A floor tile intelligent carrying control method and system for decoration and a carrying device

Abstract

The application provides a floor tile intelligent carrying control method and system for decoration and a carrying device, relates to the technical field of clamping and carrying control, and determines the flexible suction point of the floor tile during clamping and carrying through array information of force sources, determines the suction load discrimination label of the clamp during directional carrying, determines the suction point load path limit of the floor tile during intelligent carrying through the suction load discrimination label and the dynamic line clamping force trend of the pneumatic clamp during action adjustment, tracks and corrects the disturbance trajectory deviation, obtains the attitude suppression amplitude of the floor tile in the carrying pose conversion procedure, determines the moving and loading shaping strategy of the floor tile during carrying path planning through the attitude suppression amplitude, and checks and guides the clamping state of the floor tile carrying mechanical arm during collaborative work according to the suction point load path limit and the moving and loading shaping strategy. The application can accurately control the clamping strategy and path planning of the floor tile carrying mechanical arm under complex disturbance conditions, so that the stability of the intelligent carrying of the floor tile is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of clamping and carrying control, and more particularly to a smart carrying control method and system for floor tiles used in decoration and a carrying device. BACKGROUND

[0002] Clamping and carrying control refers to the process of integrating force perception, pose monitoring and dynamic control technology to accurately regulate the clamping force, motion trajectory and coordinated action of the end-of-arm gripper for the carrying needs of floor tiles used in decoration. Traditional floor tile carrying relies on manual or fixed parameter control, which is prone to cause tile damage due to uneven clamping force, or pose instability due to trajectory deviation and unsynchronized coordination. In the clamping and carrying of floor tiles, it is necessary to effectively reduce the floor tile carrying damage rate, improve work efficiency, and adaptively adjust the control parameters according to different specifications of tiles, thereby breaking through the limitations of traditional control in flexibility and stability, and adapting to the diversified carrying needs of decoration sites.

[0003] However, the existing smart carrying control of floor tiles used in decoration generally lacks distributed force source array perception capability of the contact surface between the gripper and the floor tile, does not establish a dynamic optimization and guidance compensation mechanism for flexible suction points, and lacks trajectory deviation tracking correction and coordinated operation clamping pose checking guidance schemes under disturbance conditions, making it difficult for the clamping force of the robot arm to adapt to the brittle characteristics of the tiles, the suction state under the change of carrying has no clear standard, the pose is prone to instability under disturbance, the coordinated action of multiple robot arms is unsynchronized, which limits the efficiency of floor tile carrying operation, and thus cannot meet the intelligent carrying needs of multiple specifications of tiles and complex working conditions in the decoration scene. Therefore, how to accurately regulate the clamping strategy and path planning of the floor tile carrying robot arm under complex disturbance conditions to improve the stability of the intelligent carrying of floor tiles is a problem faced by the industry. SUMMARY

[0004] The present application provides a smart carrying control method and system for floor tiles used in decoration and a carrying device, which can accurately regulate the clamping strategy and path planning of the floor tile carrying robot arm under complex disturbance conditions to improve the stability of the intelligent carrying of floor tiles.

[0005] In a first aspect, the present application provides a smart carrying control method for floor tiles used in decoration, which comprises the following steps:

[0006] Obtaining force source array information on the contact surface between the end-of-arm pneumatic gripper and the floor tile during the carrying process of the floor tile;

[0007] Determine the flexible suction point of the floor tile when clamping and carrying by the force source array information, guide and compensate the flexible suction point, get the suction load discrimination label of the clamp when changing direction, and then determine the suction point load path position limit of the floor tile in the intelligent carrying process by the suction load discrimination label and the trend of the dynamic line clamp force of the pneumatic clamp when adjusting the action;

[0008] Determine the disturbance trajectory deviation of the floor tile carrying mechanical arm under the disturbance working condition, track and correct the disturbance trajectory deviation, get the posture suppression amplitude of the floor tile in the carrying pose transformation procedure, and then determine the moving and loading shaping strategy of the floor tile in the carrying path planning by the posture suppression amplitude;

[0009] According to the suction point load path position limit and the moving and loading shaping strategy, check and guide the clamping state of the floor tile carrying mechanical arm in the cooperative working process.

[0010] In this embodiment, the pneumatic clamp refers to the execution component for stably clamping the floor tile, which is driven by pneumatic and has a contact working surface at the end of the mechanical arm.

[0011] In this embodiment, the determination of the flexible suction point of the floor tile when clamping and carrying by the force source array information specifically includes:

[0012] Determine the displacement response distribution of the floor tile when clamping and carrying according to the force source array information;

[0013] Determine the displacement receiving boundary when clamping and carrying by the displacement response distribution;

[0014] Determine the flexible suction point of the floor tile when clamping and carrying by the displacement receiving boundary information.

[0015] In this embodiment, the suction load discrimination label refers to the label for judging whether the suction load state is normal when the clamp changes direction.

[0016] In this embodiment, the determination of the suction point load path position limit of the floor tile in the intelligent carrying process by the suction load discrimination label and the trend of the dynamic line clamp force of the pneumatic clamp when adjusting the action specifically includes:

[0017] Determine the trend of the dynamic line clamp force of the pneumatic clamp when adjusting the action;

[0018] Determine the real-time load margin of each suction point according to the suction load discrimination label and the trend of the dynamic line clamp force;

[0019] Determine the suction point load path position limit of the floor tile in the intelligent carrying process by all real-time load margins.

[0020] In the embodiment, the motion line clamping force trend refers to a regular characteristic of a clamping force of the pneumatic clamp changing with a motion trajectory during action adjustment of the pneumatic clamp.

[0021] In the embodiment, the disturbance trajectory deviation of the floor tile carrying mechanical arm under the disturbance working condition specifically includes:

[0022] determining a body pose bias of the floor tile carrying mechanical arm;

[0023] determining dynamic disturbance information of the floor tile carrying mechanical arm under the disturbance working condition according to the body pose bias;

[0024] determining a disturbance trajectory deviation of the floor tile carrying mechanical arm under the disturbance working condition according to the dynamic disturbance information.

