202 results about "Robot controller" patented technology

The invention relates to the technical field of industrial automatic welding and discloses an intelligent control method and system for industrial robot welding, and the method comprises the steps that after a welding task is started, an initial welding process parameter model is called based on the current workpiece specification, and a first welding control instruction sequence is generated; according to the first welding control instruction sequence, a welding gun is controlled to execute welding operation, and multi-source sensing data flow in the welding process is synchronously collected; carrying out fusion feature extraction on the real-time sensing data stream to generate a current welding situation feature vector, when situation deviation exists between the current welding situation feature vector and the reference welding situation feature vector, obtaining a self-adaptive welding process parameter model through online incremental learning, and obtaining a self-adaptive welding process parameter model on the basis of the self-adaptive welding process parameter model. And generating an optimized welding control instruction sequence and issuing the optimized welding control instruction sequence to a robot controller and a welding gun so as to execute self-adaptive welding operation. The welding quality stability and the production efficiency can be improved, and the equipment maintenance cost is reduced.

The invention provides a servo press control system and method based on a time-sensitive network, and relates to the technical field of intelligent manufacturing and industrial automation control, and the system comprises a time-sensitive network TSN which is used for providing global time synchronization and deterministic data transmission; a main controller of the multi-axis servo control unit is used for issuing a motion control instruction and a feeding and discharging control instruction through a TSN. A robot controller in the robot feeding and discharging unit is used for driving an industrial robot to execute plate taking and placing operation under the action of the feeding and discharging control instruction. The visual monitoring unit comprises an industrial camera accessed to the TSN and is used for collecting images and transmitting image data to the edge computing node through the TSN; the edge computing node is used for processing the image data to generate a compensation instruction and feeding back the compensation instruction through the TSN; and the upper monitoring system is used for subscribing real-time data published by the edge computing nodes, so that the control range of the servo pressure control system is expanded, and the convenience of data transmission and interaction is improved.

A node-edge symbolic consent kernel (NESCK) provides a computing architecture in which every instruction is gated by a verifiable human-intent signal and an ethical-predicate chain prior to execution. The system integrates a biometric-sensing front-end (EEG / GSR / facial micro-affect), a symbolic arbitration engine that transforms bio-intent data into consent tokens, and a cryptographically bonded node-edge ledger that records execution lineage, revocation, and audit proofs. Each node represents an executable state bound to a human consent fingerprint, while each edge encodes the ethical transition rules authorizing propagation through the network. At runtime, the kernel evaluates symbolic predicates, verifies zero-knowledge proofs of consent, and allows or halts instruction dispatch. The framework operates across devices, edge nodes, and cloud layers, enabling real-time lawful AI behavior, revocable autonomy, and tamper-proof moral audit trails. Embodiments span neuroadaptive wearables, autonomous vehicles, robotics controllers, and sovereign AI systems requiring continuous consent and transparent accountability.

The invention discloses a grabbing and placing task-oriented robot trajectory planning method and device, and the method comprises the steps: obtaining a natural language task instruction, carrying out the path decomposition based on a large language model, and generating a stage sequence containing pre-grabbing, grabbing, lifting, pre-placing, placing and withdrawing, and each stage target and / or constraint; receiving the optimal grabbing pose and / or placing pose provided by the upstream module, and replacing or correcting stage targets related to grabbing and / or placing; generating a trajectory segment according to the corrected stage target and constraint, and carrying out smoothing processing to obtain a trajectory sequence; performing collision detection on the track sequence, and if collision occurs, outputting collision information and executing local repair or replanning until the collision detection is passed or a preset replanning condition is met; and outputting the executable track sequence of the robot controller. According to the scheme, stage decomposition and key pose landing are achieved, and a collision feedback closed loop is formed to obtain an executable track.

The invention discloses a dynamic visual guidance method and system for cooperative assembly of multiple mechanical arms, and belongs to the technical field of industrial robot visual guidance, and the method comprises the steps: synchronously collecting an image sequence through a binocular visual system, synchronously recording the pose sequence of each mechanical arm through a robot controller, and obtaining an observation data set; obtaining a two-dimensional trajectory flow of vehicle body assembly area feature points and instrument body feature points through an optical flow tracking algorithm, and obtaining a hand-eye matrix correction through a nonlinear optimization algorithm; obtaining an updated hand-eye matrix and a local pixel compensation field through a spatial interpolation algorithm based on the re-projection error of each feature point; according to the method, self-adaptive compensation of flexible deformation of a vehicle body and dynamic reflection of an instrument is realized by adopting unsupervised clustering and spatial interpolation according to a re-projection error, and the precision of cooperative assembly of multiple mechanical arms and the self-adaptive capability of a system in a complex industrial environment are improved.

