Intelligent monitoring and early warning method for feeding and discharging safety distance for fine shearing of automobile sheet

Abstract

The invention relates to the field of automobile sheet fine shearing manipulator operation, and discloses an automobile sheet fine shearing-oriented feeding and discharging safety distance intelligent monitoring and early warning method, which comprises the following steps of: acquiring motion parameters of a mechanical arm through a high-precision space coordinate system, and performing collision risk prediction modeling based on the motion parameters of the mechanical arm. And in combination with the constructed model, when the predicted distance approaches a threshold value, a grading early warning mechanism is triggered, and the running speed and the path offset of the manipulator in the plate fine shearing process are dynamically adjusted. According to the invention, collaborative optimization of safety protection and production efficiency in the loading and unloading process of fine shearing of the automobile sheet is realized, and reliable safety guarantee is provided for an intelligent fine shearing production line of the automobile sheet.

Description

Technical Field

[0001] The invention relates to the field of automobile plate precision shearing robot operation, in particular to an intelligent monitoring and early warning method for loading and unloading safety distances during automobile plate precision shearing. Background Art

[0002] Precision cutting of automotive sheet metal is a key link in car body manufacturing, and high-precision cutting is required to ensure the quality of subsequent assembly. During the high-speed loading and unloading process of the robotic arm, the working space is dense, and multiple robotic arms are prone to collisions. The traditional fixed safety distance cannot adapt to dynamic speed changes and sudden obstacles (such as sheet displacement and equipment vibration). Intelligent monitoring can perceive the environment in real time and dynamically adjust the robotic arm to achieve safe collaborative work. At the same time, an overly conservative safety distance will reduce the operating speed of the robotic arm, and an overly aggressive strategy may cause a collision. The intelligent system achieves the optimal balance between safety and efficiency through data-driven optimization.

[0003] This paper proposes an intelligent monitoring and early warning method for the safe distance between loading and unloading materials for the fine shearing of automobile plates. The benefits are that it can improve safety, reduce collision accidents and protect personnel safety; secondly, it can improve production efficiency, reduce operating costs, and extend equipment life. Implementing intelligent monitoring and early warning of the safe distance between loading and unloading materials in the fine shearing of automobile plates is not only an inevitable choice for technological upgrading, but also a strategic measure for enterprises to achieve triple optimization of safety, efficiency and cost. Its core value lies in transforming traditional "passive protection" into "active prevention" through data-driven dynamic decision-making, setting an example for the coordinated development of safety and efficiency for intelligent manufacturing. On the contrary, ignoring this technology will lead enterprises into a vicious cycle of frequent safety accidents, low efficiency and declining competitiveness. Summary of the invention

[0004] The present invention overcomes the shortcomings of the prior art and provides an intelligent monitoring and early warning method for the safe distance between loading and unloading materials during fine shearing of automobile plates.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: The first aspect of the present invention provides an intelligent monitoring and early warning method for the safe distance between loading and unloading materials for automobile plate fine shearing, comprising the following steps: Build a high-precision spatial coordinate system, collect the motion parameters of the robot arm used for plate precision shearing in the high-precision spatial coordinate system, and locate the plate position at the same time; In a high-precision spatial coordinate system, the Monte Carlo modeling and simulation algorithm is combined to perform robot arm collision risk prediction modeling and evaluation, and a Monte Carlo collision risk prediction model is obtained; According to the Monte Carlo collision risk prediction model, a graded warning mechanism is set up, and based on the graded warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted.

[0006] Furthermore, in a preferred embodiment of the present invention, the high-precision spatial coordinate system is constructed, and the motion parameters of the robot arm used for plate fine shearing are collected in the high-precision spatial coordinate system, and the position of the plate is located at the same time, specifically: The robot arm used for fine shearing of automobile plates is calibrated as the target robot arm, the automobile plate is calibrated as the target automobile plate, and the area where the target robot arm operates is calibrated as the target operation area; A laser radar is installed in the target operation area, and based on the laser radar, a target robotic arm and a target automobile plate are subjected to real-time laser scanning, and a three-dimensional spatial coordinate system is preset, and the scanning data obtained by the laser scanning is imported into the three-dimensional spatial coordinate system, and a three-dimensional laser scanning model of the target robotic arm and the target automobile plate is constructed, and calibrated as a robotic arm model and an automobile plate model; In the three-dimensional space coordinate system, a checkerboard calibration plate and a calibration algorithm are introduced to align the model coordinates of the robot arm model and the car plate model. At the same time, Kalman filtering is performed on the robot arm model and the car plate model in the three-dimensional space coordinate system to obtain a high-precision space coordinate system. Controlling the test run of the target robotic arm, and installing a joint encoder on the target robotic arm during the test run of the target robotic arm to collect the robotic arm motion parameters, wherein the robotic arm motion parameters include the joint angle and motion speed of the target robotic arm; The robot arm motion parameters are imported into the robot arm model of the high-precision spatial coordinate system to construct a high-precision robot arm model, and the high-precision robot arm model coordinates and the automobile plate model coordinates are located in the high-precision spatial coordinate system.

