Cooperative control method and system of robot in liquid crystal panel stereoscopic warehouse

Abstract

The application discloses a kind of liquid crystal panel stereoscopic warehouse robot cooperative control method and system, and the dynamic interaction of the grabbing arm of robot and liquid crystal panel stereoscopic warehouse is carried out, when robot moves to the position to be taken, the cooperative balance relationship of the current posture of the grabbing arm of robot and the current posture of liquid crystal panel to be used is constructed, so as to be cooperatively controlled to the current posture of the grabbing arm of robot and the current posture of liquid crystal panel to be used, and the cooperative balance relationship of the current posture of the grabbing arm of robot and the current posture of liquid crystal panel to be used is guaranteed, so as to define the cooperative control relationship of grabbing arm according to multiple grabbing coefficients and the movement trajectory of grabbing arm, so as to control the movement stability of liquid crystal panel to be used based on the cooperative control relationship of grabbing arm, so as to be cooperatively controlled to liquid crystal panel to be used in liquid crystal panel stereoscopic warehouse and the grabbing arm of robot whole-chain.

Description

Technical Field

[0001] This invention relates to the field of LCD panel automated storage and retrieval system (AS / RS) technology, and in particular to a collaborative control method and system for robots in an LCD panel AS / RS. Background Technology

[0002] With the development of technology, 3D LCD panel storage facilities have emerged as storage repositories for LCD panels, arranged in a three-dimensional layout. These facilities contain multiple storage spaces for LCD panels. In existing technologies, LCD panels are detached from their storage spaces, and robotic arms grasp them at a predetermined single position. However, there is no control over the posture of the LCD panels or the robotic arms, resulting in low stability during the movement of the LCD panels. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a collaborative control method and system for robots in an automated storage and retrieval system (AS / RS) for LCD panels. The robot's gripping arm dynamically interacts with the AS / RS. When the robot moves to the position to be picked up or placed, a collaborative balance relationship is established between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used. This facilitates collaborative control of the current posture of the robot's gripping arm and the current posture of the LCD panel to be used, ensuring the collaborative balance between the two. Based on multiple gripping coefficients and the movement trajectory of the gripping arm, a collaborative control relationship for the gripping arm is defined. This allows for control of the movement stability of the LCD panel to be used based on the collaborative control relationship, thereby enabling full-chain collaborative control of the LCD panel to be used in the AS / RS and the robot's gripping arm.

[0004] To address the aforementioned technical problems, this invention provides a collaborative control method for robots in an automated storage and retrieval system (AS / RS) for LCD panels, applicable to an AS / RS for LCD panels. The collaborative control method for robots in the LCD panel automated storage and retrieval system includes: Multiple LCD panels are stored in an LCD panel 3D library. Basic information of the LCD panels to be used is collected, and the position signal of the LCD panel to be used relative to the LCD panel 3D library is determined based on the basic information of the LCD panel to be used. The positioning response of the LCD panel storage system is triggered based on the position signal of the LCD panel to be used relative to the LCD panel storage system, and the LCD panel to be used is moved to the position to be picked up or placed. The position of the LCD panel to be used is detected based on the position to be picked up and placed, and multiple first attitude parameters of the LCD panel to be used are collected. The current attitude of the LCD panel to be used is defined based on the multiple first attitude parameters. When the robot moves to the position to be picked up or placed, a cooperative balance relationship is established between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used; The gripping arm acquires multiple gripping coefficients of the LCD panel to be used, and defines a cooperative control relationship of the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm.

[0005] Optionally, storing multiple liquid crystal panels in a liquid crystal panel storage library, collecting basic information of the liquid crystal panels to be used, and determining the position signal of the liquid crystal panels to be used relative to the liquid crystal panel storage library based on the basic information of the liquid crystal panels to be used includes: Multiple LCD panels are stored in an LCD panel 3D library. The storage of LCD panels is triggered based on the collected signals from the LCD panel 3D library, and the storage space of the LCD panels is located. The storage space based on the LCD panel collects multiple storage parameters of the LCD panel and defines the storage environment of the LCD panel based on these multiple storage parameters. The storage orientation of the LCD panel is collected, and dynamic interaction is performed based on the storage orientation of the LCD panel, the preset storage information of the LCD panel, and the storage environment of the LCD panel to create a storage system adapted to the LCD panel. Collect basic information about the LCD panel to be used; Define the model and location coordinates of the LCD panel to be used based on its basic information; The position signal of the LCD panel to be used relative to the LCD panel 3D library is determined based on the model and position coordinates of the LCD panel to be used.