The invention discloses a robot anti-interference integrated circuit system based on multi-sensor fusion, relates to the technical field of automatic control, and aims to solve the problems that in ultra-precision hole machining, due to the fact that complex multi-mode vibration of a boring rod cannot be decoupled and accurately compensated in real time, and the machining precision is high. The system comprises a sensor array which is configured on a key structure of an end effector of an industrial robot and is used for collecting multi-dimensional physical signals related to mechanical vibration in real time; the application-specific integrated circuit is in signal connection with the sensor array and the robot controller, and the application-specific integrated circuit comprises a vibration reconstruction and compensation amount determination module which is used for receiving, fusing and processing multi-dimensional physical signals collected by the sensor array; according to the method, a real-time vibration deformation modal reconstruction and mapping system based on a spatial distributed sensing array and a special integrated circuit is constructed, so that the complex dynamic deformation of the boring rod in the machining process is identified.

The robot controller includes a communicator, a storage, and a processor. An input signal is input to the communicator. The storage stores the control software. The processor creates the command signal including the command value for operating the robot based on the input signal and the control software. The processor reads out the past input signal and the past command signal from the storage or from external source. After updating the control software, the processor creates a confirmation command signal based on the past input signal and the control software. The processor compares the past command signal with the confirmation command signal and outputs the comparison result.

1. Name of the product in this design: Electrical Equipment Temperature Control Cabinet. 2. Purpose of this design: This design is used in high-temperature environments to keep the robot controller and electrical components at a constant temperature, thus preventing system crashes caused by high temperatures. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention belongs to the technical field of man-machine cooperation interactive motion monitoring, and provides a man-machine cooperation-oriented human trajectory prediction method and monitoring system, and the method comprises the steps: obtaining multi-view image data; based on the multi-view image data, reconstructing three-dimensional positions, linear velocities and angular velocities of a plurality of joint points of a human body and the tail ends of all connecting rods of the robot in real time, and generating a motion state sequence; inputting human body joint point three-dimensional coordinates of past T frames in the motion state sequence into a deep neural network model, and generating K multi-modal human body motion track prediction results of future S frames in a single step; calculating a potential risk index based on the multi-modal human body motion trajectory prediction result, the current human-machine relative pose and the motion state, and triggering a graded early warning signal according to a preset threshold value; and sending the graded early warning signal to a robot controller to execute deceleration, pause or avoidance actions, and synchronously displaying a man-machine digital twin, a predicted trajectory cloud and a risk grade on a three-dimensional visual interface.

The invention discloses an automatic program adaptation method and system for a multi-vehicle-type manufacturing process, electronic equipment and a storage medium, and the method comprises the steps that a group control server receives a production instruction, and the production instruction comprises a VIN code, a vehicle type code and an electric gun code of a vehicle; the group control server stores the production instruction in a queue form to obtain a virtual production queue; when the vehicle arrives at the entrance of the unmanned island, the group control server receives the trigger request signal, obtains a production instruction corresponding to the vehicle from the virtual production queue, and sends the obtained production instruction to the unmanned island; after the unmanned island receives the information, verification is successful, the unmanned island sends a command to the robot controller according to the vehicle type code, and a matched track program is called; and the unmanned island sends a command to the tightening controller according to the electric gun code and calls a matched tightening parameter program. The group control server pushes the VIN, the vehicle type and the electric gun code to the unmanned island, and double-automatic matching of a track program and a tightening program is completed in the same beat.

A robot force control method based on a diffusion model belongs to the field of robot control, and comprises the following steps: collecting 6D force / torque data and pose data of a robot end effector, and preprocessing the collected data; constructing a diffusion model and training; designing and integrating a dynamic system filter; force control instruction generation and robot control closed loop: collecting a current tail end pose and historical five frames of 6D force / torque data in real time, inputting the data into a diffusion model for reasoning, and inputting a predicted value output by the diffusion model into a dynamic system filter to generate a real-time force control instruction; and the force control instruction is converted into the pose adjustment amount of the robot end effector according to the robot dynamic model, the pose adjustment amount is sent to the robot controller, the robot is driven to execute actions, and the force control effect is verified through the next round of data acquisition. According to the method, the zero sample migration capability and robustness are remarkably improved, the real-time performance and the control frequency matching degree reach the standard, the task application range is expanded, and the economic and social benefits are remarkable.

