifically, since the X-axis slider that has not received any emergency task allocation is still grabbing the set items in the current production task, a first safety range generated according to the grabbed items is set. Therefore, without changing the movement mode of this type of X-axis slider to reduce changes in the production line, the movement path of the newly planned emergency slider may overlap with the movement path of the X-axis slider.

[0045] S6. If there is an overlapping path, the emergency slider is controlled to move at a first speed before reaching the initial node of the overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement on the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time.

[0046] Specifically, when there is an overlapped path, there is a risk of collision between the X-axis slider and the emergency slider. Therefore, the emergency slider is controlled at a slower first speed, so that the X-axis slider first enters the overlapped path at the original moving speed and completes the movement on the overlapped path, and then the speed of the emergency slider is increased to reach the target node of the emergency task within the preset time at the second speed, so as to achieve the timely arrival of the emergency slider and avoid the collision of the objects grasped by the robot claw of the emergency slider with the objects grasped by the robot claw of other X-axis sliders as much as possible, thereby improving the safety of production line operation.

[0047] refer to Figure 2Further, in one embodiment, step S4 is refined into the following sub-steps: S40, obtaining the maximum length of the entire object.

[0048] Specifically, the maximum length between the two endpoints of the object can be obtained in real time through visual devices and existing image recognition algorithms, or the maximum length between the two endpoints of the object can be obtained from the object size data entered into the database.

[0049] S41, setting a first safety range of the emergency slider with the end corresponding to the axis of the robot gripper of the emergency slider as the center and the maximum length as the diameter.

[0050] Specifically, since some robotic grippers have the function of self-rotation, the maximum length of the entire object is used as the first safety range. When the robotic gripper self-rotates and drives the object to rotate, the object's movement range is limited to the first safety range, thereby reducing the risk of collision between the sliders due to the rotation of the object.

[0051] In addition, reference Figure 3 Further, in one embodiment, step S5 is refined into the following sub-steps: S50: Obtain the first safety range of other X-axis sliders that have not received emergency task allocation and the first safety range of the updated emergency slider.

[0052] Specifically, the first safety range of other X-axis sliders that have not received emergency task allocation is obtained in the same way as the first safety range of the emergency slider, that is, the first safety range of the X-axis slider is set according to the maximum length of the entire object, with the end corresponding to the axis of the corresponding robot gripper as the center of the circle and the maximum length as the diameter.

[0053] S51, moving the center of the first safety range of each X-axis slider and the emergency slider that has not received emergency task allocation on the moving path, and recording the coverage of several first safety ranges in the moving path.

[0054] Specifically, the first safety range is within the moving path of the slider. When an object enters the coverage range of the slider, there is a risk of collision with the object grasped by the slider's mechanical claw.

[0055] S52: If there is an overlapping portion between the coverage range of the X-axis slider that has not received the emergency task allocation and the emergency slider, the overlapping portion is an overlapping path.

[0056] Specifically, although the moving distance of each beam is limited between two beams when moving on the Y-axis, so that there will be no collision between the sliders, if the objects grasped by the slider's robot claw are relatively large, collision may occur between the objects, and the collision will occur on the overlapping path. Therefore, it is necessary to confirm the overlapping path, adjust the movement mode of the emergency slider on the overlapping path, and reduce the collision between objects without changing the movement path of each X-axis slider that has not received the emergency task allocation, so as to improve the safety and efficiency of the production line.

[0057] In addition, reference Figure 4 Further, in one embodiment, step S6 is refined into the following sub-steps: S60, setting the moving path between the position nodes of the radius of the first safety range from the initial node of the moving path to the initial node of the overlapping path before the end corresponding to the axis of the robot gripper of the emergency slider is entered as the first path.

[0058] Specifically, when the end corresponding to the axis of the emergency slider's robotic claw reaches the end node of the first path, the object grasped by the emergency slider's robotic claw will not enter the overlapping path. At this time, the X-axis slider that has not received the emergency task allocation can pass through the overlapping path.