[0007] Furthermore, in a preferred embodiment of the present invention, in a high-precision spatial coordinate system, the robot arm collision risk prediction modeling and evaluation is performed in combination with a Monte Carlo modeling and simulation algorithm to obtain a Monte Carlo collision risk prediction model, specifically: Preset the robot arm motion trajectory prediction time period, introduce a cubic polynomial model in the high-precision spatial coordinate system, import the robot arm motion parameters into the cubic polynomial model, and predict the motion trajectory of the high-precision robot arm model after the robot arm motion trajectory prediction time period based on the polynomial interpolation method; Combined with the motion trajectory of the high-precision robot arm model after the robot arm motion trajectory prediction time period, the spatiotemporal envelope of the high-precision robot arm model is expanded, and the spatiotemporal envelope of the high-precision robot arm model is divided into different OBBs; Determine whether different OBBs intersect. If there is an OBB intersection, divide the OBB intersection area into geometric intersection areas; Wherein, the OBB is a hierarchical bounding box, which is used as a geometric model of the high-precision manipulator model after the spatiotemporal envelope expansion; In the geometric intersection area of ​​the high-precision spatial coordinate system, the dynamic distance between different high-precision robotic arm models is calculated in real time, and the robotic arm motion parameters of the high-precision robotic arm model are combined for Monte Carlo modeling simulation to build a Monte Carlo collision risk prediction model; The Monte Carlo collision risk prediction model estimates the intersection probability between high-precision robotic arm models at different dynamic distances within the geometric intersection area.

[0008] Furthermore, in a preferred embodiment of the present invention, a hierarchical warning mechanism is set according to the Monte Carlo collision risk prediction model, and based on the hierarchical warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted, specifically: Based on the Monte Carlo collision risk prediction model, the intersection probability between high-precision robotic arm models at different dynamic distances in the geometric intersection area is calculated, that is, the collision probability between target robotic arms in the target operation area during the fine shearing of target automotive plates at different dynamic distances is calculated; Preset a dangerous collision probability, and based on the dangerous collision probability, reversely calculate the dangerous dynamic distance and safety distance of the target robotic arm; Based on the dangerous dynamic distance and safe distance of the target manipulator, a hierarchical warning mechanism is set in the high-precision spatial coordinate system, wherein the hierarchical warning mechanism includes a dangerous warning state, a state to be analyzed, and a safe state; Based on the hierarchical early warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted.

[0009] Furthermore, in a preferred embodiment of the present invention, the operating speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted based on the hierarchical warning mechanism, specifically: Introduce PLC control algorithm in the high-precision spatial coordinate system, and connect the target robotic arm by combining the high-precision robotic arm model coordinates and the automobile plate model coordinates, so that the target robotic arm can be controlled by the high-precision coordinate system. When the hierarchical warning mechanism outputs a safe state, that is, the dynamic distance between the target robotic arms is greater than the safe distance, the target robotic arms are controlled to continue to perform plate fine shearing on the target automobile sheet in the target operation area; When the status to be analyzed is output in the graded warning mechanism, the target robot arm plate fine shearing processing speed limit is preset in the high-precision coordinate space system, and the maximum speed of all target robot arms for plate fine shearing processing is limited to the target robot arm plate fine shearing processing speed limit through the PLC control algorithm; The APF algorithm is introduced into the high-precision spatial coordinate system, and the gravitational field and repulsive field of the high-precision robotic arm model and the automobile sheet model are constructed by combining the high-precision robotic arm model coordinates and the automobile sheet model coordinates; According to the safety distance of the target robot arm, the gravity function and repulsion function of the high-precision robot arm model and the automobile plate model are updated, and the dynamic distance of the target robot arm during the plate fine shearing process is controlled not to be greater than the safety distance; When a dangerous warning state is output within the hierarchical warning mechanism, the target robot arm will be subjected to local path replanning.