[0025] In the embodiment, the removal shaping strategy of the floor tile during the carrying path planning is determined according to the pose suppression amplitude, and specifically includes:

[0026] extracting a pose fluctuation feature of the floor tile at a key point of the carrying path from the pose suppression amplitude;

[0027] determining an adjustment section of the carrying path that needs to be shaped in speed and trajectory according to the pose fluctuation feature;

[0028] determining a removal shaping strategy of the floor tile during the carrying path planning based on the adjustment section.

[0029] In a second aspect, the application provides a floor tile intelligent carrying control system for decoration, which is used to execute a floor tile intelligent carrying control method for decoration, and the carrying control system includes:

[0030] an information acquisition module, configured to acquire force source array information of a pneumatic clamp at an end of a mechanical arm and a contact surface of a floor tile during carrying of the floor tile;

[0031] a guidance compensation module, configured to determine a flexible suction point of the floor tile during clamping and carrying of the floor tile by using the force source array information, perform guidance compensation on the flexible suction point, obtain a suction load discrimination label of the clamp during change of the carrying, and then determine a suction point load path limit of the floor tile during intelligent carrying of the floor tile according to the suction load discrimination label and a motion line clamping force trend of the pneumatic clamp during action adjustment of the pneumatic clamp;

[0032] a tracking correction module, configured to determine a disturbance trajectory deviation of a floor tile carrying mechanical arm under a disturbance working condition, perform tracking correction on the disturbance trajectory deviation, obtain a pose suppression amplitude of the floor tile in a carrying pose conversion procedure, and then determine a removal shaping strategy of the floor tile during carrying path planning of the floor tile according to the pose suppression amplitude;

[0033] The checking and guiding module is used for checking and guiding the clamping state of the floor tile carrying mechanical arm in the collaborative operation process according to the suction point load path limit and the moving and carrying shaping strategy.

[0034] In a third aspect, the present application provides a carrying device, which comprises the above-mentioned intelligent carrying control system for floor tiles in decoration.

[0035] The technical scheme provided by the embodiments of the present application has the following beneficial effects:

[0036] The force source array information of the contact surface between the mechanical arm end pneumatic gripper and the floor tile in the carrying process is acquired; the flexible suction point position of the floor tile in the clamping and carrying process is determined through the force source array information, the flexible suction point position is guided and compensated, the suction load discrimination label of the gripper in the direction changing carrying process is obtained, and then the suction point load path limit of the floor tile in the intelligent carrying process is determined from the suction load discrimination label and the dynamic line clamping force trend of the pneumatic gripper in the action adjustment; the disturbance trajectory deviation of the floor tile carrying mechanical arm in the disturbance working condition is determined, the disturbance trajectory deviation is tracked and corrected, the attitude suppression amplitude of the floor tile in the carrying pose transformation regulation is obtained, and then the moving and carrying shaping strategy of the floor tile in the carrying path planning is determined from the attitude suppression amplitude; the clamping state of the floor tile carrying mechanical arm in the collaborative operation process is checked and guided according to the suction point load path limit and the moving and carrying shaping strategy.

[0037] It can be seen that in the present application, the intelligent carrying process of the floor tile in decoration can be precisely controlled through the multi-dimensional perception and dynamic regulation mechanism; wherein, the force source array information of the contact surface between the mechanical arm end pneumatic gripper and the floor tile is acquired, which makes up for the defect of lack of distributed force perception in the prior art; the flexible suction point position is determined through the force source array information, the suction load discrimination label is generated through the guiding and compensation, and then the suction point load path limit is determined in combination with the dynamic line clamping force trend, the suction point position with the smallest pressure standard deviation is dynamically selected, the point position deviation is corrected in real time, and the safe load and the motion boundary are determined, which solves the problems of no dynamic point position optimization and suction load standard, and prevents overloading damage and underloading sliding; the disturbance trajectory deviation is determined and tracked and corrected to obtain the attitude suppression amplitude, and then the moving and carrying shaping strategy is determined, which improves the defect of attitude instability under disturbance in the prior art, and ensures that there is no sliding risk in the carrying process; the clamping state in the collaborative operation is checked and guided according to the suction point load path limit and the moving and carrying shaping strategy, which comprehensively guarantees the stability, safety and efficiency of the intelligent carrying.

[0038] In summary, the technical scheme adopted by the present application can precisely regulate the clamping strategy and path planning of the floor tile carrying mechanical arm under complex disturbance working conditions, so as to improve the stability of the intelligent carrying of the floor tile. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only represent the part of the present application, and other drawings can be obtained by those of ordinary skill in the art without any creative effort.

[0040] Figure 1 is an exemplary flow chart of a floor tile intelligent carrying control method for decoration provided by the present application;

[0041] Figure 2 is a flow chart for determining the suction discrimination label provided by the present application;

[0042] Figure 3 is a flow chart for determining the attitude suppression amplitude provided by the present application;

[0043] Figure 4 is a module structure diagram of a floor tile intelligent carrying control system for decoration provided by the present application. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only represent some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort fall within the scope of the present application.

[0045] The present application provides a floor tile intelligent carrying control method, system and carrying device for decoration, the core of which is to obtain the force source array information on the contact surface between the end of the mechanical arm pneumatic gripper and the floor tile in the carrying process; to determine the flexible suction point position of the floor tile in the clamping carrying process through the force source array information, to guide and compensate the flexible suction point position, to obtain the suction discrimination label of the gripper in the direction changing carrying process, and then to determine the suction point load path position limit of the floor tile in the intelligent carrying process from the suction discrimination label and the dynamic line clamping force trend of the pneumatic gripper in the action adjustment; to determine the disturbance trajectory deviation of the floor tile carrying mechanical arm in the disturbance working condition, to track and correct the disturbance trajectory deviation, to obtain the attitude suppression amplitude of the floor tile in the carrying pose transformation procedure, and then to determine the moving and loading shaping strategy of the floor tile in the carrying path planning from the attitude suppression amplitude; and to check and guide the clamping state of the floor tile carrying mechanical arm in the cooperative working process according to the suction point load path position limit and the moving and loading shaping strategy.

