Robot early warning response system based on virtual-real interaction scene reconstruction
By building a digital twin model for virtual and real interactive scenario reconstruction, the motion simulation and early warning response of redundant degree of freedom robots are solved, and the problems of new redundant degree of freedom robot devices in motion analysis and programming are improved, and development efficiency and system security are improved.
Patent Information
- Application Number
- CN202411477920.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-22
- Publication Date
- 2025-04-15
AI Technical Summary
The difficulty in realizing functions such as motion analysis, motion programming and self-interference inspection of the new redundant degree of freedom robot equipment has led to the problem of difficulty in development verification and long put into use cycles.
By constructing a digital twin model of virtual and real interactive scenario reconstruction corresponding to the physical industrial robot system, the robot motion control subsystem and the robot scene reconstruction subsystem realize robot motion simulation and early warning response, which is suitable for the simulation, motion state monitoring and early warning response of the real movement of redundant degree of freedom robots.
The simulation and monitoring of the movement of redundant degree of freedom robots is realized, the programming iteration link is reduced, the development efficiency is improved, the visualization and security of the robot system are enhanced, and the problems of difficulty in development verification and long use cycles are solved.
Smart Images
Figure CN119820626A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a robot early warning response system based on virtual-reality interactive scene reconstruction, belonging to the technical field of mechanical manufacturing. Background Art
[0002] Robotic manufacturing systems can greatly improve work efficiency and reduce labor costs, and are widely used in the industrial field. The vast majority of industrial robots are six-degree-of-freedom serial robots, which have the characteristics of high precision, large load, and large workspace, and are easy to build models to analyze kinematic characteristics. Serial industrial robots are still weaker than parallel robots in terms of stiffness and precision. The five-degree-of-freedom parallel robot developed by Tsinghua University has higher stiffness and precision, but the workspace is relatively small and it is difficult to meet the needs of large-scale processing and manufacturing.
[0003] Combining the large load and large workspace of the serial industrial robot with the high rigidity and high precision of the parallel robot, a new type of robot equipment is formed that can move in a large global range and perform local high-precision processing. Compared with the integrated hybrid robot, the combined new robot equipment is assembled from two mature devices and has stronger interchangeability and lower price. However, the new redundant degree of freedom system is difficult to perform motion analysis, motion programming and self-interference inspection, and thus it is difficult to realize functions such as verification of system programs and motion status monitoring. Summary of the invention
[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide a robot early warning response system based on virtual-reality interaction scene reconstruction, and an early warning response method for virtual-reality interaction of redundant-degree-of-freedom robots with robot scene reconstruction in a simulation environment as the core. By constructing a digital twin model of virtual-reality interaction scene reconstruction corresponding to a physical industrial robot system, robot motion simulation and early warning response are realized according to an offline planned processing program. This is suitable for simulation of real motion, motion state monitoring and early warning response of customized redundant-degree-of-freedom robots, and can be extended to scene reconstruction, motion simulation and early warning response of other new robot systems, CNC machine tools and other equipment, to solve the problems of difficult development and verification of new redundant-degree-of-freedom equipment and long commissioning cycle.
[0005] The technical solution of the present invention is: a robot early warning response system based on virtual-reality interactive scene reconstruction, comprising:
[0006] The industrial robot subsystem is used to receive the motion interpolation points sent by the robot motion control subsystem, complete the processing motion of the industrial robot, and provide real-time feedback of the positions of each joint of the robot in the physical space to the robot motion control subsystem;
[0007] The robot motion control subsystem is used to receive the joint positions of the robot in the physical space and the robot tool path trajectory file planned offline. The tool path trajectory file generates robot motion instructions through the trajectory post-processing algorithm, and then generates motion interpolation points through the trajectory interpolation algorithm. It controls the industrial robot subsystem to complete the physical space movement or sends it to the robot scene reconstruction subsystem to complete the virtual space simulation movement;
[0008] The robot scene reconstruction subsystem includes the virtual space model corresponding to each part of the industrial robot subsystem, which is used to receive the motion interpolation points sent by the robot motion control subsystem, perform robot motion calculation and solution, and send the robot motion solution results to the simulation visualization subsystem;
[0009] The simulation visualization subsystem is used to receive the robot motion solution results of the robot scene reconstruction subsystem, and visualize the robot's motion simulation results in real time based on the robot motion solution results, and visualize the robot's joint position, end position and interference data in real time.
