Twin robot synchronous motion control method and control system

Abstract

The invention provides a twin robot synchronous motion control method and control system, and the method comprises the steps: obtaining each part taking and placing point location of a physical robot, controlling the physical robot to reach each taking and placing point location one by one according to each part taking and placing point location, and obtaining the position and posture of the physical robot when reaching each taking and placing point location; and in the virtual scene, corresponding positions and postures are given to the parts taken and placed by the virtual robot at all the taking and placing point positions, and synchronous movement of the physical robot and the virtual robot is achieved. According to the method, the virtual carrying point location of the virtual robot can be automatically recorded, and compared with an existing manual recording method, the cost of recording the point location is saved, and the accuracy and the recording efficiency of point location recording are guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing, and more specifically, to a twin robot synchronous motion control method and control system. Background Art

[0002] With the rise of the concept of Industry 4.0, the manufacturing industry is moving towards a highly automated and intelligent direction. Digital twin technology, as a key component of intelligent manufacturing, can improve the flexibility and efficiency of production lines and meet the needs of personalized and customized production. In the development process of the production line digital twin system, the confirmation of virtual handling points is essential. It is related to the synchronization effect of the entire twin system's handling process, the accuracy of the placement of parts of equipment such as shelves and machine tools, and the traditional point confirmation method is basically to operate the robot to the corresponding point, and manually confirm the record update one by one, which requires the cooperation of production line operators and developers, is inefficient, and prone to errors. Summary of the invention

[0003] In view of the technical problems existing in the prior art, the present invention provides a twin robot synchronous motion control method and control system, which overcomes the tediousness of manually recording the pick-up and placement points of the robots.

[0004] According to a first aspect of the present invention, a method for controlling synchronous motion of twin robots is provided, comprising: Obtain the various pick-up and placement points of the physical robot, control the physical robot to reach each pick-up and placement point one by one according to the various pick-up and placement points of the parts, and obtain the position and posture of the physical robot when it reaches each pick-up and placement point; In the virtual scene, the virtual robot is given corresponding positions and postures when picking and placing parts at each pick-up and placement point, so as to realize the synchronous movement of the physical robot and the virtual robot.

[0005] Based on the above technical solution, the present invention can also make the following improvements.

[0006] Optionally, the obtaining of each pick-up and placement point of the physical robot, controlling the physical robot to reach each pick-up and placement point one by one according to each pick-up and placement point of the parts, and obtaining the position and posture of the physical robot when it reaches each pick-up and placement point include: Configure the physical robot's parts pick-up and placement points based on the control software; Control the physical robot to run to each pick-up and placement point of the parts one by one, and obtain the position and posture of the physical robot at the pick-up and placement point when it reaches one of the pick-up and placement points; Traverse all the pick-and-place points of the parts, and record the position and posture of the physical robot at each pick-and-place point.

[0007] Optionally, also include: In the process of controlling the physical robot to run to each pick-up and placement point of the parts one by one, the motion state of the physical robot is marked based on the mark bit of the PLC data block, and the motion state of the physical robot includes a running state, a pause state and an end state; Initialize the movement state of the mark bit of the PLC data block to the running state. When the physical robot moves to a pick-up and place point, the mark bit of the PLC data block is changed to the pause state. Record the position and posture of the pick-up and placement of the parts when the physical robot arrives at the pick-up and placement point. After recording, modify the mark bit of the PLC data block to the running state, and control the physical robot to move to the next pick-up and placement point, and record the position and posture of the pick-up and placement of the parts when the physical robot runs to each pick-up and placement point in turn; When the positions and postures of all pick-and-place points are recorded, the mark bit of the PLC data block is changed to end.

[0008] Optionally, the recorded positions and postures of the physical robot when picking and placing parts at each pick-and-place point are stored in a json file.

[0009] Optionally, the step of assigning corresponding positions and postures to the virtual robot for picking up and placing parts at each pick-up and placement point in the virtual scene to achieve synchronous movement of the physical robot and the virtual robot includes: Extract the position and posture of the physical robot at each pick-up and placement point to pick up and place parts from the json file, and build a virtual scene based on the simulation software; In the virtual scene, the position and posture of the virtual robot at each pick-up and placement point are set so that the position and posture of the virtual robot at each pick-up and placement point are consistent with the position and posture of the physical robot at each pick-up and placement point.

[0010] Optionally, obtaining the position and posture of the physical robot when it reaches each pick-up and placement point includes: The infrared sensor installed on the physical robot senses the position and posture of the physical robot when it picks and places parts at each pick-and-place point for detection.