[0059] S61, setting the end corresponding to the axis of the robot gripper of the emergency slider in the remaining path portion of the moving path as the second path.

[0060] Specifically, the second path is a path that the emergency slider still needs to move after the X-axis slider that has not received the emergency task allocation passes through the overlapped path.

[0061] S62. According to the moving speed of the X-axis slider that has not received the emergency task allocation, calculate the moving time of the end corresponding to the axis of the robot gripper of the X-axis slider in the sum of the overlapping path length and the first safety range diameter length of the X-axis slider, and set it as the third time.

[0062] Specifically, the third time is the maximum dwell time of the object grasped by the robot gripper of the X-axis slider that has not received the emergency task allocation in the overlapped path. Within the third time, there is a possibility of collision with the object grasped by the robot gripper of the X-axis slider that has not received the emergency task allocation in the overlapped path.

[0063] S63: Calculate and obtain a first time of the emergency slider, where the first time is a difference between a start time of movement of the emergency slider and a third time.

[0064] Specifically, the first time is the time when the end of the axis corresponding to the robot gripper of the emergency slider reaches the position node of the radius of the first safety range before the initial node of the moving path, plus the time for the robot gripper of the X-axis slider that has not received the emergency task to completely leave the overlapping path. After the first time, the emergency slider can continue to move.

[0065] S64: Calculate and obtain a first speed by combining the first time and the first path.

[0066] Specifically, the emergency slider moves the length of the first path between the time when the movement starts and the first time, and the first speed is calculated based on the linear proportional relationship between time and distance. When the emergency slider moves along the first path using the first speed, it can directly enter the overlapping path at the time when the X-axis slider that has not received the emergency task allocation leaves the overlapping path, without stopping the movement of the emergency slider.

[0067] S65. Calculate and obtain a second time consumed by the emergency slider on the second path based on the difference between the time when the end corresponding to the axis of the robot gripper of the preset emergency slider reaches the target node of the emergency task and the first time.

[0068] S66: Calculate and obtain a second speed by combining the second time and the second path.

[0069] Specifically, based on the linear proportional relationship between the second time for the object grasped by the manipulator claw of the emergency slider to reach the target node of the emergency task and the second path after entering the overlapping path, the second speed is calculated to enable the emergency slider to move at the second speed on the second path and arrive at the target node as close to the preset time for arriving at the target node of the emergency task as possible.

[0070] In addition, reference Figure 5 Further, in one embodiment, after step S4, steps S42, S43, and S44 are added: S42: Determine whether the updated first safety ranges of the emergency sliders have overlapping paths within the coverage of the moving paths.

[0071] Specifically, the X-axis sliders with adjacent beams are all allocated for urgent production tasks, and it may be necessary to re-plan the movement path and / or replace the items grasped by the robot gripper. Therefore, determining whether there is an overlapping path can reduce the possibility of collision between emergency sliders.

[0072] S43. If there is an overlapping path, obtain the step priority of the emergency slider on the overlapping path in the emergency task.

[0073] Specifically, the emergency slider with a high step priority is passed at the original moving speed first, so that the emergency slider with a low step priority can be executed smoothly as much as possible, thereby reducing the delay of production progress.

[0074] S44, the emergency slider with a high control step priority moves at a preset moving speed, the emergency slider with a low control step priority moves at a first speed before reaching the initial node of the overlapping path, and after the emergency slider with a high control step priority completes the movement on the overlapping path, it moves at a second speed greater than the first speed.

[0075] Specifically, after the emergency slider with a high step priority moves, the emergency slider with a low step priority moves at the first speed and the second speed in stages, and can reach the target node as close as possible to the preset time to reach the target node of the emergency task.

[0076] In addition, reference Figure 6 Furthermore, in one embodiment, step S6 is further refined into the following sub-steps: S67, setting the end corresponding to the axis of the robot gripper of each X-axis slider as the center of the circle, and setting the obstacle safety distance greater than the maximum length of the object as the second safety range.