1. Name of the design product: Circuit board (nano board, micro robot controller). 2. Use of the design product: Circuit board for robotway nano micro robot, which can support user-defined programming. 3. Design points of the design product: in shape. 4. Picture or photo that best indicates the design points: front view.

The invention discloses a double-gun automatic gluing method based on machine vision, and relates to the technical field of industrial robot automation application, the double-gun automatic gluing method comprises the four steps of image acquisition and feature point identification, pose deviation calculation, track correction and double-gun collaborative gluing, image acquisition is carried out on a workpiece through a visual sensor, and feature points are extracted and positioned; the deviation value of the actual position and the theoretical position of the workpiece is calculated, the robot controller corrects the pre-stored gluing track in real time according to the deviation value, the actual gluing track adapting to the current workpiece is generated, the two gluing guns are installed at the tail end of the robot through the adjustable support, the relative distance can be adjusted in real time, and the gluing precision is improved. According to the invention, the gluing precision and the production efficiency are effectively improved, the capability of adapting to the position change of the workpiece is strong, the system integration degree is high, and the automatic gluing device is particularly suitable for the gluing process of the automobile body in white.

The invention discloses a mobile robot which comprises a working communication unit, an idle communication unit, a power management unit, a robot control server, a robot controller and a motor assembly. The output end of the idle communication unit and the power input end are connected with the power management unit. The power input end of the working communication unit is connected with the power management unit, and the wired data end is connected with the robot controller. And the power management unit is used for quitting the low-power-consumption mode through the trigger signal of the idle communication unit and enabling the whole robot to enter a normal working mode. And the robot control server is in wireless communication connection with the working communication unit. The robot controller is connected with the wired data end of the working communication unit and the power management unit. The motor assembly is connected with the power management unit and the robot controller. The working communication unit is used for high-speed wireless communication during normal working, the idle communication unit is used for low-speed wireless communication during idle working, and the function of a low-power-consumption wireless switch is achieved.

A robot system 100 includes a robot 1 that processes a processing portion B of an object W, a storage 32 that holds an image of the object W and three-dimensional information on the object W, a selector 9 that selects the processing portion B from the image, and a controller 3 that controls the robot 1. The controller 3 derives the processing portion B in the three-dimensional information based on a portion selected in the image by the selector 9 and the three-dimensional information, and moves the robot 1 based on the three-dimensional information on the processing portion B to cause the robot 1 to process the processing portion B.

The invention discloses a dynamic motion primitive coding method and system based on Lie group Lie algebra, and the method comprises the steps: uniformly representing the tail end pose and contact force spinor of a robot in a Lie group form, and constructing a unified mathematical framework; the method comprises the following steps: acquiring a pose and a force spinor sequence through a teaching phase, and converting the force spinor sequence into a virtual pose sequence through scaling mapping; establishing a dynamic motion primitive (DMPs) model based on the Lie group Lie algebra theory, and learning a model weight matrix and a primary function parameter by adopting local weighted regression; and according to the initial and target poses of the new task, generating a smooth trajectory through phase synchronization control and Euler integration, and outputting the smooth trajectory to a robot controller. According to the method, the problems of posture singularity and motion distortion caused by splitting of a posture channel in a traditional DMPs method are solved, the learning fidelity and reproduction stability of the six-degree-of-freedom posture track of the robot are improved, the smoothness and coordination of the whole motion process are guaranteed, and the debugging complexity of a force control system is reduced.

The invention discloses automatic laser welding equipment for a convex seat and a ring of a stress application header pipe and a welding process method of the automatic laser welding equipment. The automatic laser welding equipment comprises a positioning point fixing device, a dust suction and exhaust device, a welding device of an integrated positioner, a 3D measuring camera, a welding robot, a robot controller, a water cooling machine, a laser, an integrated console and a voltage-stabilized source. All the components are integrally connected through cables or pipelines, the 3D measuring camera and the welding robot move synchronously, the water cooling machine and the dust suction and exhaust device form cooling and dust removal loops with related components respectively, and the stabilized voltage supply supplies power to all the components. The process method comprises the following steps: positioning and locking the convex seat through the bolt, and tacking a welding seam to ensure that a gap is less than or equal to 0.1 mm Inputting a theoretical model, scanning a real object, modeling and comparing, and automatically planning a track; and according to the logic of first scanning confirmation and second welding, 24 welding seams on the outer side and partial welding seams on the inner side are symmetrically completed, and the remaining welding seams on the inner side are completed after turning over. Manual argon arc welding is replaced by laser welding, the problem of automatic welding of pipelines of complex structures is solved, the welding technology level is improved, and the product quality consistency and the machining efficiency are improved.