[0006] Optionally, the step of triggering the positioning response of the LCD panel storage system based on the position signal of the LCD panel to be used relative to the LCD panel storage system, and moving the LCD panel to be used to the position to be picked up or placed, includes: The positioning response of the LCD panel 3D library is triggered based on the position signal of the LCD panel to be used relative to the LCD panel 3D library. In the positioning response of the LCD panel 3D library, images of the LCD panel to be used before storage and during the retrieval process are acquired; The comparison results are output based on the comparison between the image before storage and the image during retrieval, and the consistency of the LCD panel to be used is determined based on the comparison results; If the comparison results are consistent, the moving arm in the storage space will be triggered; The position of the LCD panel to be used is adjusted based on the movement of the moving arm until the LCD panel to be used is moved to the position to be picked up and placed. At this time, the LCD panel to be used moves at a constant speed within a preset speed.

[0007] Optionally, the step of positioning and detecting the LCD panel to be used based on the position to be picked up and placed, and collecting multiple first attitude parameters of the LCD panel to be used, and defining the current attitude of the LCD panel to be used based on the multiple first attitude parameters, includes: When the LCD panel to be used is moved to the position to be picked up or placed, a positioning detection signal is output; The positioning detection of the LCD panel to be used is triggered by the positioning detection signal when it is in the position to be picked up or placed. During the positioning and detection process of the LCD panel to be used, the LCD panel to be used is photographed in multiple different directions, and multiple posture images are acquired. Determine first pose parameters in multiple different directions based on image recognition of multiple pose images; Construct a set of first attitude parameters based on first attitude parameters in multiple different directions; The current attitude of the LCD panel to be used is defined based on the first set of attitude parameters and the tilt angle of the LCD panel to be used.

[0008] Optionally, the step of establishing a cooperative balance between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed includes: When the robot moves to the position to be picked up or placed, the current posture of the LCD panel to be used is collected.

[0009] Optionally, the step of establishing a coordinated balance between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed further includes: The current posture of the robot's gripper arm; The current posture of the robot's gripper arm and the current posture of the LCD panel to be used are correlated within the same space; The robot's gripper arm's current posture is dynamically interacted with the LCD panel to be used, and a matching coefficient between the robot's gripper arm's current posture and the LCD panel to be used is defined in the dynamic interaction.

[0010] Optionally, the step of establishing a coordinated balance between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed further includes: The height position of the LCD panel to be used is collected, and a dynamic balance relationship between the robot's gripper and the LCD panel to be used is constructed based on the height position of the LCD panel to be used, the current posture of the robot's gripper arm, the current posture of the LCD panel to be used, and the matching coefficient. A dynamic equilibrium relationship is fixed, which regulates the posture changes of the robot's gripper arm and the LCD panel to be used. At the same time, the gripper arm grasps the LCD panel to be used within the dynamic equilibrium relationship.

[0011] Optionally, the grasping arm acquires multiple grasping coefficients of the LCD panel to be used, and defines a cooperative control relationship of the grasping arm based on the multiple grasping coefficients and the movement trajectory of the grasping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the grasping arm, including: The grasping arm collects multiple grasping coefficients of the LCD panel to be used; A mechanical 3D model of the LCD panel to be used is constructed based on multiple grasping coefficients.

[0012] Optionally, the acquisition gripping arm collects multiple gripping coefficients of the LCD panel to be used, and defines a cooperative control relationship of the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm, and further includes: The mechanical state of the LCD panel to be used is defined based on the mechanical 3D diagram; The dynamic control logic of the gripper arm is defined based on the mechanical state of the LCD panel to be used and the movement trajectory of the gripper arm, and the movement stability of the LCD panel to be used is controlled according to the dynamic control logic of the gripper arm.

[0013] In addition, embodiments of the present invention also provide a collaborative control system for robots in an automated storage and retrieval system (AS / RS) for liquid crystal panels, the collaborative control system for robots in the AS / RS for liquid crystal panels comprising: The acquisition module is used to store multiple LCD panels in an LCD panel 3D library, acquire basic information of the LCD panels to be used, and determine the position signal of the LCD panels to be used relative to the LCD panel 3D library based on the basic information of the LCD panels to be used. The positioning module is used to trigger the positioning response of the LCD panel storage unit based on the position signal of the LCD panel to be used relative to the LCD panel storage unit, and move the LCD panel to be used to the position to be picked up or placed. The first attitude module is used to locate and detect the LCD panel to be used based on the position to be picked up and placed, and to collect multiple first attitude parameters of the LCD panel to be used, and to define the current attitude of the LCD panel to be used based on the multiple first attitude parameters. The first dynamic module is used to establish a coordinated balance between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed. The control module is used to collect multiple gripping coefficients of the gripping arm for the LCD panel to be used, and define the cooperative control relationship of the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm.