[0077] Specifically, the radius of the second safety range can be set to increase the radius by 3-5 meters on the basis of the radius of the first safety range.

[0078] S68, moving the center of the second safety range of each X-axis slider on the moving path, and recording the coverage of several second safety ranges in the moving path.

[0079] Specifically, in order to reduce the occurrence of safety accidents, no obstacles are allowed to exist within the coverage of the second safety range in the moving path.

[0080] S69. Determine, by means of an infrared detection device, whether there is an obstacle entering the coverage area of ​​the second safety range in the moving path.

[0081] S610: If an obstacle enters the coverage area of ​​the second safety range in the moving path, the X-axis slider is controlled to stop moving and wait for the obstacle to leave the second safety range.

[0082] Specifically, the infrared detection device can capture the distance of obstacles within the second safety range around the axis of the robot gripper of the X-axis slider.

[0083] In addition, the robot gripper of the X-axis slider is provided with a camera, and through the existing image recognition algorithm, it can be determined whether the obstacle entering the second safety range is an object grasped by the robot gripper of another slider. If it is determined to be an object grasped by the robot gripper of another slider, it is not detected as an obstacle. When an obstacle is detected to enter the range, the X-axis slider will stop moving immediately.

[0084] S611. If the obstacle leaves the second safety range, use the third speed to move to the target node of the emergency task. The third speed is calculated based on the remaining path of the X-axis slider from the position node of the current moving path to the target node of the emergency task, and the difference between the consumed time on the moving path and the preset time to reach the target node of the emergency task.

[0085] Specifically, the third speed is the time required for the stopped X-axis slider to travel the remaining moving path at the preset time point of reaching the target node of the emergency task. After the obstacle is removed, it will restart at the third speed to ensure that the emergency task can be successfully completed within the scheduled time.

[0086] In addition, reference Figure 7 Further, in one embodiment, step S611 is refined into the following sub-steps: S6110: If an obstacle enters the coverage area of ​​the second safety range in the moving path, an alarm is sounded until the obstacle leaves the second safety range.

[0087] Specifically, the obstacle may be a person or a living thing, or a non-living object. The alarm can make the person or living thing within the second safety range leave, and can also remind people to move the object to a position where it will not hinder the advancement of the slider when the obstacle is a non-living object.

[0088] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0089] The embodiment of the present application also provides a modular truss robot production line control system, which corresponds one-to-one to the modular truss robot production line control method in the embodiment.

[0090] refer to Figure 8 A modular truss robot production line control system includes: an emergency task judgment module 1, an emergency path update module 2, an emergency item acquisition module 3, a first safety range update module 4, a coincidence path judgment module 5, and a moving speed planning module 6. The functional modules are described in detail as follows: Emergency task judgment module 1: used to judge whether an emergency task has been received; Emergency path updating module 2: used for setting the X-axis slider that needs to perform the emergency task as the emergency slider if an emergency task is received, and updating the moving path of the emergency slider; Emergency item acquisition module 3: used to obtain the size of the item that the manipulator gripper of the emergency slider needs to grab in the emergency task; First safety range updating module 4: used for updating the first safety range of the emergency slider according to the size of the object; The overlapped path judgment module 5 is used to judge whether the coverage of the emergency slider overlaps with the coverage of other X-axis sliders that have not received emergency task allocation according to the coverage of the first safety range of the emergency slider in the moving path; Movement speed planning module 6: used to control the emergency slider to move at a first speed before reaching the initial node of the overlapping path if there is an overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement on the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within the preset time.