An autonomous robot localization system for managing a plurality of autonomous robots is disclosed. The autonomous robot localization system includes a plurality of rail paths including a plurality of markers, a plurality of autonomous robots, and a system controller. The plurality of rail paths is used for guiding the plurality of autonomous robots. The plurality of autonomous robots include a plurality of readers, and a plurality of robot controllers. The plurality of readers include a plurality of sensors The plurality of robot controllers generate a plurality of marker patterns for corresponding marker based on assigned presence and absence status of the plurality of marker bits. The system controller manages movements of the plurality of autonomous robots based on a plurality of commands sent to the plurality of robot controllers.

The invention relates to the technical field of stacking and typesetting, in particular to an intelligent stacking and typesetting method and system based on a self-adaptive algorithm, and the method comprises the steps: respectively obtaining a product parameter set and a tray parameter set, and extracting the maximum length, the maximum width and the maximum height from the product parameter set to determine the division step length of a three-dimensional discrete space set; pre-screening coordinate points meeting a threshold value by the system, and inputting the coordinate points into a target function to generate an arrangement scheme set; introducing a support consistency index and a mass weighted average value to generate a unit stability mark set and an overall structure judgment mark; the system generates an operable product set in the arrangement scheme set by traversing the structure dependency relationship, and the user performs adjustment according to the operable product set; and the system screens the arrangement points conforming to the threshold value to form an execution task set and sorts the execution task set, corresponding robot execution vectors are constructed, and an instruction sequence formed by all the execution vectors is coded into a standard action file issued to a robot controller.

This invention relates to the field of industrial robot control technology, specifically to a method and apparatus for quick tool changing of railway maintenance robots based on intelligent slave stations. By creating logical slave units within the intelligent slave station that correspond one-to-one with the end-effectors of the railway maintenance robot, upon detecting a tool switching signal, a state snapshot is generated based on the current operating state of the end-effector, and its corresponding logical slave unit is set to offline maintenance mode. This ensures that the logical slave unit maintains communication with the robot controller, preventing communication disconnection. Upon detecting a tool access signal, a state snapshot of the target logical slave unit is read and written back, and it is switched to a true online mode. This allows for rapid control of the target end-effector and execution of maintenance tasks after the end-effector is powered on, solving the problems of restarting, parameter resetting, increased communication delay, and impact on system performance that occur when the end-effector is disconnected or accessed in the prior art.

The invention provides a control method for a fitting gap of an exterior curved surface of a repair welding position of a storage tank, which comprises the following steps: S1, extracting spatial three-dimensional coordinates of n points uniformly distributed around a defect area from three-dimensional scanning point cloud data of the exterior curved surface of the storage tank, and defining the geometric center of the defect area as a defect center; s2, based on the defect center, mapping the space three-dimensional coordinates of the n points extracted in the step S1 to a robot tool coordinate system through a coordinate conversion relation to obtain converted coordinates of n target points; s3, calculating a three-dimensional space error value between the converted coordinates of the target point and the coordinates of the corresponding point on the supporting tool; s4, iteratively optimizing the error value in a robot joint kinematics constraint range, solving an optimal support tool space coordinate, and taking the coordinate as a robot motion target point; and S5, joint coordinates corresponding to the moving target point of the robot are transmitted to a robot controller through the real-time industrial bus communication technology, and the mechanical arm is driven to drive the supporting tool to move to the target point.