[0014] In this embodiment of the invention, the method of this embodiment determines the position signal of the liquid crystal panel to be used relative to the liquid crystal panel storage system based on the basic information of the liquid crystal panel to be used. The positioning response of the liquid crystal panel storage system is triggered based on the position signal of the liquid crystal panel to be used relative to the liquid crystal panel storage system, and the liquid crystal panel to be used is moved to the position to be picked up and placed. Thus, the liquid crystal panel to be used is partially moved in the liquid crystal panel storage system, so as to facilitate dynamic interaction between the robot's gripper arm and the liquid crystal panel storage system.

[0015] When the robot moves to the pick-up / place position, a collaborative balance relationship is established between the current posture of the robot's gripper arm and the current posture of the LCD panel to be used. This facilitates collaborative control of the current postures of the robot's gripper arm and the LCD panel to be used, ensuring a collaborative balance between them. Based on multiple gripping coefficients and the movement trajectory of the gripper arm, a collaborative control relationship for the gripper arm is defined. This allows for control of the movement stability of the LCD panel to be used, enabling full-chain collaborative deployment and control of the LCD panel in the LCD panel storage system and the robot's gripper arm. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the collaborative control method for robots in a liquid crystal panel automated warehouse according to an embodiment of the present invention. Figure 2 This is a flowchart illustrating step S11 of the collaborative control method for robots in a liquid crystal panel 3D library according to an embodiment of the present invention. Figure 3 This is a flowchart illustrating step S12 of the collaborative control method for robots in a liquid crystal panel 3D library according to an embodiment of the present invention. Figure 4 This is a flowchart illustrating step S13 of the collaborative control method for robots in a liquid crystal panel 3D library according to an embodiment of the present invention. Figure 5 This is a flowchart illustrating step S14 of the collaborative control method for robots in a liquid crystal panel 3D library according to an embodiment of the present invention. Figure 6 This is a flowchart illustrating step S15 of the collaborative control method for robots in a liquid crystal panel 3D library according to an embodiment of the present invention. Figure 7 This is a schematic diagram of the structural composition of the collaborative control system for robots in the liquid crystal panel automated warehouse according to an embodiment of the present invention; Figure 8 This is a hardware diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0018] 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. Example

[0019] Please see Figures 1 to 8 A collaborative control method for robots in an automated storage and retrieval system (AS / RS) for LCD panels is disclosed, applicable to the AS / RS for LCD panels. The collaborative control method for robots in the AS / RS for LCD panels includes: Step S11: Store multiple LCD panels in the LCD panel 3D library, collect basic information of the LCD panels to be used, and determine the position signal of the LCD panels to be used relative to the LCD panel 3D library based on the basic information of the LCD panels to be used. Step S12: Trigger the positioning response of the LCD panel storage unit according to the position signal of the LCD panel to be used relative to the LCD panel storage unit, and move the LCD panel to be used to the position to be picked up or placed. Step S13: Based on the position to be picked up and placed, perform positioning detection on the LCD panel to be used, and collect multiple first attitude parameters of the LCD panel to be used, and define the current attitude of the LCD panel to be used based on the multiple first attitude parameters; Step S14: When the robot moves to the position to be picked up or placed, establish a cooperative balance relationship between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used; Step S15: Collect multiple gripping coefficients of the gripping arm for the LCD panel to be used, and define the cooperative control relationship of the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm.

[0020] In this embodiment of the invention, the method of this embodiment determines the position signal of the liquid crystal panel to be used relative to the liquid crystal panel storage system based on the basic information of the liquid crystal panel to be used. The positioning response of the liquid crystal panel storage system is triggered based on the position signal of the liquid crystal panel to be used relative to the liquid crystal panel storage system, and the liquid crystal panel to be used is moved to the position to be picked up and placed. Thus, the liquid crystal panel to be used is partially moved in the liquid crystal panel storage system, so as to facilitate dynamic interaction between the robot's gripper arm and the liquid crystal panel storage system.

[0021] When the robot moves to the pick-up / place position, a collaborative balance relationship is established between the current posture of the robot's gripper arm and the current posture of the LCD panel to be used. This facilitates collaborative control of the current postures of the robot's gripper arm and the LCD panel to be used, ensuring a collaborative balance between them. Based on multiple gripping coefficients and the movement trajectory of the gripper arm, a collaborative control relationship for the gripper arm is defined. This allows for control of the movement stability of the LCD panel to be used, enabling full-chain collaborative deployment and control of the LCD panel in the LCD panel storage system and the robot's gripper arm.