[0091] Among them, the emergency task judgment module 1 can judge whether an emergency task has been received, the emergency path update module 2 can set the X-axis slider occupied by the emergency task as the emergency slider when receiving the emergency task, and update the path of the emergency slider according to the actual production needs, the emergency item acquisition module 3 obtains the size of the item grasped by the mechanical claw of the emergency slider, and provides the size data of the item to the first safety range update module 4 to update the first safety range of the emergency slider to reduce the collision with the items of other X-axis sliders due to the size change of the grasped items, and the overlap path judgment module 5 further checks whether there is an overlap path where the emergency slider and other X-axis sliders that have not received the emergency task allocation will collide with the items. If there is an overlap path, the moving speed planning module 6 controls the speed of the emergency slider so that the X-axis slider that has not received the emergency task allocation completes the movement of the overlap path and then enters the overlap path. Through the combination of various modules, the truss robot can adjust the movement mode of each slider when receiving an emergency production task, and reduce the collision of the slider's mechanical gripper when grasping different items.

[0092] For the specific definition of the modular truss robot production line control system, please refer to the definition of the modular truss robot production line control method in the context, which will not be repeated here. Each module in the above-mentioned modular truss robot production line control system 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 electronic device in hardware form, or can be stored in the memory of the electronic device in software form, so that the processor can call and execute the operations corresponding to the above modules. In one embodiment, an electronic device is provided, which is a user terminal. Reference Fig. 9 , the electronic device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store a detection data table. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a modular truss robot production line control method is implemented.

[0093] In one embodiment, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program: S1. Determine whether an emergency task has been received.

[0094] S2. If an emergency task is received, the X-axis slider that needs to perform the emergency task is set as the emergency slider, and the moving path of the emergency slider is updated.

[0095] S3. Obtain the size of the object that the manipulator gripper of the emergency slider needs to grasp in the emergency task.

[0096] S4. Update the first safety range of the emergency slider according to the size of the object.

[0097] S5. According to the coverage of the first safety range of the emergency slider in the moving path, determine whether the coverage of the emergency slider overlaps with the coverage of other X-axis sliders that have not received emergency task allocation.

[0098] S6. If there is an overlapping path, the emergency slider is controlled to move at a first speed before reaching the initial node of the overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement on the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time.

[0099] In one embodiment, the detailed sub-steps of step S4 include: S40, obtaining the maximum length of the entire object.

[0100] S41, setting a first safety range of the emergency slider with the end corresponding to the axis of the robot gripper of the emergency slider as the center and the maximum length as the diameter.

[0101] In one embodiment, the sub-steps of step S5 include: S50: Obtain the first safety range of other X-axis sliders that have not received emergency task allocation and the first safety range of the updated emergency slider.

[0102] S51, moving the center of the first safety range of each X-axis slider and the emergency slider that has not received emergency task allocation on the moving path, and recording the coverage of several first safety ranges in the moving path.

[0103] S52: If there is an overlapping portion between the coverage range of the X-axis slider that has not received the emergency task allocation and the emergency slider, the overlapping portion is an overlapping path.

[0104] In one embodiment, the sub-steps of step S6 include: S60, setting the moving path between the position nodes of the radius of the first safety range from the initial node of the moving path to the initial node of the overlapping path before the end corresponding to the axis of the robot gripper of the emergency slider is entered as the first path.

[0105] S61, setting the end corresponding to the axis of the robot gripper of the emergency slider in the remaining path portion of the moving path as the second path.

[0106] S62. According to the moving speed of the X-axis slider that has not received the emergency task allocation, calculate the moving time of the end corresponding to the axis of the robot gripper of the X-axis slider in the sum of the overlapping path length and the first safety range diameter length of the X-axis slider, and set it as the third time.

[0107] S63: Calculate and obtain a first time of the emergency slider, where the first time is a difference between a start time of movement of the emergency slider and a third time.

[0108] S64: Calculate and obtain a first speed by combining the first time and the first path.

[0109] S65. Calculate and obtain a second time consumed by the emergency slider in the second path according to the difference between the time when the end corresponding to the axis of the robot gripper of the preset emergency slider reaches the target node of the emergency task and the first time.

[0110] S66: Calculate and obtain a second speed by combining the second time and the second path.