[0010] Furthermore, the industrial robot subsystem includes a six-degree-of-freedom serial robot arm and a five-degree-of-freedom parallel mechanism, the five-degree-of-freedom parallel mechanism is installed at the end of the six-degree-of-freedom serial robot arm, and both receive the motion interpolation points sent by the robot motion control subsystem to complete their respective planned motions.
[0011] Furthermore, the robot motion control subsystem sends motion interpolation points to the industrial robot subsystem separately to complete the physical space processing task.
[0012] Furthermore, the robot motion control subsystem converts the five-axis machining program of the tool path trajectory file into six-degree-of-freedom robot motion instructions, supplements the missing degrees of freedom, and meets the robot's motion control requirements.
[0013] Furthermore, the robot motion control subsystem sends instructions to the robot scene reconstruction subsystem separately to control the robot motion simulation calculation, processing state prediction, and interference detection.
[0014] Furthermore, the interference detection includes interference detection of a six-degree-of-freedom robotic arm and a five-degree-of-freedom parallel mechanism, and interference detection of an industrial robot system and tooling, and a workpiece.
[0015] Furthermore, the robot motion control subsystem sends motion interpolation points to the industrial robot subsystem and the robot scene reconstruction subsystem at the same time, and completes the remote real-time monitoring function of the processing motion state of the industrial robot system through the simulation visualization subsystem.
[0016] Furthermore, when the industrial robot subsystem is in a processing motion state, the robot scene reconstruction subsystem detects robot self-interference or robot interference with the workpiece and sends a detection signal to the robot motion control subsystem. The robot motion control subsystem interrupts the motion of the industrial robot subsystem according to the detection signal to realize the robot early warning response function.
[0017] Furthermore, the simulation visualization subsystem displays the calculation results of the robot scene reconstruction subsystem in frames; in each frame, the real-time positions of the serial robot arm and the parallel mechanism and the interference detection results are updated.
[0018] Furthermore, the robot motion control subsystem controls and adjusts the motion rate of the virtual robot in the robot scene reconstruction subsystem, and the motion rate range is 0 to 18000 mm / min.
[0019] The advantages of the present invention compared with the prior art are:
[0020] (1) The present invention meets the requirements of continuous advancement of high-end equipment research and development and continuous improvement of development efficiency. Through the virtual-real interactive scene reconstruction function, the digital twin scene reconstruction of the physical industrial robot system can be realized. The motion of the physical industrial robot system is simulated through motion simulation to accelerate the iteration speed of the motion trajectory. Through real-time monitoring and early warning response functions, the robot motion interference inspection and safety monitoring are realized, which enhances the visualization and safety of robot system development and operation, and has unique advantages especially for new redundant degree of freedom equipment.
[0021] (2) Compared with the common digital twin method, the method of the present invention is more adaptable in the simulation of redundant degree of freedom system, and is not limited to the redundant degree of freedom motion planning problem of the equipment. The method can be flexibly adjusted relative to the equipment to meet the motion simulation and monitoring and early warning of different working conditions of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:
[0023] Figure 1 A control principle diagram of the virtual-real mixed scene reconstruction system according to the present invention is shown;
[0024] Figure 2 A schematic diagram showing a trajectory post-processing algorithm of a motion control subsystem according to the present invention;
[0025] Figure 3A flow chart showing the scene reconstruction motion simulation according to the present invention;
[0026] Figure 4 It represents the scene reconstruction early warning response and real-time monitoring flow chart of the present invention. DETAILED DESCRIPTION
[0027] In order to better understand the above technical scheme, the technical scheme of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical scheme of the present invention, rather than limitations on the technical scheme of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.
[0028] The following is a further detailed description of a robot early warning response system based on virtual-real interaction scene reconstruction provided by an embodiment of the present invention in conjunction with the accompanying drawings. Figure 1 , the specific implementation methods may include:
[0029] In the solution provided by the embodiment of the present invention, for the physical industrial robot subsystem, its corresponding robot scene reconstruction subsystem is built in the simulation environment and the robot's kinematic module is integrated, and the corresponding models are respectively constructed in the robot scene reconstruction subsystem according to the characteristics of the actual scene. The virtual-real mapping and interaction between the physical robot and the model are realized through the robot motion control subsystem, and the robot scene reconstruction subsystem can efficiently simulate the motion of the industrial robot subsystem, reduce the iterative links of programming, and further realize the early warning and response method for the motion interference of the industrial robot subsystem.