[0011] According to a second aspect of the present invention, there is provided a twin robot synchronous motion control system, comprising: The acquisition module is used to acquire the various pick-up and placement points of the physical robot, and according to the various pick-up and placement points of the parts, control the physical robot to reach each pick-up and placement point one by one, and acquire the position and posture of the physical robot when it reaches each pick-up and placement point; The control module is used to control the position and posture of the virtual robot at each pick-up and placement point in the virtual scene according to the position and posture of the physical robot when it reaches each pick-up and placement point, so as to realize the synchronous movement of the physical robot and the virtual robot.

[0012] According to a third aspect of the present invention, there is provided an electronic device comprising a memory and a processor, wherein the processor is used to implement the steps of a method for synchronous motion control of twin robots when executing a computer management program stored in the memory.

[0013] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium on which a computer management program is stored, and when the computer management program is executed by a processor, the steps of the twin robot synchronous motion control method are implemented.

[0014] The present invention provides a twin robot synchronous motion control method and control system, which obtains the various pick-up and placement points of the physical robot's parts, controls the physical robot to reach each pick-up and placement point one by one according to the various pick-up and placement points of the parts, and obtains the position and posture of the physical robot when it reaches each pick-up and placement point; in the virtual scene, the virtual robot is given a corresponding position and posture when picking and placing parts at each pick-up and placement point, so as to realize the synchronous motion of the physical robot and the virtual robot. The present invention can automatically record the virtual handling points of the virtual robot, which saves the cost of recording points compared to the existing manual recording method, and ensures the accuracy and efficiency of point recording. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart of a twin robot synchronous motion control method provided by the present invention; Figure 2 An overall flow chart of a twin robot synchronous motion control method provided by the present invention; Figure 3 A schematic diagram of the structure of a twin robot synchronous motion control system provided by the present invention; Figure 4 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention; Figure 5 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention can be arbitrarily combined with each other to form a feasible technical solution. This combination is not subject to the constraints of the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0017] Figure 1 A flow chart of a twin robot synchronous motion control method provided by the present invention, such as Figure 1 and Figure 2 As shown, the method includes: Step 1: Obtain each pick-up and placement point of the physical robot, and control the physical robot to reach each pick-up and placement point one by one according to each pick-up and placement point of the parts, and obtain the position and posture of the physical robot when it reaches each pick-up and placement point.

[0018] Exemplarily, the obtaining of each pick-up and placement point of the physical robot, controlling the physical robot to reach each pick-up and placement point one by one according to each pick-up and placement point of the parts, and obtaining the position and posture of the physical robot when it reaches each pick-up and placement point include: Configure the physical robot's parts pick-up and placement points based on the control software; Control the physical robot to run to each pick-up and placement point of the parts one by one, and obtain the position and posture of the physical robot at the pick-up and placement point when it reaches one of the pick-up and placement points; Traverse all the pick-and-place points of the parts, and record the position and posture of the physical robot at each pick-and-place point.

[0019] It is understandable that the software configures the various pick-up and placement points of the physical robot, and then controls the physical robot to move to each pick-up and placement point one by one, and obtains the position and posture of the physical robot when it picks and places the parts when it moves to each pick-up and placement point.

[0020] The software controls the physical robot to move to each pick-and-place point in sequence one by one, traverses all the pick-and-place points, and records the position and posture of the physical robot when picking up and placing parts at each pick-and-place point.

[0021] Exemplarily, during the operation of the physical robot, the following steps are also included: In the process of controlling the physical robot to run to each pick-up and placement point of the parts one by one, the motion state of the physical robot is marked based on the mark bit of the PLC data block, and the motion state of the physical robot includes a running state, a pause state and an end state; Initialize the movement state of the mark bit of the PLC data block to the running state. When the physical robot moves to a pick-up and place point, the mark bit of the PLC data block is changed to the pause state. Record the position and posture of the pick-up and placement of the parts when the physical robot arrives at the pick-up and placement point. After recording, modify the mark bit of the PLC data block to the running state, and control the physical robot to move to the next pick-up and placement point, and record the position and posture of the pick-up and placement of the parts when the physical robot runs to each pick-up and placement point in turn; When the positions and postures of all pick-and-place points are recorded, the mark bit of the PLC data block is changed to end.

[0022] Among them, see Figure 2 ,In the process of controlling the movement of the physical robot, the PLC data block is used to ,record the movement state of the physical robot, including the physical robot being in ,running state, in paused state, and in end state.

