Anti-collision method under synchronous following scene of plate severing robot

Abstract

The invention discloses an anti-collision method under a synchronous following scene of a severing robot, and belongs to the technical field of automatic production equipment of liquid crystal substrate glass. According to the method, the space coordinate origin of the absolute interference area is determined, the rectangular working space with the origin as the reference is set as the absolute interference area, when the plate severing robot enters the area, the emergency retreating action is triggered, a signal is sent to the transverse cutting machine, and the transverse cutting machine executes the emergency avoiding action after receiving the signal; and meanwhile, cooperative control of the original interference area and the absolute interference area is realized, that is, the robot triggers an original anti-collision program when the robot is in the original interference area and does not enter the absolute interference area, and preferentially executes an emergency action and pauses the original program when entering the absolute interference area. By arranging the absolute interference area, the problem that the robot collides with the transverse cutting machine due to extreme conditions such as parameter errors in a synchronous following scene is effectively solved, the anti-collision reliability and the response speed are improved, the multi-specification production requirements are met, and the production continuity is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of automated production equipment for liquid crystal substrate glass, specifically a collision avoidance method for a synchronous following scenario using a plate-breaking robot. Background Technology

[0002] In the cross-cutting process of LCD glass substrates, the following scenario is often encountered: the board-breaking robot enters the motion interference zone of the cross-cutting machine and moves synchronously with the cross-cutting machine. Usually, the PLC program will judge the relative distance between the two during the following process. Once the distance is less than the set value, it is considered that there is a risk of collision and the anti-collision departure program will be triggered immediately. However, this technology has the following significant drawbacks: 1. Limitations in dealing with parameter errors: If technicians mistakenly modify the plate-breaking parameters (such as incorrect speed direction), the robot may move abnormally in the direction of the cross-cutting machine. In this case, the relative distance monitoring has a lag in judging "distance decrease" and cannot provide early warning, leading to a collision. 2. Response delay of dynamic following: During synchronous following, the motion trajectories of both are complex, and the existing program is not fast enough to respond to sudden abnormal movements (such as robot loss of control), resulting in a high risk of collision. 3. Single interference zone division: Relying on only a single interference zone (based on relative distance), without setting a "no entry" safety boundary, it is difficult to cope with extreme working conditions (such as robot posture deviation caused by glass shaking).

[0003] The aforementioned defects can cause prolonged production interruptions and material blockage risks after equipment collisions, resulting in significant economic losses for enterprises. Summary of the Invention

[0004] The purpose of this invention is to provide a collision avoidance method for a synchronous following scenario of a board-breaking robot. By setting an absolute interference zone that completely prohibits the board-breaking robot from entering on the basis of the original interference zone, collision avoidance is achieved in the synchronous following scenario of the board-breaking robot, thus solving the problem of collision risk.

[0005] This invention is achieved through the following technical solution: This invention provides a collision avoidance method for a board-breaking robot in a synchronous following scenario, comprising the following steps: Determine the spatial coordinate origin of the absolute interference zone: Obtain the standby position tool coordinates A (x0, y0, z0) of the board-breaking robot, measure the vertical distance z1 from coordinate A to the center line B of the cross-cutting machine, and calculate the coordinate reference point C (x0, y0, z0+z1).

[0006] Considering the amount of glass sway, the coordinate C is translated by a preset distance away from the center line B of the cross-cutting machine to obtain the origin D of the absolute interference zone.

[0007] Set the absolute interference zone: With coordinate D as the origin and the robot's view facing the cross-cutting machine as the reference, define the axis directions (x-axis corresponds to the up and down direction, y-axis corresponds to the left and right direction, z-axis corresponds to the forward direction towards the cross-cutting machine), set the extension length of the x-axis, y-axis and z-axis directions, and delineate a rectangular workspace as the absolute interference zone. This workspace corresponds to the spatial trigger signal of the breaking robot, i.e., the in signal. When the robot enters this workspace, the in signal is set to on.

[0008] Triggering anti-collision action: When the in signal of the breaking robot is on, the robot performs an emergency back-away action and sends an out signal to the cross-cutting machine through the PLC signal mapping with the cross-cutting machine; after receiving the out signal, the cross-cutting machine performs an emergency avoidance action.