[0010] Furthermore, in a preferred embodiment of the present invention, when the hierarchical warning mechanism outputs a dangerous warning state, a local path replanning process is performed on the target robot arm, specifically: In the high-precision spatial coordinate system, when the hierarchical warning mechanism outputs a dangerous warning state, it is determined in the high-precision spatial coordinate system that local path replanning is required; In the high-precision spatial coordinate system, based on the participation of the high-precision robotic arm model in the plate fine shearing process, the high-precision robotic arm model is classified to obtain the main high-precision robotic arm model and the secondary high-precision robotic arm model; Based on the APF algorithm, the repulsive force direction and the attractive force direction between the main high-precision robotic arm model and the secondary high-precision robotic arm model are calculated, and based on the repulsive force direction and the attractive force direction, a temporary operation path is constructed to ensure that the dynamic distance between the main high-precision robotic arm model and the secondary high-precision robotic arm model is not greater than the safety distance, and it is calibrated as a type of temporary operation path; Calculate the deviation between the temporary running paths of the main high-precision robot arm model and the secondary high-precision robot arm model and the original running paths, which is defined as a type of deviation. If the type of deviation is not greater than a preset value, perform a local path update on the target robot arm based on the type of temporary path. If a type of deviation is greater than a preset value, all target robotic arms are directly stopped to perform fine shearing of the target automobile sheet.

[0011] The second aspect of the present invention further provides an intelligent monitoring and early warning system for the safe distance between loading and unloading materials for fine shearing of automobile plates, wherein the monitoring and early warning system comprises a memory and a processor, wherein a monitoring and early warning method is stored in the memory, and when the monitoring and early warning method is executed by the processor, the following steps are implemented: Build a high-precision spatial coordinate system, collect the motion parameters of the robot arm used for plate precision shearing in the high-precision spatial coordinate system, and locate the plate position at the same time; In a high-precision spatial coordinate system, the Monte Carlo modeling and simulation algorithm is combined to perform robot arm collision risk prediction modeling and evaluation, and a Monte Carlo collision risk prediction model is obtained; According to the Monte Carlo collision risk prediction model, a graded warning mechanism is set up, and based on the graded warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted.

[0012] The present invention solves the technical defects existing in the background technology, and the present invention has the following beneficial effects: through a high-precision spatial coordinate system, the robot arm motion parameters are collected, and collision risk prediction modeling is performed based on the robot arm motion parameters. Combined with the constructed model, when the predicted spacing approaches the threshold, the graded warning mechanism is triggered, and the operating speed and path offset of the robot during the plate fine shearing process are dynamically adjusted. The present invention realizes the coordinated optimization of safety protection and production efficiency during the loading and unloading process of automobile plate fine shearing, and provides reliable safety protection for the intelligent fine shearing production line of automobile plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.

[0014] Figure 1 A flow chart showing an intelligent monitoring and early warning method for the safe distance between loading and unloading materials for fine shearing of automobile plates is shown; Figure 2 A flow chart of a method for dynamically adjusting the running speed and path offset of a target robot arm during plate fine shearing is shown; Figure 3 The program view of the intelligent monitoring and early warning system for the safe distance between loading and unloading materials for fine shearing of automobile plates is shown. DETAILED DESCRIPTION

[0015] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0016] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0017] Figure 1 The flowchart of the intelligent monitoring and early warning method of the safe distance between loading and unloading materials for automobile plate fine shearing is shown, including the following steps: S102: Building a high-precision spatial coordinate system, collecting the motion parameters of the robot arm used for plate precision shearing in the high-precision spatial coordinate system, and locating the plate position at the same time; S104: In a high-precision spatial coordinate system, a Monte Carlo modeling and simulation algorithm is used to perform a robot arm collision risk prediction modeling and evaluation to obtain a Monte Carlo collision risk prediction model; S106: According to the Monte Carlo collision risk prediction model, a graded warning mechanism is set, and based on the graded warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted.

[0018] Furthermore, in a preferred embodiment of the present invention, the high-precision spatial coordinate system is constructed, and the motion parameters of the robot arm used for plate fine shearing are collected in the high-precision spatial coordinate system, and the position of the plate is located at the same time, specifically: The robot arm used for fine shearing of automobile plates is calibrated as the target robot arm, the automobile plate is calibrated as the target automobile plate, and the area where the target robot arm operates is calibrated as the target operation area; A laser radar is installed in the target operation area, and based on the laser radar, a target robotic arm and a target automobile plate are subjected to real-time laser scanning, and a three-dimensional spatial coordinate system is preset, and the scanning data obtained by the laser scanning is imported into the three-dimensional spatial coordinate system, and a three-dimensional laser scanning model of the target robotic arm and the target automobile plate is constructed, and calibrated as a robotic arm model and an automobile plate model; In the three-dimensional space coordinate system, a checkerboard calibration plate and a calibration algorithm are introduced to align the model coordinates of the robot arm model and the car plate model. At the same time, Kalman filtering is performed on the robot arm model and the car plate model in the three-dimensional space coordinate system to obtain a high-precision space coordinate system. Controlling the test run of the target robotic arm, and installing a joint encoder on the target robotic arm during the test run of the target robotic arm to collect the robotic arm motion parameters, wherein the robotic arm motion parameters include the joint angle and motion speed of the target robotic arm; The robot arm motion parameters are imported into the robot arm model of the high-precision spatial coordinate system to construct a high-precision robot arm model, and the high-precision robot arm model coordinates and the automobile plate model coordinates are located in the high-precision spatial coordinate system.