[0030] The principle of virtual-reality interaction in scene reconstruction is as follows: the interpolation points of the industrial robot subsystem and the robot scene reconstruction subsystem are transmitted through the robot motion control subsystem, and the robot motion interpolation points generated by the robot motion control subsystem through the offline planned trajectory code guide the virtual robot movement in the robot scene reconstruction subsystem to realize the motion simulation of the physical industrial robot subsystem; the robot motion control subsystem simultaneously controls the movement of the virtual robot and the physical industrial robot subsystem of the robot scene reconstruction subsystem, realizes early warning of dangerous situations, interrupts the movement of the robot in time, and then realizes the scene reconstruction of virtual-reality interaction.
[0031] The robot virtual-reality interaction scene reconstruction and early warning response system consists of: 1) industrial robot subsystem; 2) robot motion control subsystem; 3) robot scene reconstruction subsystem; 4) robot simulation visualization subsystem.
[0032] The industrial robot subsystem consists of a six-degree-of-freedom serial robotic arm and a five-degree-of-freedom parallel mechanism, with up to five redundant degrees of freedom. The two parts need to write motion instructions separately to realize servo motion through the robot motion control subsystem. The robot motion control subsystem establishes a communication connection with the simulation environment of the robot scene reconstruction subsystem to transmit key data information such as the robot's motion state, motion position and motion speed, ensuring the real-time and correctness of data communication.
[0033] Robot motion control subsystem The robot motion control subsystem contains a data interface that can realize information exchange with the industrial robot subsystem or the robot scene reconstruction subsystem. The robot motion control subsystem controls and regulates the movement of the physical industrial robot subsystem, and responds to the collision information and warning response information simulated by the robot scene reconstruction subsystem to interrupt the movement of the industrial robot subsystem in time. The robot motion control subsystem integrates a trajectory post-processing algorithm to convert the five-axis tool path trajectory file into the motion command of the six-degree-of-freedom robot. The tool path trajectory file contains the processing point position and the tool axis vector direction n, and specifies the unit vector t according to the workpiece system. 0 , by cross-multiplying t by n 0 Get 1 , and then through t 0 Cross product t 1 Get 2 , we get three orthogonal vectors n, t 1 ,t 2 The robot tool end point rotation matrix R is [n,t 1 ,t 2 ], the tool end point positions A, B, and C can be solved, and combined with the processing point position information of the tool path trajectory, the motion instructions of the six-degree-of-freedom robot can be obtained. Figure 2 A schematic diagram of a trajectory post-processing algorithm according to an embodiment of the present invention is shown.
[0034] Robot scene reconstruction subsystem
[0035] The robot scene reconstruction subsystem mainly includes the establishment of models for the serial robot body, parallel mechanism body, mechanism kinematics, workpieces to be processed, tooling and other necessary components of the scene, and sets different motion modes in the simulation environment to achieve coordinated control of redundant degrees of freedom, control the motion of the serial robot arm and parallel mechanism, and thus realize the kinematic simulation of the redundant degree of freedom robot system as a whole. Collision detection is set in the simulation environment, and by setting a certain safety threshold, when the motion will interfere, a reminder is given and the motion of the industrial robot subsystem is interrupted, thereby realizing the function of early warning response.
[0036] Robot simulation visualization subsystem
[0037] The robot simulation visualization subsystem obtains and visualizes the robot model motion data of the robot scene reconstruction subsystem to characterize the status information of the industrial robot subsystem. The joint position, end position and motion status of the robot scene reconstruction subsystem serial robot arm body and parallel mechanism body are displayed in real time, and the robot joints or components that have motion interference are visualized, so that the operator can intuitively monitor the key information of the industrial robot subsystem motion. Figure 3 , Figure 4 The flowchart of the scene reconstruction and early warning response method for virtual-reality interaction described in the embodiment of the present invention is shown.
[0038] In the motion simulation of scene reconstruction, the robot motion control subsystem sends instructions to the virtual robot of the robot scene reconstruction subsystem to check the robot's movement process, scene interference in the motion process, and multi-degree-of-freedom motion self-interference. When interference occurs, the trajectory is replanned and iterated repeatedly until no interference occurs.