[0023] Initialize the mark bit of the PLC data block to the running state. When the physical robot moves to a pick-and-place point, the mark bit of the PLC data block is changed to the pause state. When the mark bit of the PLC data block is in the pause state, record the position and posture of the physical robot at this time. After recording, change the mark bit of the PLC data block to the running state, and control the physical robot to move to the next pick-and-place point, and record the position and posture of the physical robot at each pick-and-place point in turn. When the position and posture of the physical robot at all pick-and-place points are recorded, change the mark bit of the PLC data block to the end state, that is, the operation ends.

[0024] Exemplarily, the obtaining of the position and posture of the physical robot when it reaches each pick-up and placement point includes: sensing the position and posture of the physical robot when it picks and places parts at each pick-up and placement point based on an infrared sensor installed on the physical robot.

[0025] Among them, the recorded positions and postures of the physical robot picking up and placing parts at each pick-up and placement point are stored in a json file.

[0026] Step 2: In the virtual scene, the virtual robot is assigned corresponding positions and postures for picking and placing parts at each pick-up and placement point to achieve synchronous movement of the physical robot and the virtual robot.

[0027] It can be understood that the so-called twin robots include two robots, a physical robot and a virtual robot. The physical robot is a real robot. According to the position and posture of the physical robot, the position and posture of the virtual robot in the simulation are simulated, so that the position and posture of the virtual robot in the virtual scene are consistent with the position and posture of the physical robot in the real environment, thereby ensuring the synchronous movement of the virtual robot and the physical robot.

[0028] Exemplarily, the step of assigning corresponding positions and postures to the virtual robot for picking up and placing parts at each pick-up and placement point in the virtual scene to achieve synchronous movement of the physical robot and the virtual robot includes: Extract the position and posture of the physical robot at each pick-up and placement point to pick up and place parts from the json file, and build a virtual scene based on the simulation software; In the virtual scene, the position and posture of the virtual robot at each pick-up and placement point are set so that the position and posture of the virtual robot at each pick-up and placement point are consistent with the position and posture of the physical robot at each pick-up and placement point.

[0029] It is understandable that when configuring the position and posture of the virtual robot in the virtual scene, the position and posture of the physical robot at each pick-and-place point are extracted from the json file, and the position and posture of the virtual robot at each pick-and-place point are set according to the position and posture of the physical robot at each pick-and-place point.

[0030] Figure 3 A twin robot synchronous motion control system of the present invention is provided, comprising an acquisition module 301 and a control module 302, wherein: The acquisition module 301 is used to acquire each pick-up and placement point of the physical robot, and according to each pick-up and placement point of the parts, control the physical robot to reach each pick-up and placement point one by one, and acquire the position and posture of the physical robot when it reaches each pick-up and placement point; The control module 302 is used to control the position and posture of the virtual robot at each pick-up and placement point in the virtual scene according to the position and posture of the physical robot when it reaches each pick-up and placement point, so as to realize the synchronous movement of the physical robot and the virtual robot.

[0031] It can be understood that the twin robot synchronous motion control system provided by the present invention corresponds to the twin robot synchronous motion control method provided by the aforementioned embodiments. The relevant technical features of the twin robot synchronous motion control system can refer to the relevant technical features of the twin robot synchronous motion control method, which will not be repeated here.

[0032] See also Figure 4 , Figure 4Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 4 As shown, an embodiment of the present invention provides an electronic device 400, including a memory 410, a processor 420, and a computer program 411 stored in the memory 410 and executable on the processor 420. When the processor 420 executes the computer program 411, the following steps are implemented: obtaining each pick-up and placement point of the physical robot, controlling the physical robot to reach each pick-up and placement point one by one according to each pick-up and placement point of the parts, and obtaining the position and posture of the physical robot when it reaches each pick-up and placement point; assigning corresponding positions and postures to the virtual robot when it picks and places parts at each pick-up and placement point in the virtual scene, so as to realize the synchronous movement of the physical robot and the virtual robot.

[0033] See also Figure 5 , Figure 5 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 5 As shown, this embodiment provides a computer-readable storage medium 500 on which a computer program 511 is stored. When the computer program 511 is executed by a processor, the following steps are implemented: obtaining each pick-up and placement point of the physical robot, controlling the physical robot to reach each pick-up and placement point one by one according to each pick-up and placement point of the parts, and obtaining the position and posture of the physical robot when it reaches each pick-up and placement point; in a virtual scene, assigning corresponding positions and postures to the virtual robot when it picks and places parts at each pick-up and placement point, so as to realize the synchronous movement of the physical robot and the virtual robot.