[0022] In step S11, multiple liquid crystal panels are stored in a liquid crystal panel storage library, basic information of the liquid crystal panels to be used is collected, and the position signal of the liquid crystal panels to be used relative to the liquid crystal panel storage library is determined based on the basic information of the liquid crystal panels to be used. In the specific implementation of this invention, the specific steps can be as follows: S111: Store multiple LCD panels in an LCD panel storage unit, trigger the storage of LCD panels in place based on the collection signal from the LCD panel storage unit, and locate the storage space of the LCD panels. S112: Based on the storage space of the LCD panel, collect multiple storage parameters of the LCD panel and define the storage environment of the LCD panel according to the multiple storage parameters; S113: Collect the storage orientation of the LCD panel, and dynamically interact with the LCD panel's storage orientation, preset storage information, and storage environment to create a storage system adapted to the LCD panel. S114: Collect basic information about the LCD panel to be used; S115: Define the model and location coordinates of the LCD panel to be used based on the basic information of the LCD panel to be used; S116: Determine the position signal of the LCD panel to be used relative to the LCD panel 3D library based on the model and position coordinates of the LCD panel to be used.

[0023] In the embodiments of this application, multiple liquid crystal panels are stored in a liquid crystal panel storage system. The storage of the liquid crystal panels is triggered based on the collection signals of the liquid crystal panel storage system, and the storage space of the liquid crystal panels is located so as to control the storage space of the liquid crystal panels and thereby manage the storage of the liquid crystal panels using the storage space of the liquid crystal panels.

[0024] At this point, multiple storage parameters of the LCD panel are collected based on its storage space, and the storage environment of the LCD panel is defined according to these parameters. This allows for control over the LCD panel's storage environment and real-time management of its storage. Simultaneously, the storage orientation of the LCD panel is collected, and dynamic interaction is performed based on the LCD panel's storage orientation, preset storage information, and storage environment to create a storage system adapted to the LCD panel, ensuring proper storage.

[0025] In addition, basic information of the LCD panel to be used is collected; the model and position coordinates of the LCD panel to be used are defined based on the basic information of the LCD panel to be used; the position signal of the LCD panel to be used relative to the LCD panel 3D library is determined based on the model and position coordinates of the LCD panel to be used, thereby fixing the position signal so as to trigger the LCD panel 3D library to process the LCD panel to be used based on the position signal, thereby realizing the positioning and tracking of the LCD panel to be used in the LCD panel 3D library, so as to realize the material picking of the LCD panel 3D library.

[0026] In step S12, the positioning response of the liquid crystal panel storage is triggered according to the position signal of the liquid crystal panel to be used relative to the liquid crystal panel storage, and the liquid crystal panel to be used is moved to the position to be picked up and placed. In the specific implementation of this invention, the specific steps can be as follows: S121: Trigger the positioning response of the LCD panel storage unit based on the position signal of the LCD panel to be used relative to the LCD panel storage unit; S122: In the positioning response of the LCD panel 3D library, acquire images of the LCD panel to be used before storage and during retrieval; S123: Output a comparison result based on the comparison between the image before storage and the image during retrieval, and determine the consistency of the LCD panel to be used based on the comparison result; S124: If the comparison results are consistent, then the moving arm in the storage space is triggered; S125: The position of the LCD panel to be used is adjusted based on the movement of the moving arm until the LCD panel to be used is moved to the pick-up / place position. At this time, the LCD panel to be used moves at a constant speed within a preset speed.

[0027] In the embodiments of this application, the positioning response of the liquid crystal panel storage unit is triggered according to the position signal of the liquid crystal panel to be used relative to the liquid crystal panel storage unit. At this time, in the positioning response of the liquid crystal panel storage unit, the images of the liquid crystal panel to be used before storage and the images during the retrieval process are collected, so as to compare the images of the liquid crystal panel to be used before storage and the images during the retrieval process, thereby outputting a comparison result based on the comparison of the images before storage and the images during the retrieval process, and determining the consistency of the liquid crystal panel to be used based on the comparison result.

[0028] Furthermore, if the comparison results are consistent, the moving arm in the storage space is triggered; the position of the LCD panel to be used is adjusted based on the movement of the moving arm until the LCD panel to be used is moved to the pick-up / place position, thereby moving the LCD panel to be used by the moving arm so that the LCD panel to be used can be removed from the storage space.