[0019] It should be noted that when the robot arm is performing fine shearing of automobile plates, it is necessary to determine whether the robot arm will collide or overlap. The target operation area is first determined, and the robot arm and the plate in the target operation area are subjected to three-dimensional modeling by laser equipment. The purpose is to simulate the fine shearing process of the robot arm through three-dimensional simulation processing, and there will be no equipment damage caused by real analysis. The checkerboard calibration board and calibration algorithm are introduced to align the model coordinates of the robot arm model and the automobile plate model. The purpose is to ensure that the relative position of the robot arm model and the automobile plate model in the three-dimensional coordinate system is equal to the relative position in reality. At the same time, the purpose of Kalman filtering the model is to eliminate occlusion errors in the modeling process. Since the target robot arm itself has operating parameters, the trial run is used to collect the motion parameters of the robot arm and import them into the high-precision spatial coordinate system to realize the setting of the motion parameters of the robot arm model and ensure that the operating state of the robot arm model in the coordinate system is equal to the actual state.

[0020] Furthermore, in a preferred embodiment of the present invention, in a high-precision spatial coordinate system, the robot arm collision risk prediction modeling and evaluation is performed in combination with a Monte Carlo modeling and simulation algorithm to obtain a Monte Carlo collision risk prediction model, specifically: Preset the robot arm motion trajectory prediction time period, introduce a cubic polynomial model in the high-precision spatial coordinate system, import the robot arm motion parameters into the cubic polynomial model, and predict the motion trajectory of the high-precision robot arm model after the robot arm motion trajectory prediction time period based on the polynomial interpolation method; Combined with the motion trajectory of the high-precision robot arm model after the robot arm motion trajectory prediction time period, the spatiotemporal envelope of the high-precision robot arm model is expanded, and the spatiotemporal envelope of the high-precision robot arm model is divided into different OBBs; Determine whether different OBBs intersect. If there is an OBB intersection, divide the OBB intersection area into geometric intersection areas; Wherein, the OBB is a hierarchical bounding box, which is used as a geometric model of the high-precision manipulator model after the spatiotemporal envelope expansion; In the geometric intersection area of ​​the high-precision spatial coordinate system, the dynamic distance between different high-precision robotic arm models is calculated in real time, and the robotic arm motion parameters of the high-precision robotic arm model are combined for Monte Carlo modeling simulation to build a Monte Carlo collision risk prediction model; The Monte Carlo collision risk prediction model estimates the intersection probability between high-precision robotic arm models at different dynamic distances within the geometric intersection area.

[0021] It should be noted that the preset robot arm motion trajectory prediction time period is used to determine the motion state of the robot arm after a period of time and provide conditional data. First, it is necessary to predict the future trajectory of the robot arm. Based on the joint angles of the robot arm and the acceleration, etc., the polynomial interpolation method is used to predict the motion trajectory of the robot arm in the future, that is, the robot arm motion trajectory prediction time period. This can be achieved using a cubic polynomial model. The high-precision robot arm model is extended with a spatiotemporal envelope. The spatiotemporal envelope simplifies the robot arm into a geometric model, making it simpler and more efficient in the analysis process. The purpose of dividing the spatiotemporal envelope of the high-precision robot arm model into different OBBs is to calculate the overlap between the OBBs. If the overlap is determined, the robot arm has a geometric intersection. OBB is a hierarchical bounding box, which is used as a geometric model to enclose the high-precision robot arm model after the spatiotemporal envelope expansion. It is a geometric model used for collision detection and spatial calculation. Its core idea is to use a rectangular bounding box aligned with the actual direction of the object to tightly wrap the target object (such as a robot arm, workpiece, etc.), so as to quickly determine whether a collision may occur between objects. In the present application, the direction of the OBB is consistent with the direction of the robotic arm, and they run synchronously. By judging the overlap of the OBB, it is possible to judge whether the robotic arms intersect. To obtain the geometric intersection area, it is necessary to calculate the dynamic distance between different robotic arms, because robotic arms that are closer are prone to collision due to operation in the geometric intersection area. The geometric intersection area is an area where different robotic arms may intersect during movement. For example, in a space, the upper arms of the robotic arms may intersect and collide during movement. The area where collisions may occur on the upper arms of different robotic arms is the collective intersection area. Monte Carlo probabilistic collision assessment modeling is performed, that is, the posture of the robotic arm is randomly perturbed, and the space-time envelope is recalculated to judge the probability of geometric intersection of the robotic arms at different dynamic distances, that is, the probability of collision of the robotic arms at different dynamic distances is realized, which provides conditions for the subsequent construction of a graded early warning mechanism based on the dynamic distance.