[0046] Embodiment one, in order to better understand the above technical solutions, the following will be combined with the description of the drawings and the specific implementation of the above technical solutions are described in detail, reference Figure 1 As shown in the figure, the figure is according to the embodiment of the application, a kind of floor tile intelligent handling control method for decoration shown in the example flow chart, the handling control method includes the following steps:

[0047] In step S1, the force source array information of the floor tile on the contact surface of the mechanical arm end pneumatic gripper in the handling process is obtained.

[0048] When implemented, piezoelectric force sensor (response ≤1ms, error ≤0.2N) can be selected, and the interval is set according to the size of the floor tile: 100mm interval is arranged for 6x6 array of 600mmx600mm tile, 150mm interval is arranged for 8x16 array of 1200mmx2400mm tile, epoxy glue is fixed, and the surface of the sensor is covered with 0.1mm polytetrafluoroethylene coating; The signal conditioning module of the sensor is connected to 0-5V voltage signal, and the digital signal is converted by 16-bit analog-to-digital converter, and is transmitted to the acquisition card (sampling 100Hz) through Profinet bus (100Mbps); Then use Kalman filter to remove electromagnetic and deformation noise, draw two-dimensional thermal map in MATLAB, obtain force source array information containing pressure, friction and position corresponding relationship, in other embodiments, other ways can also be used to determine the force source array information, which will not be described here.

[0049] It should be noted that in the present application, the pneumatic gripper refers to the end of the mechanical arm driven by pneumatic, with contact working surface, used for stable clamping floor tile execution component; The force source array information refers to the normal pressure, tangential friction and spatial position corresponding data set of each detection point on the contact surface of the gripper and the floor tile.

[0050] In step S2, the flexible suction point position of the floor tile in the clamping handling is determined by the force source array information, the flexible suction point position is guided and compensated, the suction load discrimination label of the gripper in the direction changing handling is obtained, and then the suction point load path limit of the floor tile in the intelligent handling process is determined by the suction load discrimination label and the dynamic line clamping force trend of the pneumatic gripper in the action adjustment.

[0051] In the embodiment, the flexible suction point position of the floor tile in the clamping handling can be realized by the following steps:

[0052] According to the force source array information, the displacement response distribution of the floor tile in the clamping handling is determined;

[0053] The displacement receiving boundary in the clamping handling is determined by the displacement response distribution;

[0054] The flexible suction point of the floor tile in the clamping and carrying is determined by the displacement receiving boundary information.

[0055] In a specific implementation, first, reflective marker points are pasted on the surface of the floor tile corresponding to each detection point of the force source array sensor; a laser displacement sensor is used to align the marker points one by one, and real-time displacement data of each detection point under the action of the current force source array pressure is collected. The collected displacement data and the force source data (pressure value) of the corresponding detection point are imported into MATLAB to establish a "pressure-displacement" mapping relationship, and a two-dimensional displacement response distribution graph (the horizontal axis is the X coordinate of the detection point, the vertical axis is the Y coordinate, and the color depth represents the displacement value) is generated, which is taken as the displacement response distribution of the floor tile in the clamping and carrying. Then, 10 samples of the same batch and the same specification of floor tiles can be selected, and step one is repeated for each sample, and the clamping force is gradually increased and the displacement response distribution is recorded. When a small crack is observed on a certain sample through an industrial camera, the displacement value of the corresponding detection point of the sample is recorded; the smallest crack displacement value in the 10 samples is taken as a reference, and multiplied by a safety factor of 0.8 to obtain the maximum allowable displacement value of the floor tile. Taking this value as a standard, the range of all displacements ≤ the value is determined in the displacement response distribution graph, and this range is the displacement receiving boundary. Finally, the displacement data of all detection points within the displacement receiving boundary range is extracted, and the displacement standard deviation of each continuous region (200 mm x 200 mm as a region, adapting to the size of the suction cup) is calculated. The region with the smallest displacement standard deviation is selected, in which the displacement difference of each detection point is the smallest, representing the most uniform stress on the floor tile in this region. By comparing the pressure data of the force source array in this region, it is confirmed that the pressure distribution standard deviation is also ≤1.5 N (to ensure uniform stress), and finally the region is determined as the flexible suction point.

[0056] It should be noted that in this application, the displacement response distribution refers to the displacement change of different regions of the floor tile under the action of the clamping force; the displacement receiving boundary refers to the maximum allowable displacement value of the floor tile in the clamping and carrying; and the flexible suction point refers to the optimal contact area for the pneumatic gripper, which ensures that the floor tile is clamped and stressed uniformly and the displacement is within a safe range.

[0057] Preferably, in this embodiment, the flexible suction point is guided and compensated to obtain a suction load discrimination label of the gripper in the directional carrying, and the suction load discrimination label is determined according to the path parameters of the gripper in the directional carrying. Figure 2 As shown in the drawing, the drawing is a flowchart for determining the suction load discrimination label in some embodiments of the application, and the suction load discrimination label in this embodiment can be determined by the following steps:

[0058] In step S21, the dynamic guiding attribute of the gripper is generated according to the path parameters of the gripper in the directional carrying;

[0059] In step S22, the flexible suction point is filled with a suction trajectory according to the dynamic guiding attribute, and a suction trajectory constraint is generated;

[0060] In step S23, a determination condition of the suction state is determined according to the deviation between the suction trajectory constraint and the preset trajectory.

[0061] In step S24, the suction determination label of the gripper during the directional carrying is generated by the determination condition of the suction state and the real-time force sensing information.