[0029] At this time, the position signal of the LCD panel to be used relative to the LCD panel storage is determined based on the basic information of the LCD panel to be used. The positioning response of the LCD panel storage is triggered based on the position signal of the LCD panel to be used relative to the LCD panel storage, and the LCD panel to be used is moved to the pick-up and put-down position. Thus, the LCD panel to be used is partially moved in the LCD panel storage, so that the robot's gripper arm can dynamically interact with the LCD panel storage.

[0030] In step S13, the position detection of the LCD panel to be used is performed based on the position to be picked up and placed, and multiple first posture parameters of the LCD panel to be used are collected. The current posture of the LCD panel to be used is defined based on the multiple first posture parameters. In the specific implementation of this invention, the specific steps can be as follows: S131: When the LCD panel to be used is moved to the position to be picked up or placed, a positioning detection signal is output; S132: Position detection of the LCD panel to be used when it is in the position to be picked up or placed is triggered based on the positioning detection signal; S133: During the positioning and detection process of the LCD panel to be used, the LCD panel to be used is photographed along multiple different directions, and multiple posture images are acquired; S134: Determine first pose parameters in multiple different directions based on image recognition of multiple pose images; S135: Construct a set of first attitude parameters based on first attitude parameters in multiple different directions; S136: Define the current attitude of the LCD panel to be used based on the first attitude parameter set and the tilt angle of the LCD panel to be used.

[0031] In the embodiments of this application, when the liquid crystal panel to be used is moved to the position to be picked up or placed, a positioning detection signal is output, and the positioning detection of the liquid crystal panel to be used at the position to be picked up or placed is triggered based on the positioning detection signal, so as to control the posture of the liquid crystal panel to be used at the position to be picked up or placed.

[0032] During the positioning and detection process of the LCD panel to be used, multiple images of the LCD panel to be used are captured along multiple different directions, and multiple posture images are collected. First posture parameters in multiple different directions are determined based on image recognition of multiple posture images. A first posture parameter set is constructed based on the first posture parameters in multiple different directions. The current posture of the LCD panel to be used is defined based on the first posture parameter set and the tilt angle of the LCD panel to be used, thereby clarifying the current posture of the LCD panel to be used. Overall control is performed on the first posture parameter set and the tilt angle of the LCD panel to be used, so as to control the current posture of the LCD panel to be used from multiple dimensions.

[0033] S14: When the robot moves to the position to be picked up or placed, establish a cooperative balance relationship between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used; In the specific implementation of this invention, the specific steps can be as follows: S141: When the robot moves to the position to be picked up or placed, the current posture of the LCD panel to be used is collected; S142: Current posture of the robot's gripper arm; S143: The current posture of the robot's gripper arm and the current posture of the LCD panel to be used are associated in the same space; S144: Dynamically interact the current posture of the robot's gripper arm with the current posture of the LCD panel to be used, and define the matching coefficient between the current posture of the robot's gripper arm and the current posture of the LCD panel to be used in the dynamic interaction. S145: Collect the height position of the LCD panel to be used, and construct the dynamic balance relationship between the robot's gripper and the LCD panel to be used based on the height position of the LCD panel to be used, the current posture of the robot's gripper arm, the current posture of the LCD panel to be used, and the matching coefficient. S146: Fix the dynamic equilibrium relationship, which controls the posture changes of the robot's gripper arm and the LCD panel to be used. At the same time, the gripper arm grips the LCD panel to be used in the dynamic equilibrium relationship.

[0034] In the embodiments of this application, when the robot moves to the position to be picked up or placed, the current posture of the LCD panel to be used is collected, and at the same time, the current posture of the robot's gripping arm is collected, so as to facilitate the control of the current posture of the LCD panel to be used and the current posture of the robot's gripping arm.

[0035] Therefore, the current posture of the robot's gripper arm and the current posture of the LCD panel to be used are correlated within the same space. Dynamic interaction between these two postures facilitates dynamic control and adjustment of actions, ensuring the stability of the LCD panel's handling. Furthermore, a matching coefficient is defined within this dynamic interaction to represent the degree of matching, thereby controlling the collaborative interaction between the two postures.

[0036] Furthermore, the height position of the LCD panel to be used is collected, and a dynamic balance relationship between the robot's gripper arm and the LCD panel is constructed based on the height position of the LCD panel to be used, the current posture of the robot's gripper arm, the current posture of the LCD panel to be used, and the matching coefficient. This allows for multi-dimensional confirmation of the dynamic balance relationship, enabling overall control based on the height position of the LCD panel to be used, the current posture of the robot's gripper arm, the current posture of the LCD panel to be used, and the matching coefficient, thereby ensuring the dynamic balance relationship between the robot's gripper arm and the LCD panel to be used.