[0022] The Monte Carlo method is a statistical simulation technique based on random sampling. It estimates the behavior of complex systems by generating a large number of random samples and calculating their statistical results. In robot arm collision prediction, this method can be used to simulate the uncertainty in robot arm motion, such as sensor errors, position deviations of robot arm joints, external interference, etc., so as to evaluate the probability of collision. Before Monte Carlo modeling and simulation, it is necessary to calculate the dynamic distance between different high-precision robot arm models in real time, and combine the robot arm motion parameters of the high-precision robot arm model to realize Monte Carlo sample generation, that is, to perform multiple collision probability simulations, probability distribution model construction and collision prediction. Modeling can be achieved by directly importing the dynamic distance between different high-precision robot arm models and the corresponding robot arm motion parameters into the software carrying the Monte Carlo algorithm.

[0023] Figure 2 A flow chart of a method for dynamically adjusting the running speed and path offset of a target robot arm during plate fine shearing is shown, comprising the following steps: S202: according to the Monte Carlo collision risk prediction model, a graded warning mechanism is set, and based on the graded warning mechanism, the running speed and path offset of the target robot arm in the plate fine shearing process are dynamically adjusted; S204: Based on the hierarchical warning mechanism, dynamically adjust the running speed and path offset of the target robot arm during the plate fine shearing process; S206: When a danger warning state is outputted in the graded warning mechanism, a local path replanning process is performed on the target robot arm.

[0024] Furthermore, in a preferred embodiment of the present invention, a hierarchical warning mechanism is set according to the Monte Carlo collision risk prediction model, and based on the hierarchical warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted, specifically: Based on the Monte Carlo collision risk prediction model, the intersection probability between high-precision robotic arm models at different dynamic distances in the geometric intersection area is calculated, that is, the collision probability between target robotic arms in the target operation area during the fine shearing of target automotive plates at different dynamic distances is calculated; Preset a dangerous collision probability, and based on the dangerous collision probability, reversely calculate the dangerous dynamic distance and safety distance of the target robotic arm; Based on the dangerous dynamic distance and safe distance of the target manipulator, a hierarchical warning mechanism is set in the high-precision spatial coordinate system, wherein the hierarchical warning mechanism includes a dangerous warning state, a state to be analyzed, and a safe state; Based on the hierarchical early warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted.

[0025] It should be noted that, firstly, based on the Monte Carlo collision risk prediction model, the intersection probability between high-precision robotic arm models at different dynamic distances is estimated, and a graded warning mechanism is set up to ensure that the robotic arm performs corresponding processing according to the graded warning mechanism to ensure the safety of the automotive plate precision shearing process. First, determine the probability of dangerous collision. Since the Monte Carlo collision risk prediction model calculates the collision probability based on the dynamic distance, the dangerous dynamic distance and the safe distance can be obtained by reverse deduction. If the dynamic distance is less than the dangerous dynamic distance, it proves that the target robotic arm is about to collide. If it is between the dangerous dynamic distance and the safe distance, it will not collide temporarily. If it is greater than the safe distance, it proves that there will be no collision.