[0111] In one embodiment, the steps added after step S4 include: S42: Determine whether the updated first safety ranges of the emergency sliders have overlapping paths within the coverage of the moving paths.

[0112] S43. If there is an overlapping path, obtain the step priority of the emergency slider on the overlapping path in the emergency task.

[0113] S44, the emergency slider with a high control step priority moves at a preset moving speed, the emergency slider with a low control step priority moves at a first speed before reaching the initial node of the overlapping path, and after the emergency slider with a high control step priority completes the movement on the overlapping path, it moves at a second speed greater than the first speed.

[0114] In one embodiment, step S6 is further divided into sub-steps including: S67, setting the end corresponding to the axis of the robot gripper of each X-axis slider as the center of the circle, and setting the obstacle safety distance greater than the maximum length of the object as the second safety range.

[0115] S68, moving the center of the second safety range of each X-axis slider on the moving path, and recording the coverage of several second safety ranges in the moving path.

[0116] S69. Determine, by means of an infrared detection device, whether there is an obstacle entering the coverage area of ​​the second safety range in the moving path.

[0117] S610: If an obstacle enters the coverage area of ​​the second safety range in the moving path, the X-axis slider is controlled to stop moving and wait for the obstacle to leave the second safety range.

[0118] S611. If the obstacle leaves the second safety range, use the third speed to move to the target node of the emergency task. The third speed is calculated based on the remaining path of the X-axis slider from the position node of the current moving path to the target node of the emergency task, and the difference between the consumed time on the moving path and the preset time to reach the target node of the emergency task.

[0119] In one embodiment, the sub-steps of step S611 include: S6110: If an obstacle enters the coverage area of ​​the second safety range in the moving path, an alarm is sounded until the obstacle leaves the second safety range.

[0120] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0121] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

Claims

1. A modular truss robot production line control method, characterized in that: include: Determine whether an emergency task has been received; If an emergency task is received, the X-axis slider that needs to perform the emergency task is set as an emergency slider, and the moving path of the emergency slider is updated; Obtaining the size of the object that the manipulator claw of the emergency slider needs to grasp in the emergency task; According to the size of the object, updating the first safety range of the emergency slider; According to the coverage range of the first safety range of the emergency slider in the moving path, it is determined whether the coverage range of the emergency slider overlaps with the coverage range of other X-axis sliders that have not received the emergency task allocation; If there is an overlapping path, the emergency slider is controlled to move at a first speed before reaching the initial node of the overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement of the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time.

2. The method according to claim 1, characterized in that The step of updating the first safety range of the emergency slider according to the size of the object comprises: The maximum length of the entire object can be obtained by using a visual device and an existing image recognition algorithm to obtain the maximum length between the two endpoints of the entire object in real time, or by using the object size data entered into a database to obtain the maximum length between the two endpoints of the entire object; A first safety range of the emergency slider is set with the end corresponding to the axis of the robot claw of the emergency slider as the center of the circle and the maximum length as the diameter.

3. The method according to claim 2, characterized in that The step of determining, based on the coverage of the first safety range of the emergency slider in the moving path, whether the coverage of the emergency slider overlaps with the coverage of other X-axis sliders that have not received the emergency task allocation, comprises: Obtaining the first safety range of other X-axis sliders that have not received the emergency task allocation and the updated first safety range of the emergency slider; Move the center of the first safety range of each X-axis slider and the emergency slider that have not received the emergency task allocation on the moving path, and record the coverage of several first safety ranges in the moving path; If there is an overlapping portion between the coverage range of the X-axis slider that has not received the emergency task allocation and the emergency slider, the overlapping portion is an overlapping path.