[0009] Coordinated control of the original interference zone and the absolute interference zone: When the prying robot is in the original interference zone and has not entered the absolute interference zone, only the original anti-collision program is triggered; when the robot enters the absolute interference zone, the triggering of the anti-collision action is executed first, and the original anti-collision program is paused at the same time.

[0010] Furthermore, the preset distance is 30mm, that is, the coordinates of coordinate D are (x0, y0, z0+z1+30).

[0011] Furthermore, the extension lengths in the x-axis, y-axis, and z-axis directions are set according to the movement range of the cross-cutting machine and the board-breaking robot, wherein: the x-axis extension range is x0-200mm to x0+500mm, the y-axis extension range is y0-300mm to y0+300mm, and the z-axis extension range is Dz to Dz+200mm (Dz is the z-coordinate of the origin D).

[0012] Furthermore, the triggering logic of the in signal is as follows: when the tool coordinates of the board-breaking robot are within the x-axis, y-axis, and z-axis coordinate range of the rectangular workspace, the in signal remains on; when the robot completely leaves the workspace, the in signal is set to off.

[0013] Furthermore, the emergency retraction action specifically involves the board-breaking robot retracting along the z-axis in the opposite direction (away from the cross-cutting machine) at a preset speed to its standby position A or a preset safe area, maintaining the suction cup holder in a stable posture during the retraction process to prevent the glass from falling off.

[0014] Furthermore, the emergency avoidance action specifically involves the cross-cutting machine moving upward a preset distance along a direction perpendicular to the movement of the glass substrate, the preset distance being no less than 50mm, until it receives a "retreat to a safe area" signal from the robot and then resets.

[0015] Furthermore, the PLC signal mapping is implemented through the industrial Ethernet communication protocol. The controller of the board-breaking robot and the PLC of the cross-cutting machine establish a bidirectional signal transmission channel, wherein: the robot's in signal status is synchronized to the input register of the cross-cutting machine PLC in real time, and the out signal sent by the robot corresponds to the output register of the cross-cutting machine PLC, triggering the cross-cutting machine's avoidance program.

[0016] Furthermore, the extension length of each axis of the rectangular workspace can be adjusted in real time through the human-machine interface. The adjustment range is: -300mm to +600mm in the x-axis direction (based on x0), ±200mm to ±500mm in the y-axis direction (based on y0), and 50mm to 300mm in the z-axis direction (extending forward based on Dz). The adjusted data is automatically stored in the parameter library of the robot controller.

[0017] Furthermore, the center line B of the cross-cutting machine is the cutting reference line of the glass substrate. Its coordinates are calibrated in real time by a laser rangefinder at a calibration frequency of once per hour. The calibration data is used to update the calculation of the coordinate reference point C. The x-axis corresponds to the vertical direction, which is the synchronous following motion direction of the robot from top to bottom, covering its entire working height range. The y-axis corresponds to the horizontal direction, which is the horizontal movement range of the robot, adapting to the interference risk of the width of the on-site equipment. The z-axis corresponds to the forward direction, which is the high-risk movement direction of the robot approaching the cross-cutting machine. A unidirectional interference zone is set only in this direction.

[0018] The present invention has the following beneficial effects: 1. This invention significantly improves the reliability of collision avoidance and effectively avoids extreme risks. By setting an absolute interference zone as a "hard spatial boundary", even if technicians mistakenly change parameters (such as incorrect board bending direction) causing abnormal robot movement, or if the glass shakes and causes posture deviation, as long as the robot enters the absolute interference zone, an emergency action can be triggered immediately to block the collision path from the physical space level. This solves the problem that existing technologies rely solely on relative distance judgment and have a delayed response to sudden abnormal working conditions, and greatly reduces the probability of equipment collision.

[0019] 2. This invention enhances scene adaptability and is compatible with multi-specification production needs. The extension lengths of the x, y, and z axes of the absolute interference zone can be adjusted in real time through the human-machine interface, which can adapt to the production of glass substrates of different sizes and thicknesses. At the same time, the center line of the cross-cutting machine is calibrated once an hour by a laser rangefinder to ensure that the coordinate reference point is dynamically updated, adapting to the slight offsets in the long-term operation of the equipment, and solving the limitation that fixed parameters are difficult to be compatible with multi-variety production.