[0026] Furthermore, in a preferred embodiment of the present invention, the operating speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted based on the hierarchical warning mechanism, specifically: Introduce PLC control algorithm in the high-precision spatial coordinate system, and connect the target robotic arm by combining the high-precision robotic arm model coordinates and the automobile plate model coordinates, so that the target robotic arm can be controlled by the high-precision coordinate system. When the hierarchical warning mechanism outputs a safe state, that is, the dynamic distance between the target robotic arms is greater than the safe distance, the target robotic arms are controlled to continue to perform plate fine shearing on the target automobile sheet in the target operation area; When the status to be analyzed is output in the graded warning mechanism, the target robot arm plate fine shearing processing speed limit is preset in the high-precision coordinate space system, and the maximum speed of all target robot arms for plate fine shearing processing is limited to the target robot arm plate fine shearing processing speed limit through the PLC control algorithm; The APF algorithm is introduced into the high-precision spatial coordinate system, and the gravitational field and repulsive field of the high-precision robotic arm model and the automobile sheet model are constructed by combining the high-precision robotic arm model coordinates and the automobile sheet model coordinates; According to the safety distance of the target robot arm, the gravity function and repulsion function of the high-precision robot arm model and the automobile plate model are updated, and the dynamic distance of the target robot arm during the plate fine shearing process is controlled not to be greater than the safety distance; When a dangerous warning state is output within the hierarchical warning mechanism, the target robot arm will be subjected to local path replanning.

[0027] It should be noted that the PLC algorithm realizes the adjustment of the movement speed and path offset of the robot arm. Through the PLC algorithm, the parameters adjusted in the high-precision coordinate space system are applied in the actual situation. Based on the graded warning mechanism, if the safe state is output, there will be no collision between the robot arms, and the robot arms will continue to be controlled to perform the fine shearing of the automobile plate according to the original parameters. If the state to be analyzed is output, it is necessary to adjust the parameters of the robot arm, that is, to control the movement speed and path offset of the robot arm. First, the speed of the robot arm is controlled by PLC, that is, the speed reduction processing is realized, such as reducing the maximum speed of the robot arm to 70% of the original speed, etc., to slow down the reduction of the dynamic distance between the robot arms, and then introduce the APF algorithm to realize the path offset adjustment. Among them, the path offset adjustment is to control the path of the robot arm to slightly offset to ensure that there is no collision between the robot arms. The adjustment needs to be slight and the offset must be small, otherwise the plate fine shearing will be inaccurate. The APF algorithm is a method to achieve path offset through artificial potential fields. The principle of path offset is to increase the repulsive field strength at high speed to avoid path deviation due to inertia; reduce the repulsive weight at low speed to shorten the path length and achieve path offset. The gravitational function update and repulsive function update are to increase the repulsive field strength and superimpose the path smoothness constraint by updating the function to ensure that the trajectory planning meets the preset state.

[0028] Furthermore, in a preferred embodiment of the present invention, when the hierarchical warning mechanism outputs a dangerous warning state, a local path replanning process is performed on the target robot arm, specifically: In the high-precision spatial coordinate system, when the hierarchical warning mechanism outputs a dangerous warning state, it is determined in the high-precision spatial coordinate system that local path replanning is required; In the high-precision spatial coordinate system, based on the participation of the high-precision robotic arm model in the plate fine shearing process, the high-precision robotic arm model is classified to obtain the main high-precision robotic arm model and the secondary high-precision robotic arm model; Based on the APF algorithm, the repulsive force direction and the attractive force direction between the main high-precision robotic arm model and the secondary high-precision robotic arm model are calculated, and based on the repulsive force direction and the attractive force direction, a temporary operation path is constructed to ensure that the dynamic distance between the main high-precision robotic arm model and the secondary high-precision robotic arm model is not greater than the safety distance, and it is calibrated as a type of temporary operation path; Calculate the deviation between the temporary running paths of the main high-precision robot arm model and the secondary high-precision robot arm model and the original running paths, which is defined as a type of deviation. If the type of deviation is not greater than a preset value, perform a local path update on the target robot arm based on the type of temporary path. If a type of deviation is greater than a preset value, all target robotic arms are directly stopped to perform fine shearing of the target automobile sheet.

[0029] It should be noted that when the danger warning state is output, it is determined in the high-precision spatial coordinate system that local path replanning is required, that is, the path offset is increased to ensure that the robot arm does not collide. First of all, the robot arm needs to be classified, because there are main working robots in the working process, that is, robots that realize most of the work, and robots that perform small carvings. According to the classification of the robot arm, the main high-precision robot arm model and the secondary high-precision robot arm model are obtained. Similarly, the robot arm is analyzed for gravity and repulsion. The direction of repulsion points from the obstacle to the robot arm, and the direction of the combined force guides the robot arm away from the dangerous area. The obstacle refers to another robot arm. According to the direction of repulsion and gravity, the local path is replanned to generate a temporary operation path. The temporary operation path is one of the sections on the main path. This section causes the robot arm to collide due to the return, so the temporary path replaces the original path, that is, the local path is updated. In the process of updating the local path, the deviation between the path and the original path needs to be considered. If the deviation is too large, it cannot be used, which will reduce the accuracy of plate fine shearing. If the deviation is too large, the plate fine shearing process will be stopped directly. Among them, local path replanning can be processed by B balcony curve interpolation. According to the direction of repulsion and attraction, the path is slightly adjusted, and the adjusted path points are smoothed. The control points are dynamically adjusted according to the effort line to ensure the path is smooth until the robot arm runs on the adjusted path without collision. The formula is: Among them, P(u) is a temporary path point, is a p-order B-spline basis function. By obtaining multiple temporary path points, a type of temporary path can be generated.