[0062] In a specific implementation, first, the absolute position encoder at the end of the mechanical arm is used to collect the complete path parameters of the gripper during the change of direction, including the change of direction angle (e.g., 90°, 180°), the speed before and after the change of direction (e.g., 0.3 m / s, 0.2 m / s), the acceleration during the change of direction (e.g., 0.5 m / s²), and the duration of the change of direction (e.g., 0.5 s). The collected path parameters are imported into Python data processing software, and a trajectory segmentation analysis algorithm is used to divide the path into "uniform speed segment before change of direction - transition segment during change of direction - uniform speed segment after change of direction". The motion guidance parameters of each segment (e.g., the change rate of the angle, the change rate of the speed) are calculated, and the dynamic guidance attribute file is integrated, including the time, speed, and angle threshold of each segment, i.e., the dynamic guidance attribute of the gripper is obtained. Then, based on the transition segment parameters in the dynamic guidance attribute, a cubic B-spline interpolation algorithm is used to fill in the adsorption trajectory. First, the end coordinates of the flexible suction point in the uniform speed segment before the change of direction (e.g., X1, Y1, Z1) and the start coordinates in the uniform speed segment after the change of direction (e.g., X2, Y2, Z2) are extracted, and the two points are used as the interpolation end points. Then, based on the change of direction angle and acceleration in the dynamic guidance attribute, the coordinates of three intermediate control points in the transition segment (e.g., Xa, Ya, Za, Xb, Yb, Zb, Xc, Yc, Zc) are calculated. The end points and control points are imported into MATLAB to generate a smooth cubic B-spline curve as the complete adsorption trajectory after filling. Based on the trajectory, the motion constraints are set: the speed during the transition segment is ≤0.2 m / s, the change rate of the angle is ≤180° / s, and the displacement deviation is ≤2 mm, forming the adsorption trajectory constraint. Then, the preset trajectory deviation is set: based on the floor tile handling safety standard, the maximum allowed deviation between the actual trajectory of the gripper and the adsorption trajectory constraint is preset, including a position deviation of ≤2 mm, a speed deviation of ≤0.05 m / s, and an angle deviation of ≤1°. Combined with the parameters in the adsorption trajectory constraint, the adsorption state discrimination condition is constructed: when the actual motion of the gripper deviates from the position by >2 mm, or the speed deviation is >0.05 m / s, or the angle deviation is >1°, or the real-time contact force of the pneumatic gripper exceeds the range of "minimum safe gripping force - maximum safe gripping force" (e.g., 24 N-30 N), it is determined that the adsorption is abnormal; otherwise, it is determined that the adsorption is normal, and these determination results are used as the discrimination condition for the adsorption state. Finally, the distributed force sensor array (piezoelectric, error ≤0.2 N) on the contact surface of the pneumatic gripper is used to collect the contact force data (e.g., the normal pressure of each detection point) of the flexible suction point in real time. The real-time force sensing information is compared with the adsorption discrimination condition determined in step S23, and the force parameter range (e.g., contact force 24 N-30 N, force distribution standard deviation ≤1.5 N) that meets the "normal adsorption" condition is selected, and combined with the motion parameters (e.g., speed ≤0.2 m / s, angle ≤1°) in the adsorption trajectory constraint, the adsorption discrimination label is generated.The suction discrimination label content includes "flexible suction point number, allowable contact force range, allowable speed range, allowable turning angle range, position deviation threshold value", for example, "point 001, contact force 24-30 N, speed ≤0.2 m / s, turning angle ≤1°, position deviation ≤2 mm".

[0063] It should be noted that in the present application, the guiding compensation refers to the method of correcting the deviation of the flexible suction point to ensure the accurate and stable adjustment of the tile suction by the gripper during the directional carrying; the dynamic guiding attribute refers to the quantitative motion characteristics of the gripper during the directional carrying; the suction trajectory filling refers to supplementing the trajectory breakpoint of the flexible suction point at the turning point to form a continuous and smooth suction path, avoiding the instability of suction caused by the interruption of the trajectory; the suction trajectory constraint refers to limiting the motion boundary of the gripper during the suction carrying; the preset trajectory deviation refers to the allowable difference between the standard suction trajectory of the gripper and the actual trajectory; the discrimination condition of the suction state refers to the standard for determining whether the suction state is safe, covering the force and displacement deviation threshold value; the real-time force sensing information refers to the real-time force signal data collected when the gripper contacts the tile; the suction discrimination label refers to the label used to determine whether the suction state of the gripper during the directional carrying is normal.

[0064] In the present embodiment, the determination of the suction point load range limit of the tile during the intelligent carrying by the suction discrimination label and the dynamic line clamping force trend of the pneumatic gripper during the action adjustment can be realized by the following steps:

[0065] Determine the dynamic line clamping force trend of the pneumatic gripper during the action adjustment;

[0066] Determine the real-time load margin of each suction point according to the suction discrimination label and the dynamic line clamping force trend;

[0067] Determine the suction point load range limit of the tile during the intelligent carrying by all real-time load margins.

[0068] In specific implementation, first, a distributed piezoelectric force sensor (error ≤0.2N, sampling frequency 100Hz) on the contact surface of the pneumatic gripper is used to synchronously collect real-time clamping force data during action adjustment (such as turning, lifting, and translation) of the gripper; at the same time, an absolute position encoder (resolution 0.001mm) at the end of the mechanical arm is used to collect motion position data at the corresponding time. The clamping force data and the position data are aligned by time stamp, imported into Python software, and the clamping force data is processed by 5-point moving average method to eliminate noise, and then the position data is taken as the horizontal axis and the processed clamping force data is taken as the vertical axis to draw a "position-clamping force" change curve, which is the dynamic line clamping force trend of the pneumatic gripper, and the peak value of the curve corresponds to the maximum clamping force in the action adjustment, and the valley value corresponds to the minimum clamping force. Then, the "maximum safe clamping force" and "minimum safe clamping force" (such as maximum 30N and minimum 24N) of the suction point position are extracted from the suction load discrimination label; the real-time clamping force value (such as 26N and 28N) of the suction point position at each time of action adjustment is extracted from the dynamic line clamping force trend. The real-time load margin is calculated: positive margin = maximum safe clamping force - real-time clamping force value (such as 30N-28N=2N), negative margin = real-time clamping force value - minimum safe clamping force (such as 26N-24N=2N), and the smaller value of the positive margin and the negative margin is taken as the real-time load margin of the point position (such as 2N). The above calculation is repeated for each suction point position to obtain the real-time load margin of all point positions. Finally, the real-time load margins of all suction point positions are screened to find the minimum real-time load margin (such as 1.5N), and the suction point position corresponding to the minimum margin is taken as the core reference point position. Combined with the motion parameter library of the mechanical arm (including joint angle, end speed, lifting height, etc.), the motion parameters of the reference point position are gradually adjusted: when the motion parameters increase (such as the angle from 10° to 15°), if the real-time load margin decreases to 80% of the minimum margin (such as 1.2N), the adjustment is stopped, and the motion parameters at this time are the upper limit value in this direction; and then the lower limit value of the motion parameters (such as angle ≥0.5°, speed ≥0.1m / s) is set according to the production rhythm demand (such as 60 pieces per hour). The upper and lower limit values of the motion parameters in all directions are integrated to form the suction point load range limit of the intelligent floor tile handling.