[0020] 3. This invention achieves collaborative protection and improves system security. Through the collaborative control logic of the original interference zone and the absolute interference zone, when the robot is in the original interference zone, only a warning and deceleration are triggered. When it enters the absolute interference zone, forced retreat is executed first and the original program is suspended. This not only retains the flexible protection in normal scenarios, but also strengthens the rigid protection in high-risk scenarios, avoids conflicts in protection programs, and forms a multi-level safety guarantee.

[0021] 4. This invention reduces economic losses and ensures production continuity. By blocking the risk of collisions, it reduces production interruptions caused by equipment collisions (each collision causes an average of several hours of downtime) and material blockage problems. At the same time, it avoids the maintenance costs of damaged components such as suction cup frames and cross-cutting machine blades, significantly reducing the economic losses of enterprises and improving the continuity and stability of LCD glass substrate production.

[0022] 5. This invention optimizes response speed to meet the needs of synchronous following scenarios. The absolute interference zone is determined by real-time monitoring of the robot tool coordinates (in signal trigger logic). The response speed is not affected by the relative motion complexity. It is more direct and efficient than the original PLC program judgment based on relative distance. It can quickly trigger protection in high-speed synchronous following scenarios (such as rapid transmission of glass substrates) to ensure the activation of emergency retreat and avoidance actions and avoid collisions caused by response delay.

[0023] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0024] Figure 1 Flowchart of the anti-collision method control principle; Figure 2 This is a schematic diagram showing the structural positions of the cross-cutting machine, robot, cross-cutting machine centerline, coordinate reference point, origin, and tool coordinate point.

[0025] In the diagram: 1. Robot; 2. Cross-cutting machine; A. Tool coordinate point; B. Cross-cutting machine centerline; C. Coordinate reference point; D. Origin. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see Figures 1-2 This invention provides a technical solution: a collision avoidance method for a board-breaking robot in a synchronous following scenario, comprising the following steps: Determine the spatial coordinate origin of the absolute interference zone: Obtain the standby position tool coordinates A (x0, y0, z0) of the board-breaking robot, measure the vertical distance z1 from coordinate A to the center line B of the cross-cutting machine, and calculate the coordinate reference point C (x0, y0, z0+z1).

[0028] Considering the amount of glass sway, the coordinate C is translated a preset distance away from the center line B of the cross-cutting machine to obtain the origin D of the absolute interference zone. The preset distance is 30mm, that is, the coordinates of coordinate D are (x0, y0, z0+z1+30).

[0029] Setting the absolute interference zone: With coordinate D as the origin and the robot's viewpoint facing the cross-cutting machine as the reference, define the axial directions (x-axis corresponds to the up and down direction, y-axis corresponds to the left and right direction, and z-axis corresponds to the forward direction towards the cross-cutting machine). Set the extension lengths of the x-axis, y-axis, and z-axis directions, and delineate a rectangular workspace as the absolute interference zone. This workspace corresponds to the spatial trigger signal of the board-breaking robot, i.e., the in signal. When the robot enters this workspace, the in signal is set to on. The extension lengths of the x-axis, y-axis, and z-axis directions are set according to the movement range of the cross-cutting machine and the board-breaking robot. Specifically: the x-axis extension range is x0-200mm to x0+500mm, the y-axis extension range is y0-300mm to y0+300mm, and the z-axis extension range is Dz to Dz+200mm (Dz is the z-coordinate of the origin D).

[0030] The basis for determining the origin D of the absolute interference zone coordinates: Based on the standby position tool coordinates A (x0, y0, z0) of the board-breaking robot, the coordinate reference point C (x0, y0, z0+z1) is calculated by measuring the vertical distance z1 from coordinate A to the center line B of the cross-cutting machine, ensuring that the origin is determined in relation to the robot's initial position and the core reference (center line B) of the cross-cutting machine.

[0031] Considering the amount of glass movement during the production process, to prevent the robot from accidentally touching or entering dangerous areas due to posture deviation caused by glass movement, coordinate C is translated by a preset distance (30mm) away from the center line B of the cross-cutting machine, ultimately obtaining the origin D (x0, y0, z0+z1+30). This translation distance provides a safety redundancy to cope with glass movement, ensuring that the boundary of the absolute interference zone can effectively cover the potential risk range.