4. The method according to claim 3, characterized in that If there is an overlapping path, the step of controlling the emergency slider to move at a first speed before reaching the initial node of the overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement of the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time, includes: The moving path between the position nodes of the radius of the first safety range from the initial node of the moving path to the initial node of the overlapped path and the end corresponding to the axis of the manipulator claw of the emergency slider is set as the first path; Setting the end corresponding to the axis of the manipulator claw of the emergency slider as a second path in the remaining path portion of the moving path; According to the moving speed of the X-axis slider that has not received the emergency task allocation, the moving time of the end corresponding to the axis of the manipulator claw of the X-axis slider in the sum of the overlapped path length and the first safety range diameter length of the X-axis slider is calculated and set as the third time; Calculate and obtain a first time of the emergency slider, where the first time is a difference between a start time of movement of the emergency slider and a third time; Calculate and obtain a first speed by combining the first time and the first path; The second time consumed by the emergency slider on the second path is calculated and obtained according to the difference between the time when the end corresponding to the axis of the manipulator claw of the emergency slider reaches the target node of the emergency task and the first time; The second time and the second path are combined to calculate and obtain a second speed.

5. The method according to claim 4, characterized in that After the step of updating the first safety range of the emergency slider according to the size of the object, the method further includes: Determine whether the updated first safety ranges of the plurality of emergency sliders have overlapping paths within the coverage of the moving path; If there is an overlapping path, obtaining the step priority of the emergency slider on the overlapping path in the emergency task; The emergency slider with a high priority in the step is controlled to move at a preset moving speed, and the emergency slider with a low priority in the step is controlled to move at a first speed before reaching the initial node of the overlapping path, and after the emergency slider with a high priority in the step completes the movement of the overlapping path, it moves at a second speed greater than the first speed.

6. The method according to claim 1, characterized in that If there is an overlapping path, the step of controlling the emergency slider to move at a first speed before reaching the initial node of the overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement of the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time, further includes: The obstacle safety distance corresponding to the axis of the robot gripper of each X-axis slider is set as the center of the circle, and the obstacle safety distance greater than the maximum length of the object is set as the second safety range; Move the center of the second safety range of each X-axis slider on the moving path, and record the coverage of several second safety ranges in the moving path; By means of an infrared detection device, determining whether an obstacle has entered the coverage range of the second safety range in the moving path; If an obstacle enters the coverage of the second safety range in the moving path, the X-axis slider is controlled to stop moving and wait for the obstacle to leave the second safety range; If the obstacle leaves the second safety range, the third speed is used to move to the target node of the emergency task. The third speed is calculated based on the remaining path of the X-axis slider from the current position node of the moving path to the target node of the emergency task, and the difference between the consumed time on the moving path and the preset time to arrive at the target node of the emergency task.

7. The method according to claim 6, characterized in that If an obstacle enters the coverage range of the second safety range in the moving path, the step of controlling the X-axis slider to stop moving and waiting for the obstacle to leave the second safety range includes: If an obstacle enters the coverage area of ​​the second safety range in the moving path, an alarm will be sounded until the obstacle leaves the second safety range.

8. A modular truss robot production line control system, characterized in that: include: Emergency task judgment module (1): used to judge whether an emergency task has been received; An emergency path updating module (2): used for setting the X-axis slider required to perform the emergency task as an emergency slider if an emergency task is received, and updating the moving path of the emergency slider; Emergency item acquisition module (3): used to acquire the size of the item that the manipulator gripper of the emergency slider needs to grab in the emergency task; A first safety range updating module (4): used for updating the first safety range of the emergency slider according to the size of the object; An overlapping path judging module (5) is used to judge whether the coverage of the emergency slider overlaps with the coverage of other X-axis sliders that have not received the emergency task allocation, based on the coverage of the first safety range of the emergency slider on the moving path; A moving speed planning module (6): used to control the emergency slider to move at a first speed before reaching the initial node of the overlapping path if there is an overlapping path, so that the X-axis slider that has not received the emergency task allocation enters the overlapping path first and completes the movement of the overlapping path, and then moves at a second speed greater than the first speed, so that the emergency slider can reach the target node of the emergency task within a preset time.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for controlling a modular truss robot production line according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the control method of a modular truss robot production line according to any one of claims 1 to 7.

Images