[0030] like Figure 3 As shown, the second aspect of the present invention further provides an intelligent monitoring and early warning system for the safe distance between loading and unloading materials for automobile plate fine shearing, wherein the monitoring and early warning system comprises a memory 31 and a processor 32, wherein the memory 31 stores a monitoring and early warning method, and when the monitoring and early warning method is executed by the processor 32, the following steps are implemented: Build a high-precision spatial coordinate system, collect the motion parameters of the robot arm used for plate precision shearing in the high-precision spatial coordinate system, and locate the plate position at the same time; In a high-precision spatial coordinate system, the Monte Carlo modeling and simulation algorithm is combined to perform robot arm collision risk prediction modeling and evaluation, and a Monte Carlo collision risk prediction model is obtained; According to the Monte Carlo collision risk prediction model, a graded warning mechanism is set up, and based on the graded warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted.

[0031] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. Intelligent monitoring and early warning method for safe distance between loading and unloading materials for automobile plate precision shearing, characterized in that: The following steps are involved: Build a high-precision spatial coordinate system, collect the motion parameters of the robot arm used for plate precision shearing in the high-precision spatial coordinate system, and locate the plate position at the same time; In a high-precision spatial coordinate system, the Monte Carlo modeling and simulation algorithm is combined to carry out the robot arm collision risk prediction modeling and evaluation, and the Monte Carlo collision risk prediction model is obtained, which is as follows: Preset the robot arm motion trajectory prediction time period, introduce the cubic polynomial model, import the robot arm motion parameters into the cubic polynomial model, and predict the motion trajectory of the high-precision robot arm model after the robot arm motion trajectory prediction time period based on the polynomial interpolation method; Combined with the motion trajectory of the high-precision robot arm model after the robot arm motion trajectory prediction time period, the spatiotemporal envelope of the high-precision robot arm model is expanded, and the spatiotemporal envelope of the high-precision robot arm model is divided into different OBBs; Determine whether different OBBs intersect. If so, divide the OBB intersection area into geometric intersection areas; In the geometric intersection area, the dynamic distance between different high-precision robotic arm models is calculated in real time, and Monte Carlo modeling simulation is performed in combination with the robotic arm motion parameters to build a Monte Carlo collision risk prediction model, which is used to estimate and calculate the corresponding intersection probability between high-precision robotic arm models at different dynamic distances in the geometric intersection area; According to the Monte Carlo collision risk prediction model, a graded warning mechanism is set up, and based on the graded warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted.

2. According to the intelligent monitoring and early warning method for safe distance between loading and unloading materials for automobile plate fine shearing as described in claim 1, it is characterized in that: The high-precision spatial coordinate system is constructed, and the motion parameters of the robot arm used for plate precision shearing are collected in the high-precision spatial coordinate system, and the position of the plate is located at the same time, specifically: The robot arm used for fine shearing of automobile plates is calibrated as the target robot arm, the automobile plate is calibrated as the target automobile plate, and the area where the target robot arm operates is calibrated as the target operation area; A laser radar is installed in the target operation area, and based on the laser radar, a target robotic arm and a target automobile plate are subjected to real-time laser scanning, and a three-dimensional spatial coordinate system is preset, and the scanning data obtained by the laser scanning is imported into the three-dimensional spatial coordinate system, and a three-dimensional laser scanning model of the target robotic arm and the target automobile plate is constructed, and calibrated as a robotic arm model and an automobile plate model; In the three-dimensional space coordinate system, a checkerboard calibration plate and a calibration algorithm are introduced to align the model coordinates of the robot arm model and the car plate model. At the same time, Kalman filtering is performed on the robot arm model and the car plate model in the three-dimensional space coordinate system to obtain a high-precision space coordinate system. Controlling the test run of the target robotic arm, and installing a joint encoder on the target robotic arm during the test run of the target robotic arm to collect the robotic arm motion parameters, wherein the robotic arm motion parameters include the joint angle and motion speed of the target robotic arm; The robot arm motion parameters are imported into the robot arm model of the high-precision spatial coordinate system to construct a high-precision robot arm model, and the high-precision robot arm model coordinates and the automobile plate model coordinates are located in the high-precision spatial coordinate system.