[0032] Basis for setting the absolute interference region size: Based on the actual range of motion of the cross-cutting machine and the plate-splitting robot: The x-axis extension range (x0-200mm to x0+500mm) corresponds to the robot's synchronous following motion direction from top to bottom, covering its entire working height range and adapting to the risk of motion interference in the vertical direction.

[0033] The y-axis extension range (y0-300mm to y0+300mm) corresponds to the robot's horizontal lateral movement range, adapting to potential interference risks in the width direction of on-site equipment.

[0034] The z-axis extension range (Dz to Dz+200mm, where Dz is the z-coordinate of the origin D) corresponds to the high-risk movement direction of the robot approaching the cross-cutting machine. A one-way interference zone is set only in this direction to focus on the forward direction where collisions are most likely to occur.

[0035] Finite element simulation has verified that the above-mentioned size range can effectively avoid structural interference between the robotic arm and the cross-cutting machine, ensuring that the interference zone can accurately capture dangerous movements.

[0036] The dimensions can be adjusted in real time via the human-machine interface (e.g., from -200mm to +500mm on the x-axis) to adapt to the production needs of glass substrates of different specifications and improve the adaptability of different scenarios.

[0037] The above-mentioned range has been verified through finite element simulation, which can effectively avoid structural interference between the robotic arm and the cross-cutting machine.

[0038] Triggering anti-collision action: When the in signal of the breaking robot is on, the robot performs an emergency retreat action. Specifically, the breaking robot retreats at a preset speed away from the cross-cutting machine to its standby position A or a preset safe area. During the retreat, the suction cup holder remains stable to prevent glass from falling off. Simultaneously, through signal mapping with the cross-cutting machine's PLC, an out signal is sent to the cross-cutting machine. This PLC signal mapping is implemented via the industrial Ethernet communication protocol. The controller of the breaking robot and the PLC of the cross-cutting machine establish a bidirectional signal transmission channel. Specifically, the robot's in signal status is synchronized in real-time to the input register of the cross-cutting machine's PLC. The OUT signal sent by the robot corresponds to the output register of the cross-cutting machine PLC, triggering the cross-cutting machine's avoidance program. After receiving the OUT signal, the cross-cutting machine executes an emergency avoidance action. Specifically, the emergency avoidance action is as follows: the cross-cutting machine moves upward a preset distance along the direction perpendicular to the glass substrate, the preset distance being no less than 50mm, until it receives the "retreated to the safe area" signal sent by the robot and then resets. The triggering logic of the IN signal is as follows: when the tool coordinates of the board-breaking robot are within the x-axis, y-axis, and z-axis coordinates of the rectangular workspace, the IN signal remains on; when the robot completely leaves the workspace, the IN signal is set to off.

[0039] Coordinated control of the original interference zone and the absolute interference zone: When the prying robot is in the original interference zone and has not entered the absolute interference zone, only the original anti-collision program is triggered; when the robot enters the absolute interference zone, the triggering of the anti-collision action is executed first, and the original anti-collision program is paused at the same time.

[0040] The extension length of each axis of the rectangular workspace can be adjusted in real time through the human-machine interface. The adjustment range is: x-axis direction -300mm to +600mm (based on x0), y-axis direction ±200mm to ±500mm (based on y0), z-axis direction 50mm to 300mm (extending forward based on Dz). The adjusted data is automatically stored in the parameter library of the robot controller.

[0041] The centerline B of the cross-cutting machine is the cutting reference line for the glass substrate. Its coordinates are calibrated in real time using a laser rangefinder, with a calibration frequency of once per hour. The calibration data is used to update the calculation of the coordinate reference point C. The x-axis corresponds to the vertical direction, which is the robot's synchronous following motion direction from top to bottom, covering its entire working height range. The y-axis corresponds to the horizontal direction, which is the robot's horizontal lateral movement range, adapting to the interference risk of the width of the on-site equipment. The z-axis corresponds to the forward direction, which is the high-risk movement direction of the robot approaching the cross-cutting machine, and a unidirectional interference zone is set only in this direction.