[0037] Therefore, a dynamic equilibrium relationship is fixed, which regulates the posture changes of the robot's gripper arm and the LCD panel to be used. At the same time, the gripper arm grasps the LCD panel to be used within the dynamic equilibrium relationship, so as to facilitate the gripping control of the gripper arm and the dynamic control of the LCD panel to be used.

[0038] S15: Collect multiple gripping coefficients of the gripping arm for the LCD panel to be used, and define the cooperative control relationship of the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm. In the specific implementation of this invention, the specific steps can be as follows: S151: Collect multiple gripping coefficients of the LCD panel to be used by the gripping arm; S152: Construct a three-dimensional mechanical model of the LCD panel to be used based on multiple gripping coefficients; S153: Define the mechanical state of the LCD panel to be used based on the mechanical 3D diagram; S154: Define the dynamic control logic of the gripper arm based on the mechanical state of the LCD panel to be used and the movement trajectory of the gripper arm, and control the movement stability of the LCD panel to be used according to the dynamic control logic of the gripper arm.

[0039] In the embodiments of this application, multiple gripping coefficients of the gripping arm for the liquid crystal panel to be used are collected; a mechanical three-dimensional model of the liquid crystal panel to be used is constructed based on the multiple gripping coefficients, so as to perform mechanical analysis in the multiple gripping coefficients and to perform analysis along different directions or different dimensions, so as to construct a mechanical three-dimensional model of the liquid crystal panel to be used, thereby further controlling the mechanical three-dimensional model of the liquid crystal panel to be used.

[0040] Therefore, the mechanical state of the LCD panel to be used is defined based on the mechanical 3D diagram; the dynamic control logic of the gripper arm is defined based on the mechanical state of the LCD panel to be used and the movement trajectory of the gripper arm; and the movement stability of the LCD panel to be used is controlled according to the dynamic control logic of the gripper arm, so as to achieve full-chain collaborative deployment of the LCD panel to be used in the LCD panel 3D library and the robot's gripper arm.

[0041] In this embodiment of the invention, the method of this embodiment determines the position signal of the liquid crystal panel to be used relative to the liquid crystal panel storage system based on the basic information of the liquid crystal panel to be used. The positioning response of the liquid crystal panel storage system is triggered based on the position signal of the liquid crystal panel to be used relative to the liquid crystal panel storage system, and the liquid crystal panel to be used is moved to the position to be picked up and placed. Thus, the liquid crystal panel to be used is partially moved in the liquid crystal panel storage system, so as to facilitate dynamic interaction between the robot's gripper arm and the liquid crystal panel storage system.

[0042] When the robot moves to the pick-up / place position, a collaborative balance relationship is established between the current posture of the robot's gripper arm and the current posture of the LCD panel to be used. This facilitates collaborative control of the current postures of the robot's gripper arm and the LCD panel to be used, ensuring a collaborative balance between them. Based on multiple gripping coefficients and the movement trajectory of the gripper arm, a collaborative control relationship for the gripper arm is defined. This allows for control of the movement stability of the LCD panel to be used, enabling full-chain collaborative deployment and control of the LCD panel in the LCD panel storage system and the robot's gripper arm. Example

[0043] Please see Figure 7 , Figure 7 This is a schematic diagram of the structural composition of the collaborative control system for robots in the liquid crystal panel automated warehouse according to an embodiment of the present invention.

[0044] like Figure 7 As shown, a collaborative control system for robots in an automated storage and retrieval system (AS / RS) for LCD panels includes: The acquisition module 21 is used to store multiple LCD panels in the LCD panel 3D library, acquire the basic information of the LCD panels to be used, and determine the position signal of the LCD panels to be used relative to the LCD panel 3D library based on the basic information of the LCD panels to be used. The positioning module 22 is used to trigger the positioning response of the LCD panel storage unit according to the position signal of the LCD panel to be used relative to the LCD panel storage unit, and move the LCD panel to be used to the position to be picked up and placed. The first attitude module 23 is used to perform positioning detection of the LCD panel to be used based on the position to be picked up and placed, and to collect multiple first attitude parameters of the LCD panel to be used, and to define the current attitude of the LCD panel to be used based on the multiple first attitude parameters. The first dynamic module 24 is used to establish a cooperative balance relationship between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed. The control module 25 is used to collect multiple gripping coefficients of the gripping arm for the LCD panel to be used, and define the cooperative control relationship of the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm. Example

[0045] Please see Figure 8 See below for reference. Figure 8 To describe an electronic device 40 according to this embodiment of the present invention. Figure 8 The electronic device 40 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0046] like Figure 8 As shown, the electronic device 40 is presented in the form of a general-purpose computing device. The components of the electronic device 40 may include, but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including storage unit 42 and processing unit 41).