[0069] It should be noted that in the present application, the dynamic line clamping force trend refers to the law of change of the clamping force along the motion trajectory during the action adjustment of the pneumatic gripper; the real-time load margin refers to the difference between the current clamping force of each suction point position and the safety limit; and the suction point load range limit refers to the motion range of the mechanical arm corresponding to each suction point position in the intelligent floor tile handling.

[0070] In step S3, the disturbance trajectory deviation of the floor tile carrying mechanical arm under the disturbance working condition is determined, the disturbance trajectory deviation is tracked and corrected, the attitude suppression amplitude of the floor tile in the carrying pose transformation procedure is obtained, and then the moving and carrying shaping strategy of the floor tile in the carrying path planning is determined according to the attitude suppression amplitude.

[0071] In the embodiment, the determination of the disturbance trajectory deviation of the floor tile carrying mechanical arm under the disturbance working condition can be achieved by the following steps:

[0072] The body pose bias of the floor tile carrying mechanical arm is determined.

[0073] The dynamic invasion information of the floor tile carrying mechanical arm under the disturbance working condition is determined according to the body pose bias.

[0074] The disturbance trajectory deviation of the floor tile carrying mechanical arm under the disturbance working condition is determined according to the dynamic invasion information.

[0075] In a specific implementation, first, six-axis gyroscopes (measurement accuracy ±0.01°, sampling frequency 200 Hz) and laser tracker reflection target balls are respectively installed at key joints of the base, the large arm and the small arm of the robot arm; the robot arm is first driven to a preset standard pose, and the attitude angle of the gyroscope at this time (such as the base horizontal angle 0° and the large arm pitch angle 30°) and the joint space coordinates measured by the laser tracker (such as the large arm joint X=0.5 m, Y=0 m and Z=1 m) are recorded as standard pose data. Then, under a disturbance working condition (such as workshop airflow and equipment vibration), the attitude angle and coordinate data of the same target pose of the robot arm are repeatedly collected, and the difference between the actual and standard data is calculated: the position offset is calculated by the Euclidean distance, and the attitude offset is the difference in attitude angle, so as to obtain the body pose offset of the floor tile carrying robot arm. Then, the body pose offset is sorted by time stamp to form a time series data set (time interval 0.005 s); the data is processed by using the Kalman filtering algorithm: the state equation (X(k)=A×X(k-1)+W(k), A is the state transition matrix taking 1, and W(k) is the process noise) and the observation equation Z(k)=H×X(k)+V(k), H is the observation matrix taking 1, and V(k) is the observation noise) are established, and the random noise caused by vibration is removed through the prediction and update steps. Then, the change rate (such as ΔS / Δt and Δθ / Δt) of the pose offset in the window is calculated by using the sliding window method of 50 data points, the disturbance direction (such as the positive change rate for positive disturbance along the X axis) is judged according to the positive and negative of the change rate, the disturbance intensity is reflected by the absolute value of the change rate, the direction, intensity and time sequence change law are integrated, and the dynamic disturbance information of the floor tile carrying robot arm under the disturbance working condition is formed. Finally, the preset standard carrying trajectory data is called from the robot arm control system; according to the disturbance direction and intensity in the dynamic disturbance information, a mapping model of the pose offset to the end trajectory is established: for example, the base position offset ΔS will be directly superimposed on the end X axis coordinate, and the large arm attitude offset Δθ will calculate the end Z axis offset (ΔZ=L×sinΔθ, L is the length of the large arm) through the arm length. The end offset corresponding to the dynamic disturbance information is superimposed on the standard trajectory coordinates to obtain the actual trajectory coordinates under the disturbance working condition, and the Euclidean distance between the actual and standard trajectory coordinates is calculated, that is, the disturbance trajectory deviation of the floor tile carrying robot arm under the disturbance working condition.

[0076] It should be noted that in the present application, the body pose offset refers to the deviation degree of the actual pose of the robot arm body from the standard pose; the dynamic disturbance information refers to the change law and influence intensity of the robot arm pose offset with time under the disturbance working condition; and the disturbance trajectory deviation refers to the difference between the actual motion trajectory and the preset standard trajectory when the floor tile is clamped and carried.

[0077] Preferably, in the present embodiment, the disturbance trajectory deviation is tracked and corrected to obtain the attitude suppression amplitude of the floor tile in the carrying pose transformation procedure, and the reference Figure 3As shown, the figure is a flow diagram of determining the posture suppression amplitude in some embodiments of the application. In this embodiment, the determination of the posture suppression amplitude can be achieved by the following steps:

[0078] In step S31, the deviation pattern features in the disturbance trajectory deviation are extracted;

[0079] In step S32, the posture suppression strategy of the floor tile in the carrying pose transformation procedure is determined according to the deviation pattern features;

[0080] In step S33, the joint torque of the gripper is adjusted in real time based on the posture suppression strategy, and a pose correction rule is generated;

[0081] In step S34, the posture suppression amplitude of the floor tile in the carrying pose transformation procedure is determined according to the pose correction rule.