[0042] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A collision avoidance method for a board-breaking robot in a synchronous following scenario, characterized in that, Includes the following steps: Determine the spatial coordinate origin of the absolute interference zone: Obtain the standby position tool coordinates A (x0, y0, z0) of the board-breaking robot, measure the vertical distance z1 from coordinate A to the center line B of the cross-cutting machine, and calculate the coordinate reference point C (x0, y0, z0+z1). Considering the glass sway, the coordinate C is translated by a preset distance along the direction away from the center line B of the cross-cutting machine to obtain the coordinate origin D of the absolute interference zone; Set the absolute interference zone: With coordinate D as the origin, define the axis directions (x-axis corresponds to the up and down direction, y-axis corresponds to the left and right direction, z-axis corresponds to the forward direction towards the cross-cutting machine) based on the robot's view facing the cross-cutting machine. Set the extension length of the x-axis, y-axis and z-axis directions, and delineate a rectangular workspace as the absolute interference zone. This workspace corresponds to the space trigger signal of the breaking robot, i.e., the in signal. When the robot enters this workspace, the in signal is set to on. Triggering anti-collision action: When the in signal of the breaking robot is on, the robot performs an emergency back-away action and sends an out signal to the cross-cutting machine through the PLC signal mapping with the cross-cutting machine; after receiving the out signal, the cross-cutting machine performs an emergency avoidance action.

2. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, The preset distance is 30mm, that is, the coordinates of coordinate D are (x0, y0, z0+z1+30).

3. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, The extension lengths in the x-axis, y-axis, and z-axis directions are set according to the movement range of the cross-cutting machine and the board-breaking robot. Specifically, the x-axis extension range is from x0-200mm to x0+500mm, the y-axis extension range is from y0-300mm to y0+300mm, and the z-axis extension range is from Dz to Dz+200mm (where Dz is the z-coordinate of the origin D).

4. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, The triggering logic of the in signal is as follows: when the tool coordinates of the board-breaking robot are within the x-axis, y-axis, and z-axis coordinate range of the rectangular workspace, the in signal remains on; when the robot completely leaves the workspace, the in signal is set to off.

5. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, The emergency retraction action is as follows: the breaking robot moves in the opposite direction of the z-axis (away from the cross-cutting machine) at a preset speed to its standby position A or a preset safe area, and maintains the suction cup frame in a stable posture during the retraction process to prevent the glass from falling off.

6. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, The emergency avoidance action is as follows: the cross-cutting machine moves upward a preset distance along the direction perpendicular to the movement of the glass substrate, the preset distance being no less than 50mm, until it receives the "retreated to the safe area" signal sent by the robot and then resets.

7. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, The PLC signal mapping is implemented through the industrial Ethernet communication protocol. The controller of the board-breaking robot and the PLC of the cross-cutting machine establish a bidirectional signal transmission channel. The robot's in signal status is synchronized to the input register of the cross-cutting machine PLC in real time, and the out signal sent by the robot corresponds to the output register of the cross-cutting machine PLC, triggering the cross-cutting machine's avoidance program.

8. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, The extension length of each axis of the rectangular workspace can be adjusted in real time through the human-machine interface. The adjustment range is: x-axis direction -300mm to +600mm (based on x0), y-axis direction ±200mm to ±500mm (based on y0), z-axis direction 50mm to 300mm (extending forward based on Dz). The adjusted data is automatically stored in the parameter library of the robot controller.

9. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, It also includes the coordinated control of the original interference zone and the absolute interference zone: when the prying robot is in the original interference zone and has not entered the absolute interference zone, only the original anti-collision program is triggered; when the robot enters the absolute interference zone, the triggering anti-collision action is executed first, and the original anti-collision program is paused at the same time.

10. The collision avoidance method for a board-breaking robot in a synchronous following scenario according to claim 1, characterized in that, The centerline B of the cross-cutting machine is the cutting reference line for the glass substrate. Its coordinates are calibrated in real time using a laser rangefinder, with a calibration frequency of once per hour. The calibration data is used to update the calculation of the coordinate reference point C. The x-axis corresponds to the vertical direction, which is the robot's synchronous following motion direction from top to bottom, covering its entire working height range. The y-axis corresponds to the horizontal direction, which is the robot's horizontal lateral movement range, adapting to the interference risk of the width of the on-site equipment. The z-axis corresponds to the forward direction, which is the high-risk movement direction of the robot approaching the cross-cutting machine, and a unidirectional interference zone is set only in this direction.

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