[0047] The storage unit stores program code that can be executed by the processing unit 41, causing the processing unit 41 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0048] Storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422, and may further include a read-only memory unit (ROM) 423.

[0049] Storage unit 42 may also include a program / utility 424 having a set (at least one) program module 425, such program module 425 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0050] Bus 43 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the multiple bus structures.

[0051] Electronic device 40 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 40, and / or with any device that enables electronic device 40 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed through input / output (I / O) interface 44. Furthermore, electronic device 40 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 45. Figure 8 As shown, network adapter 45 communicates with other modules of electronic device 40 via bus 43. It should be understood that, although... Figure 8 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0052] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0053] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. Furthermore, it stores computer program instructions, which, when executed by a computer, cause the computer to perform the methods described above.

[0054] Furthermore, the above provides a detailed description of the collaborative control method and system for robots in a liquid crystal panel 3D library provided by the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A collaborative control method for robots in a liquid crystal panel automated storage and retrieval system, characterized in that, Application in LCD panel 3D storage; The collaborative control method for robots in the LCD panel automated storage and retrieval system includes: Multiple LCD panels are stored in an LCD panel 3D library. Basic information of the LCD panels to be used is collected, and the position signal of the LCD panel to be used relative to the LCD panel 3D library is determined based on the basic information of the LCD panel to be used. The positioning response of the LCD panel storage system is triggered based on the position signal of the LCD panel to be used relative to the LCD panel storage system, and the LCD panel to be used is moved to the position to be picked up or placed. The position of the LCD panel to be used is detected based on the position to be picked up and placed, and multiple first attitude parameters of the LCD panel to be used are collected. The current attitude of the LCD panel to be used is defined based on the multiple first attitude parameters. When the robot moves to the position to be picked up or placed, a cooperative balance relationship is established between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used; The gripping arm acquires multiple gripping coefficients of the LCD panel to be used, and defines a cooperative control relationship of the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm.

2. The collaborative control method for robots in a liquid crystal panel automated storage and retrieval system according to claim 1, characterized in that, The process of storing multiple LCD panels in an automated LCD panel library, collecting basic information about the LCD panels to be used, and determining the position signal of the LCD panels to be used relative to the automated LCD panel library based on the basic information of the LCD panels to be used includes: Multiple LCD panels are stored in an LCD panel 3D library. The storage of LCD panels is triggered based on the collected signals from the LCD panel 3D library, and the storage space of the LCD panels is located. The storage space based on the LCD panel collects multiple storage parameters of the LCD panel and defines the storage environment of the LCD panel based on these multiple storage parameters. The storage orientation of the LCD panel is collected, and dynamic interaction is performed based on the storage orientation of the LCD panel, the preset storage information of the LCD panel, and the storage environment of the LCD panel to create a storage system adapted to the LCD panel. Collect basic information about the LCD panel to be used; Define the model and location coordinates of the LCD panel to be used based on its basic information; The position signal of the LCD panel to be used relative to the LCD panel 3D library is determined based on the model and position coordinates of the LCD panel to be used.

3. The collaborative control method for robots in a liquid crystal panel automated storage and retrieval system according to claim 2, characterized in that, The step of triggering the positioning response of the LCD panel storage system based on the position signal of the LCD panel to be used relative to the LCD panel storage system, and moving the LCD panel to be used to the position to be picked up or placed, includes: The positioning response of the LCD panel 3D library is triggered based on the position signal of the LCD panel to be used relative to the LCD panel 3D library. In the positioning response of the LCD panel 3D library, images of the LCD panel to be used before storage and during the retrieval process are acquired; The comparison results are output based on the comparison between the image before storage and the image during retrieval, and the consistency of the LCD panel to be used is determined based on the comparison results; If the comparison results are consistent, the moving arm in the storage space will be triggered; The position of the LCD panel to be used is adjusted based on the movement of the moving arm until the LCD panel to be used is moved to the position to be picked up and placed. At this time, the LCD panel to be used moves at a constant speed within a preset speed.