[0082] In a specific implementation, first, the deviation values of the carrying pose transformation stage (such as turning and lifting) are intercepted from the disturbance trajectory deviation in time sequence, and the sampling interval is set to 0.005 s. A time and frequency domain joint analysis method is used to extract features: in the time domain, the mean value of the deviation (to judge the static offset, for example, a mean value of 0.02 m represents a continuous offset) and the standard deviation (to judge the fluctuation degree, for example, a standard deviation of 0.005 m represents a small amplitude fluctuation) are calculated; in the frequency domain, the time domain deviation data is converted into a frequency domain signal through fast Fourier transform to identify the dominant frequency of the deviation fluctuation (for example, 5 Hz represents high-frequency vibration deviation). At the same time, the direction feature of the deviation (such as X-axis positive direction and Z-axis negative direction) is labeled, and the mean value, standard deviation, dominant frequency, and direction are integrated to form the deviation pattern feature. Next, different deviation pattern features are matched with suppression strategies: if the deviation pattern feature is "static offset (mean value > 0.01 m) and no obvious fluctuation (standard deviation < 0.003 m)", a proportional-integral-derivative (PID) control strategy is used to eliminate the static deviation by fixing the proportional coefficient (Kp = 2), integral time (Ti = 0.5 s), and derivative time (Td = 0.2 s); if it is "dynamic fluctuation (standard deviation > 0.005 m) and dominant frequency < 3 Hz", an adaptive PID control strategy is used to adjust Kp in real time according to the fluctuation amplitude (Kp increases by 0.1 for every 0.001 m increase in amplitude); if it is "high-frequency vibration (dominant frequency > 5 Hz)", a filtering control strategy is used to add a low-pass filter (cutoff frequency 3 Hz) to the joint torque adjustment to weaken the vibration. The matching result is used as the attitude suppression strategy of the floor tile in the carrying pose transformation procedure. Then, torque sensors are installed on each joint (such as the rotating joint and the lifting joint) of the gripper to collect the current torque value of the joint in real time. According to the attitude suppression strategy, the adjustment is executed: if it is a PID strategy, the adjustment amount is calculated according to the formula "ΔT = Kp × e + Ki × ∫edt + Kd × de / dt" (ΔT is the torque adjustment amount, and e is the real-time deviation), such as when the deviation e = 0.02 m, ΔT = 2 × 0.02 + (1 / 0.5) × 0.02 × 0.005 + 0.2 × (0.02 / 0.005) = 0.04 + 0.0004 + 0.8 = 0.8404 N·m, the joint motor adjusts the torque. Record multiple sets of "deviation value - torque adjustment amount - correction effect" data, select the parameters with correction effect up to standard (deviation reduced to within 0.005 m), and form the pose correction rule, such as "X-axis deviation 0.01-0.02 m, rotating joint torque adjustment +0.5-0.8 N·m". Finally, all valid "deviation value - torque adjustment amount" data pairs are extracted from the pose correction rule to find the maximum initial deviation value that can maintain the stability of the floor tile (no tilting and no sliding) after correction, such as X-axis maximum initial deviation 0.03 m and Z-axis maximum initial deviation 0.02 m.Select 10 floor tiles from the same batch for verification test, simulate attitude offset according to the above maximum deviation value, observe whether instability (such as inclination angle > 2°) occurs through industrial camera, if more than 3 pieces are unstable, reduce the maximum deviation value by 5%, repeat the test until all samples are stable. The maximum deviation value that passes the verification is finally taken as the attitude suppression amplitude of the floor tile in the transport pose transformation procedure.

[0083] It should be noted that in the present application, the deviation mode feature refers to the specific form of change trend and amplitude of the disturbance trajectory deviation; the attitude suppression strategy refers to the specific control method of correcting the disturbance trajectory deviation and stabilizing the attitude of the floor tile; the pose correction rule refers to the conversion of the attitude suppression strategy into executable gripper joint torque adjustment parameter standard; the attitude suppression amplitude refers to the maximum attitude deviation value allowed in the transport pose transformation of the floor tile; the gripper joint torque represents the joint torque generated at each joint of the gripper for adjusting the joint motion state; the pose transformation procedure refers to the process and parameters of the pose transformation of the robot and the floor tile in the transport of the floor tile, which ensures the smooth and safe operation standard of the transformation.

[0084] In the present embodiment, the transfer shaping strategy of the floor tile in the transport path planning determined by the attitude suppression amplitude can be realized by the following steps:

[0085] Extract the attitude fluctuation feature of the floor tile at the key points of the transport path from the attitude suppression amplitude;

[0086] Determine the adjustment section of the transport path that needs to be shaped in speed and trajectory through the attitude fluctuation feature;

[0087] Determine the transfer shaping strategy of the floor tile in the transport path planning based on the adjustment section.

[0088] In a specific implementation, first, the key points of the carrying path are determined: including the starting point, the ending point, the turning point (such as a 90° turning point), and the lifting switching point (such as a point where the horizontal carrying is switched to vertical lifting), a total of 5-8 key points are set. Industrial cameras and laser displacement sensors are installed at each key point to synchronously collect the attitude data (inclination angle, translation offset) of the floor tile at the point. The collected attitude data is compared with the attitude suppression amplitude (such as allowing the inclination angle to be ≤1.8° and the translation offset to be ≤0.025 m), the difference between the actual fluctuation value and the allowed value is calculated; at the same time, the time domain analysis method is used to calculate the standard deviation (reflecting the fluctuation intensity) and the frequency (reflecting the fluctuation speed) of the attitude fluctuation at the key point, and the difference, the standard deviation, and the frequency are integrated to form the attitude fluctuation characteristics of each key point. Then, the fluctuation threshold is set: when the attitude fluctuation difference of the key point exceeds 80% of the attitude suppression amplitude (such as the inclination angle difference >1.44° and the offset difference >0.02 m), or the fluctuation standard deviation >0.05° (inclination angle) / 0.005 m (offset), it is determined that the section where the key point is located needs to be adjusted. Taking the key point that needs to be adjusted as the center, extending 0.5-1 m (according to the speed of the mechanical arm, such as 0.8 m when the speed is 0.3 m / s) before and after the path, the starting and ending coordinates of the adjustment section are determined, for example, “turning point coordinates (5 m, 0 m), adjustment section (4.2 m, 0 m) to (5.8 m, 0 m)”. At the same time, according to the fluctuation characteristics, the adjustment type is distinguished: if the fluctuation is caused by a sudden change in speed (such as a large standard deviation and a low frequency), it is marked as a “speed shaping section”; if it is caused by a trajectory inflection point (such as a large offset at a turning point), it is marked as a “trajectory shaping section”, that is, the adjustment section in the carrying path that needs to be shaped in speed and trajectory is obtained. Finally, strategies are developed for different adjustment types: for the “speed shaping section”, an S-shaped acceleration and deceleration mode can be used, an acceleration and deceleration curve is generated by MATLAB, the acceleration in the acceleration section is set to increase linearly from 0 to 0.3 m / s² and then decrease to 0, the deceleration in the deceleration section is set to increase linearly from 0 to 0.3 m / s² and then decrease to 0, replacing the original step acceleration and deceleration, such as the original speed from 0.3 m / s suddenly decreasing to 0.1 m / s, which is replaced by a slow transition according to the S-shaped curve, ensuring that the speed change rate is ≤0.2 m / s³. For the “trajectory shaping section”, a circular arc transition trajectory is used, the curvature radius of the circular arc is calculated according to the attitude suppression amplitude (such as 0.6 m when the allowed offset is 0.025 m), the original right-angle turning trajectory is replaced by a circular arc trajectory, and the two ends of the circular arc are smoothly connected to the original path. At the same time, the strategy parameters are clearly defined: the maximum speed, acceleration and deceleration time of the speed shaping section, and the circular arc radius and transition length of the trajectory shaping section, that is, the transfer shaping strategy for the floor tile in the carrying path planning is formed.