[0034] The embodiment of the present invention provides a twin robot synchronous motion control method and control system, which obtains the various pick-up and placement points of the physical robot, controls the physical robot to reach each pick-up and placement point one by one according to the various pick-up and placement points of the parts, and obtains the position and posture of the physical robot when it reaches each pick-up and placement point; in the virtual scene, the virtual robot is given a corresponding position and posture when picking and placing parts at each pick-up and placement point, so as to realize the synchronous motion of the physical robot and the virtual robot. The present invention can automatically record the virtual handling points of the virtual robot, which saves the cost of recording points compared to the existing manual recording method, and ensures the accuracy and efficiency of point recording.

[0035] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0036] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0037] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0038] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0039] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0040] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0041] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A twin robot synchronous motion control method, characterized in that: include: Obtain the various pick-up and placement points of the physical robot, control the physical robot to reach each pick-up and placement point one by one according to the various pick-up and placement points of the parts, and obtain the position and posture of the physical robot when it reaches each pick-up and placement point; In the virtual scene, the virtual robot is given corresponding positions and postures when picking and placing parts at each pick-up and placement point, so as to realize the synchronous movement of the physical robot and the virtual robot.

2. The twin robot synchronous motion control method according to claim 1, characterized in that: The method of obtaining each pick-up and placement point of the physical robot, controlling the physical robot to reach each pick-up and placement point one by one according to each pick-up and placement point of the parts, and obtaining the position and posture of the physical robot when it reaches each pick-up and placement point includes: Configure the physical robot's parts pick-up and placement points based on the control software; Control the physical robot to run to each pick-up and placement point of the parts one by one, and obtain the position and posture of the physical robot at the pick-up and placement point when it reaches one of the pick-up and placement points; Traverse all the pick-and-place points of the parts, and record the position and posture of the physical robot at each pick-and-place point.

3. The twin robot synchronous motion control method according to claim 2, characterized in that: Also includes: In the process of controlling the physical robot to run to each pick-up and placement point of the parts one by one, the motion state of the physical robot is marked based on the mark bit of the PLC data block, and the motion state of the physical robot includes a running state, a pause state and an end state; Initialize the movement state of the mark bit of the PLC data block to the running state. When the physical robot moves to a pick-up and place point, the mark bit of the PLC data block is changed to the pause state. Record the position and posture of the pick-up and placement of the parts when the physical robot arrives at the pick-up and placement point. After recording, modify the mark bit of the PLC data block to the running state, and control the physical robot to move to the next pick-up and placement point, and record the position and posture of the pick-up and placement of the parts when the physical robot runs to each pick-up and placement point in turn; When the positions and postures of all pick-and-place points are recorded, the mark bit of the PLC data block is changed to end.

4. The method for controlling the synchronous motion of twin robots according to claim 3, characterized in that: The recorded positions and postures of the physical robot picking up and placing parts at each pick-up and placement point are stored in a json file.

5. The twin robot synchronous motion control method according to claim 4, characterized in that: The method of assigning corresponding positions and postures to the virtual robot for picking and placing parts at each pick-up and placement point in the virtual scene to achieve synchronous movement of the physical robot and the virtual robot includes: Extract the position and posture of the physical robot at each pick-up and placement point to pick up and place parts from the json file, and build a virtual scene based on the simulation software; In the virtual scene, the position and posture of the virtual robot at each pick-up and placement point are set so that the position and posture of the virtual robot at each pick-up and placement point are consistent with the position and posture of the physical robot at each pick-up and placement point.

6. The method for controlling the synchronous motion of twin robots according to claim 1, characterized in that: The obtaining of the position and posture of the physical robot when it reaches each pick-up and placement point includes: The infrared sensor installed on the physical robot senses the position and posture of the physical robot when it picks and places parts at each pick-and-place point for detection.

7. A twin robot synchronous motion control system, characterized in that: include: The acquisition module is used to acquire the various pick-up and placement points of the physical robot, and according to the various pick-up and placement points of the parts, control the physical robot to reach each pick-up and placement point one by one, and acquire the position and posture of the physical robot when it reaches each pick-up and placement point; The control module is used to control the position and posture of the virtual robot at each pick-up and placement point in the virtual scene according to the position and posture of the physical robot when it reaches each pick-up and placement point, so as to realize the synchronous movement of the physical robot and the virtual robot.

8. An electronic device, characterized in that: It includes a memory and a processor, and the processor is used to implement the steps of the twin robot synchronous motion control method when executing a computer management program stored in the memory.

9. A computer-readable storage medium, characterized in that: A computer management program is stored, and when the computer management program is executed by a processor, the steps of the twin robot synchronous motion control method are implemented.

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