3. According to the intelligent monitoring and early warning method for safe distance between loading and unloading materials for automobile plate fine shearing as described in claim 1, it is characterized in that: According to the Monte Carlo collision risk prediction model, a hierarchical warning mechanism is set, and based on the hierarchical warning mechanism, the running speed and path offset of the target robot arm in the plate fine shearing process are dynamically adjusted, specifically: Based on the Monte Carlo collision risk prediction model, the intersection probability between high-precision robotic arm models at different dynamic distances in the geometric intersection area is calculated, that is, the collision probability between target robotic arms in the target operation area during the fine shearing of target automotive plates at different dynamic distances is calculated; Preset a dangerous collision probability, and based on the dangerous collision probability, reversely calculate the dangerous dynamic distance and safety distance of the target robot arm; Based on the dangerous dynamic distance and safe distance of the target manipulator, a hierarchical warning mechanism is set in the high-precision spatial coordinate system, wherein the hierarchical warning mechanism includes a dangerous warning state, a state to be analyzed, and a safe state; Based on the hierarchical early warning mechanism, the running speed and path offset of the target robot arm during the plate fine shearing process are dynamically adjusted.

4. According to the intelligent monitoring and early warning method for safe distance between loading and unloading materials for automobile plate fine shearing as described in claim 3, it is characterized in that: Based on the hierarchical warning mechanism, the running speed and path offset of the target robot arm in the plate fine shearing process are dynamically adjusted, specifically: Introduce PLC control algorithm in the high-precision spatial coordinate system, and connect the target robotic arm by combining the high-precision robotic arm model coordinates and the automobile plate model coordinates, so that the target robotic arm can be controlled by the high-precision coordinate system. When the hierarchical warning mechanism outputs a safe state, that is, the dynamic distance between the target robotic arms is greater than the safe distance, the target robotic arms are controlled to continue to perform plate fine shearing on the target automobile sheet in the target operation area; When the status to be analyzed is output in the graded warning mechanism, the target robot arm plate fine shearing processing speed limit is preset in the high-precision coordinate space system, and the maximum speed of all target robot arms for plate fine shearing processing is limited to the target robot arm plate fine shearing processing speed limit through the PLC control algorithm; The APF algorithm is introduced into the high-precision spatial coordinate system, and the gravitational field and repulsive field of the high-precision robotic arm model and the automobile sheet model are constructed by combining the high-precision robotic arm model coordinates and the automobile sheet model coordinates; According to the safety distance of the target robot arm, the gravity function and repulsion function of the high-precision robot arm model and the automobile plate model are updated, and the dynamic distance of the target robot arm during the plate fine shearing process is controlled not to be greater than the safety distance; When a dangerous warning state is output within the graded warning mechanism, the target robot arm will be subjected to local path replanning.

5. According to the intelligent monitoring and early warning method for safe distance between loading and unloading materials for automobile plate fine shearing as described in claim 4, it is characterized in that: When the hierarchical warning mechanism outputs a dangerous warning state, the target robot arm is subjected to local path replanning, specifically: In the high-precision spatial coordinate system, when the hierarchical warning mechanism outputs a dangerous warning state, it is determined in the high-precision spatial coordinate system that local path replanning is required; In the high-precision spatial coordinate system, based on the participation of the high-precision robotic arm model in the plate fine shearing process, the high-precision robotic arm model is classified to obtain the main high-precision robotic arm model and the secondary high-precision robotic arm model; Based on the APF algorithm, the repulsive force direction and the attractive force direction between the main high-precision robotic arm model and the secondary high-precision robotic arm model are calculated, and based on the repulsive force direction and the attractive force direction, a temporary operation path is constructed to ensure that the dynamic distance between the main high-precision robotic arm model and the secondary high-precision robotic arm model is not greater than the safety distance, and it is calibrated as a type of temporary operation path; Calculate the deviation between the temporary running paths of the main high-precision robot arm model and the secondary high-precision robot arm model and the original running paths, which is defined as a type of deviation. If the type of deviation is not greater than a preset value, perform a local path update on the target robot arm based on the type of temporary path. If a type of deviation is greater than a preset value, all target robotic arms are directly stopped to perform fine shearing of the target automobile sheet.

6. Intelligent monitoring and early warning system for safe distance between loading and unloading for automobile plate precision shearing, characterized by: The monitoring and early warning system includes a memory and a processor, wherein a monitoring and early warning method program is stored in the memory. When the monitoring and early warning method program is executed by the processor, the monitoring and early warning method steps as described in any one of claims 1 to 5 are implemented.

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