[0089] It should be noted that in the present application, the attitude fluctuation feature refers to the attitude change amplitude and frequency of the floor tiles at the key points of the conveying path; the adjustment section refers to a specific section of the conveying path that needs to be optimized in terms of speed or trajectory; and the transfer shaping strategy refers to a method of controlling the attitude fluctuation of the floor tiles within the attitude suppression amplitude to ensure stable conveying.

[0090] In step S4, the clamping attitude of the floor tile conveying robot arm during collaborative work is checked and guided according to the suction point load path limit and the transfer shaping strategy.

[0091] In a specific implementation, the clamping attitude of the floor tile conveying robot arm during collaborative work can be checked and guided according to the suction point load path limit and the transfer shaping strategy in the following manner: first, a collaborative control network based on industrial Ethernet is established, and all floor tile conveying robot arm control systems participating in the work, distributed force sensors (measuring clamping force), absolute position encoders (measuring end speed / rotation angle), and industrial cameras (measuring floor tile attitude) are connected to the network to transmit real-time clamping attitude data (clamping force, end speed, joint rotation angle, and trajectory coordinates) of each robot arm. The central controller calls the preset suction point load path limit (such as clamping force 24-30N and vertical speed 0.1-0.3m / s) and transfer shaping strategy (such as S-shaped acceleration and deceleration parameters and circular arc trajectory curvature radius 0.6m) as the checking standard, and compares the actual data of each robot arm one by one: if the clamping force exceeds 30N, the speed exceeds 0.3m / s, or the trajectory deviates from the circular arc parameters, it is determined that there is a deviation. Mild deviation (such as clamping force 31N) instructs the corresponding robot arm to fine-tune the pneumatic pressure; severe deviation (such as speed 0.5m / s) instructs all robot arms to slow down to 0.1m / s for correction; and deviation exceeding the emergency threshold (such as clamping force 40N) triggers an emergency stop, dynamic checking and guiding adjustment throughout the process to ensure that the collaborative clamping attitude is at the specified position, which will not be described here.

[0092] It should be noted that in the present application, checking and guiding refers to comparing the actual clamping attitude of the robot arm with the suction point load path limit and the transfer shaping strategy, and guiding adjustment to ensure stable collaborative work.

[0093] Therefore, in the present application, the intelligent floor tile carrying process for decoration can be precisely controlled in the whole process through multi-dimensional perception and dynamic control mechanism. The force source array information of the pneumatic gripper at the end of the mechanical arm and the contact surface of the floor tile is obtained, which makes up for the lack of distributed force perception in the prior art. The flexible suction point position is determined by the force source array information, the guide compensation generates the suction load discrimination label, and then the suction point load position limit in the intelligent carrying process of the floor tile is determined in combination with the dynamic line clamping force trend. The suction point position with the smallest pressure standard deviation is dynamically selected, the point position deviation is corrected in real time, and the safe load and the motion boundary are determined. The problems of no dynamic point position optimization and suction load standard are solved, and the problems of overload damage and underload sliding are eliminated. The disturbance trajectory deviation is determined and tracked and corrected to obtain the attitude suppression amplitude, and then the moving and loading shaping strategy is determined. The defects of attitude instability under disturbance in the prior art are improved, and the risk of sliding in the carrying process is eliminated. The suction point load position limit and the moving and loading shaping strategy are used to check and guide the clamping state of the floor tile carrying mechanical arm in the cooperative operation process, and the stability, safety and efficiency of the intelligent carrying are comprehensively guaranteed.

[0094] In summary, the technical scheme adopted in the present application can precisely control the clamping strategy and path planning of the floor tile carrying mechanical arm under complex disturbance conditions, so as to improve the stability of the intelligent carrying of the floor tile.

[0095] In the present application, a floor tile intelligent carrying control system for decoration is provided. As shown in Figure 4 The carrying control system includes:

[0096] An information acquisition module 100 is configured to acquire force source array information of a pneumatic gripper at the end of a mechanical arm and a contact surface of a floor tile in a carrying process of the floor tile.

[0097] A guide compensation module 200 is configured to determine a flexible suction point position of the floor tile in clamping and carrying by the force source array information, perform guide compensation on the flexible suction point position, obtain a suction load discrimination label of the pneumatic gripper in direction changing and carrying, and then determine a suction point load position limit of the floor tile in an intelligent carrying process by the suction load discrimination label and a dynamic line clamping force trend of the pneumatic gripper in action adjustment.

[0098] A tracking correction module 300 is configured to determine a disturbance trajectory deviation of a floor tile carrying mechanical arm under a disturbance condition, track and correct the disturbance trajectory deviation, obtain an attitude suppression amplitude of the floor tile in a carrying posture conversion procedure, and then determine a moving and loading shaping strategy of the floor tile in carrying path planning by the attitude suppression amplitude.