[0039] In the early warning response of scene reconstruction, the robot motion control subsystem sends the motion interpolation points to the virtual robots of the industrial robot subsystem and the robot scene reconstruction subsystem at the same time, controls the synchronous movement of the virtual and real robots, observes the movement of the virtual robot through the robot simulation visualization system, and monitors the operating status parameters of the physical industrial robot in real time;
[0040] In the early warning response of scene reconstruction, by setting the interference detection safety threshold in the virtual robot of the robot scene reconstruction subsystem, when the self-interference distance between the virtual robot and the reconstructed scene elements or the robot model is less than the threshold, the interference signal is sent to the robot motion control subsystem, and the robot motion control subsystem sends a signal to interrupt the physical robot motion, thereby realizing the safety early warning and stop function.
[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.
[0042] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.
Claims
1. A robot early warning response system based on virtual-reality interactive scene reconstruction, characterized in that: include: The industrial robot subsystem is used to receive the motion interpolation points sent by the robot motion control subsystem, complete the processing motion of the industrial robot, and provide real-time feedback of the positions of each joint of the robot in the physical space to the robot motion control subsystem; The robot motion control subsystem is used to receive the joint positions of the robot in the physical space and the robot tool path trajectory file planned offline. The tool path trajectory file generates robot motion instructions through the trajectory post-processing algorithm, and then generates motion interpolation points through the trajectory interpolation algorithm. It controls the industrial robot subsystem to complete the physical space movement or sends it to the robot scene reconstruction subsystem to complete the virtual space simulation movement; The robot scene reconstruction subsystem includes the virtual space model corresponding to each part of the industrial robot subsystem, which is used to receive the motion interpolation points sent by the robot motion control subsystem, perform robot motion calculation and solution, and send the robot motion solution results to the simulation visualization subsystem; The simulation visualization subsystem is used to receive the robot motion solution results of the robot scene reconstruction subsystem, and visualize the robot's motion simulation results in real time based on the robot motion solution results, and visualize the robot's joint position, end position and interference data in real time.
2. According to claim 1, a robot early warning response system based on virtual-reality interactive scene reconstruction is characterized in that: The industrial robot subsystem includes a six-degree-of-freedom serial robot arm and a five-degree-of-freedom parallel mechanism. The five-degree-of-freedom parallel mechanism is installed at the end of the six-degree-of-freedom serial robot arm. Both receive the motion interpolation points sent by the robot motion control subsystem to complete their own planned motions.
3. The robot early warning response system based on virtual-reality interactive scene reconstruction according to claim 1 is characterized in that: The robot motion control subsystem sends motion interpolation points to the industrial robot subsystem separately to complete the physical space processing task.
4. The robot early warning response system based on virtual-reality interactive scene reconstruction according to claim 1 is characterized in that: The robot motion control subsystem converts the five-axis machining program of the tool path trajectory file into six-degree-of-freedom robot motion instructions, supplements the missing degrees of freedom, and meets the robot's motion control requirements.
5. The robot early warning response system based on virtual-reality interactive scene reconstruction according to claim 2 is characterized in that: The robot motion control subsystem sends instructions to the robot scene reconstruction subsystem separately to control the robot motion simulation calculation, processing state prediction, and interference detection.
6. The robot early warning response system based on virtual-reality interactive scene reconstruction according to claim 5 is characterized in that: The interference detection includes interference detection of a six-degree-of-freedom mechanical arm and a five-degree-of-freedom parallel mechanism, and interference detection of an industrial robot system and tooling, and a workpiece.
7. The robot early warning response system based on virtual-reality interactive scene reconstruction according to claim 1 is characterized by: The robot motion control subsystem sends motion interpolation points to the industrial robot subsystem and the robot scene reconstruction subsystem at the same time, and completes the remote real-time monitoring function of the processing motion state of the industrial robot system through the simulation visualization subsystem.
8. The robot early warning response system based on virtual-reality interactive scene reconstruction according to claim 7 is characterized in that: When the industrial robot subsystem is in a processing motion state, the robot scene reconstruction subsystem detects robot self-interference or robot interference with the workpiece and sends a detection signal to the robot motion control subsystem. The robot motion control subsystem interrupts the motion of the industrial robot subsystem according to the detection signal to realize the robot early warning response function.
9. The robot early warning response system based on virtual-reality interactive scene reconstruction according to claim 8, characterized in that: The simulation visualization subsystem displays the calculation results of the robot scene reconstruction subsystem in frames; in each frame, the real-time positions of the serial robot arm and the parallel mechanism and the interference detection results are updated.
10. The robot early warning response system based on virtual-reality interactive scene reconstruction according to claim 1, characterized in that: The robot motion control subsystem controls and adjusts the motion rate of the virtual robot in the robot scene reconstruction subsystem, and the motion rate range is 0 to 18000 mm / min.