4. The collaborative control method for robots in a liquid crystal panel automated storage and retrieval system according to claim 3, characterized in that, The process of positioning and detecting the LCD panel to be used based on its position to be picked up and placed, and collecting multiple first attitude parameters of the LCD panel to be used, and defining the current attitude of the LCD panel to be used based on the multiple first attitude parameters, includes: When the LCD panel to be used is moved to the position to be picked up or placed, a positioning detection signal is output; The positioning detection of the LCD panel to be used is triggered by the positioning detection signal when it is in the position to be picked up or placed. During the positioning and detection process of the LCD panel to be used, the LCD panel to be used is photographed in multiple different directions, and multiple posture images are acquired. Determine first pose parameters in multiple different directions based on image recognition of multiple pose images; Construct a set of first attitude parameters based on first attitude parameters in multiple different directions; The current attitude of the LCD panel to be used is defined based on the first set of attitude parameters and the tilt angle of the LCD panel to be used.

5. The collaborative control method for robots in a liquid crystal panel automated storage and retrieval system according to claim 1, characterized in that, The step of establishing a coordinated balance between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed includes: When the robot moves to the position to be picked up or placed, the current posture of the LCD panel to be used is collected.

6. The collaborative control method for robots in a liquid crystal panel automated storage and retrieval system according to claim 5, characterized in that, The step of establishing a coordinated balance between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed also includes: The current posture of the robot's gripper arm; The current posture of the robot's gripper arm and the current posture of the LCD panel to be used are correlated within the same space; The robot's gripper arm's current posture is dynamically interacted with the LCD panel to be used, and a matching coefficient between the robot's gripper arm's current posture and the LCD panel to be used is defined in the dynamic interaction.

7. The collaborative control method for robots in a liquid crystal panel automated storage and retrieval system according to claim 6, characterized in that, The step of establishing a coordinated balance between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed also includes: The height position of the LCD panel to be used is collected, and a dynamic balance relationship between the robot's gripper and the LCD panel to be used is constructed based on the height position of the LCD panel to be used, the current posture of the robot's gripper arm, the current posture of the LCD panel to be used, and the matching coefficient. A dynamic equilibrium relationship is fixed, which regulates the posture changes of the robot's gripper arm and the LCD panel to be used. At the same time, the gripper arm grasps the LCD panel to be used within the dynamic equilibrium relationship.

8. The collaborative control method for robots in a liquid crystal panel automated warehouse according to claim 7, characterized in that, The acquisition gripping arm collects multiple gripping coefficients of the LCD panel to be used, and defines a cooperative control relationship for the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm, including: The grasping arm collects multiple grasping coefficients of the LCD panel to be used; A mechanical 3D model of the LCD panel to be used is constructed based on multiple grasping coefficients.

9. The collaborative control method for robots in a liquid crystal panel automated warehouse according to claim 8, characterized in that, The acquisition and grasping arm collects multiple grasping coefficients of the LCD panel to be used, and defines a cooperative control relationship of the grasping arm based on the multiple grasping coefficients and the movement trajectory of the grasping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the grasping arm, and also includes: The mechanical state of the LCD panel to be used is defined based on the mechanical 3D diagram; The dynamic control logic of the gripper arm is defined based on the mechanical state of the LCD panel to be used and the movement trajectory of the gripper arm, and the movement stability of the LCD panel to be used is controlled according to the dynamic control logic of the gripper arm.

10. A collaborative control system for robots in an automated storage and retrieval system for LCD panels, characterized in that, The collaborative control system for the robots in the LCD panel automated storage and retrieval system is applied to the collaborative control method for the robots in the LCD panel automated storage and retrieval system as described in any one of claims 1-9, wherein the collaborative control system for the robots in the LCD panel automated storage and retrieval system includes: The acquisition module is used to store multiple LCD panels in an LCD panel 3D library, acquire basic information of the LCD panels to be used, and determine the position signal of the LCD panels to be used relative to the LCD panel 3D library based on the basic information of the LCD panels to be used. The positioning module is used to trigger the positioning response of the LCD panel storage unit based on the position signal of the LCD panel to be used relative to the LCD panel storage unit, and move the LCD panel to be used to the position to be picked up or placed. The first attitude module is used to locate and detect the LCD panel to be used based on the position to be picked up and placed, and to collect multiple first attitude parameters of the LCD panel to be used, and to define the current attitude of the LCD panel to be used based on the multiple first attitude parameters. The first dynamic module is used to establish a coordinated balance between the current posture of the robot's gripping arm and the current posture of the LCD panel to be used when the robot moves to the position to be picked up or placed. The control module is used to collect multiple gripping coefficients of the gripping arm for the LCD panel to be used, and define the cooperative control relationship of the gripping arm based on the multiple gripping coefficients and the movement trajectory of the gripping arm, so as to control the movement stability of the LCD panel to be used based on the cooperative control relationship of the gripping arm.

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