[0099] A checking and guiding module 400 is configured to check and guide a clamping state of a floor tile carrying mechanical arm in a cooperative operation process according to the suction point load position limit and the moving and loading shaping strategy.

[0100] In embodiment three, the present application also provides a carrying device, which comprises the intelligent carrying control system for floor tiles for decoration described above, and is used to execute the intelligent carrying control method for floor tiles for decoration in the present application.

[0101] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device that implements the flowcharts and / or block diagrams. Figure 1 The device that implements the functions specified in one flow or multiple flows and / or blocks. Figure 1 The device that implements the functions specified in one flow or multiple flows and / or blocks.

[0102] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by programs instructing relevant hardware, and the programs can be stored in a computer readable storage medium, including a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically-Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other medium capable of carrying or storing data which can be read by a computer.

[0103] It is also to be noted that the terms "comprising", "including", and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without further restriction, exclude the existence of additional elements of the process, method, article, or apparatus that comprises the element.

Claims

1. A method for intelligent handling and control of floor tiles used in decoration, characterized in that, The transport control method includes the following steps: The force source array information is obtained on the contact surface between the pneumatic gripper at the end of the robotic arm and the floor tile during the handling process. The force source array information refers to the data set corresponding to the normal pressure, tangential friction force and spatial position of each detection point on the contact surface between the gripper and the floor tile. The flexible suction point of the floor tile during clamping and handling is determined by the force source array information. The flexible suction point is guided and compensated to obtain the suction load discrimination label of the clamp during the change of direction handling. Then, the suction load discrimination label and the clamping force trend of the pneumatic clamp during the action adjustment are used to determine the suction point load limit of the floor tile during the intelligent handling process. Specifically, determining the flexible suction point of the floor tile during clamping and handling using the force source array information includes: The displacement response distribution of the floor tile during clamping and handling is determined based on the force source array information. The displacement acceptance boundary during clamping and handling is determined by the displacement response distribution, wherein the displacement acceptance boundary refers to the maximum allowable displacement value of the floor tile during clamping and handling. The flexible suction point of the floor tile during clamping and handling is determined by the displacement receiving boundary information. Among them, the flexible suction point refers to ensuring that the force is uniform and the displacement is within a safe range when the floor tile is clamped, providing the optimal contact area for the pneumatic gripper; the suction judgment label is an identifier used to determine whether the suction state is normal when the gripper is changing direction for transport; the suction point range limit refers to limiting the range of motion of the robotic arm corresponding to each suction point in the intelligent handling of floor tiles. Determine the disturbance trajectory deviation of the floor tile handling robot arm under disturbance conditions, track and correct the disturbance trajectory deviation, obtain the attitude suppression amplitude of the floor tile in the handling posture transformation procedure, and then determine the transfer and shaping strategy of the floor tile in the handling path planning based on the attitude suppression amplitude. The clamping position of the floor tile handling robot arm during collaborative operation is checked and guided based on the suction point range limit and the transfer and shaping strategy.

2. The intelligent handling control method for decorative floor tiles as described in claim 1, characterized in that, The pneumatic gripper refers to the actuator at the end of a robotic arm that is pneumatically driven and has a contact working surface, used to stably grip floor tiles.

3. The intelligent handling control method for decorative floor tiles as described in claim 1, characterized in that, The determination of the suction point range limit of the floor tile during intelligent handling, based on the suction discrimination label and the clamping force trend of the pneumatic gripper during motion adjustment, specifically includes: Determine the clamping force trend along the movement line of the pneumatic gripper during motion adjustment; The real-time load margin of each suction point is determined based on the suction discrimination label and the clamping force trend of the moving line; The suction point range limit of the floor tiles during intelligent handling is determined by all real-time load margins.

4. The intelligent handling control method for decorative floor tiles as described in claim 1, characterized in that, The aforementioned clamping force trend refers to the regular characteristics of the clamping force changing with the motion trajectory during the adjustment of the pneumatic gripper's action.

5. The intelligent handling control method for decorative floor tiles as described in claim 1, characterized in that, The specific deviations in the disturbance trajectory of the floor tile handling robot under disturbed conditions include: Determine the body pose offset of the floor tile handling robot arm; The dynamic intrusion information of the floor tile handling robot arm under disturbance conditions is determined based on the body posture offset. The disturbance trajectory deviation of the floor tile handling robot arm under disturbance conditions is determined based on the dynamic intrusion information.

6. The intelligent handling control method for decorative floor tiles as described in claim 1, characterized in that, The specific transfer and shaping strategy for floor tiles during transport path planning, determined by the attitude suppression amplitude, includes: The attitude fluctuation characteristics of the floor tiles at key points on the transport path are extracted from the attitude suppression amplitude. The attitude fluctuation characteristics are used to determine the sections in the transport path that require speed and trajectory shaping adjustments; Based on the adjustment section, the transfer and shaping strategy for floor tiles is determined during the transportation path planning.

7. A smart handling control system for decorative floor tiles, used to execute the smart handling control method for decorative floor tiles as described in any one of claims 1 to 6, characterized in that, The transport control system includes: The information acquisition module is used to acquire the force source array information on the contact surface between the pneumatic gripper at the end of the robotic arm and the floor tile during the handling process. The guidance compensation module is used to determine the flexible suction point of the floor tile during clamping and handling through the force source array information, perform guidance compensation on the flexible suction point, obtain the suction load discrimination label of the clamp during the change of direction handling, and then determine the suction point load limit of the floor tile during the intelligent handling process by the suction load discrimination label and the clamping force trend of the pneumatic clamp during the action adjustment. The tracking and correction module is used to determine the disturbance trajectory deviation of the floor tile handling robot arm under disturbance conditions, track and correct the disturbance trajectory deviation, obtain the attitude suppression amplitude of the floor tile in the handling posture transformation procedure, and then determine the transfer and shaping strategy of the floor tile in the handling path planning based on the attitude suppression amplitude. The verification and guidance module is used to verify and guide the clamping position of the floor tile handling robot arm during collaborative operation based on the suction point range limit and the transfer and shaping strategy.

8. A conveying device, characterized in that, It includes the intelligent handling control system for decorative floor tiles as described in claim 7.

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