Apparatus and method for controlling robot to improve reusability and compatibility of action tree SOLUTION: The at least one processor is configured to acquire a standard behavior tree satisfying a target standard from a behavior tree based on a behavior tree abstraction model applied to interpretation of the behavior tree, store a robot scenario paired with the standard behavior tree and the standard behavior tree in the memory, and verify validity of the standard behavior tree based on nodes included in the standard behavior tree and edges between the nodes included in the standard behavior tree.SELECTED DRAWING: Figure 1

The invention discloses a robot vision grabbing system and method, and belongs to the technical field of industrial robots. The robot vision grabbing system provided by the embodiment of the invention comprises a controller, a camera and a robot, the controller is used for receiving a visual image shot by the camera for the target object; according to the visual image, determining a motion track of the robot for grabbing the target object; the motion trail is sent to the robot, so that the robot grabs the target object according to the motion trail; the camera is used for shooting a visual image of a target object and sending the visual image of the target object to the controller; the robot is used for receiving the motion trail sent by the controller; the target object is grabbed according to the motion trail; visual image processing and motion track planning are uniformly completed by the controller, so that the problem of complex communication among multiple devices is avoided, the deployment period of the system is greatly shortened, the dependence on professionals is reduced, and the reliability and the anti-interference capability of the system are improved.

The utility model discloses a sleeper reinforcing steel bar intelligent laser cutting system which comprises an industrial robot, an outer cover is fixed at the execution tail end of the industrial robot, and a laser cutting gun used for cutting off reinforcing steel bars connected between two adjacent sleepers in semi-finished sleeper products is installed in the outer cover. A laser cutting gun is arranged on the outer cover, a cutting head of the laser cutting gun extends out of the outer cover, a connecting piece is fixed outside the outer cover, a 3D line laser contour camera used for sensing the position of a gap between two adjacent sleeper semi-finished products is installed on the connecting piece, and a robot controller is installed on the industrial robot. The robot controller is used for controlling operation of the industrial robot, the robot controller, the laser cutting gun and the 3D line laser contour camera are connected with a PLC, and the PLC is connected with an industrial personal computer. The sleeper cutting machine is low in noise, free of pollution and high in cutting efficiency, and the sleeper quality is guaranteed.

To generate a correct path for a robot to perform a certain action while avoiding interference. The teaching program generation device generates a teaching program for teaching a robot a predetermined action, based on information about the robot and its surroundings. The device includes an acquisition unit that acquires, from a robot controller that controls driving of the robot, information to be used for the robot to perform the predetermined action while avoiding interference, and a teaching program generation unit that generates a movement path for the robot to perform the predetermined action while avoiding interference, based on the information.

The invention provides a machine vision system and device for identifying and guiding a robot to perform automobile toe-in adjustment, and the system comprises a user interface, an image collection module, a deep learning target identification module, a three-dimensional coordinate calculation module, a coordinate conversion module, and a robot communication guiding module. Real-time processing can be carried out on a color image and a point cloud image shot by an industrial camera, pixel positions of a nut and a screw can be accurately recognized, and three-dimensional space coordinates of the nut and the screw in a robot coordinate system are calculated; the deep learning target recognition module can efficiently and accurately position a target from a complex background based on a pre-trained model; the coordinate conversion module converts the visual information into a position instruction which can be executed by the robot; and the robot communication guiding module is responsible for sending the coordinate instruction to the robot controller to realize accurate motion guiding. The problems that traditional automobile toe-in adjustment depends on manpower, efficiency is low and precision is unstable are effectively solved, and time and economic cost can be saved.

A robot control system according to the present disclosure comprises: a robot including a work tool; and a robot controller that controls driving of the robot. The robot controller: acquires teaching information for teaching a position and a posture of the work tool of the robot; inputs the teaching information to a machine learning model in which machine learning has been performed using, as teacher data, driving information of the robot and position / posture information including the position and the posture of the work tool which has moved on the basis of the driving information, thereby acquiring control information of the robot output from the machine learning model; and drives the robot on the basis of the control information.

The invention discloses a humanoid robot controller training method, a humanoid robot controller control method and a humanoid robot controller training device. A two-stage training framework is adopted, and in the first stage, a reinforcement learning algorithm is adopted to independently train a plurality of single-behavior controllers which are specially used for different sports skills (such as walking and standing); then, the capabilities of the single-behavior controllers are integrated into a unified multi-behavior controller through a behavior distillation method, so that the unified multi-behavior controller has the capability of autonomously switching skills according to states. And in the second stage, in order to improve the robustness of the multi-behavior controller in a complex environment, a task environment for simulating various use terrains is constructed, and reinforcement learning fine tuning is performed on the controller in parallel in the environment, so that a controller capable of adapting to the complex terrains and realizing multi-skill smooth switching is finally obtained. The adaptive capacity of the humanoid robot controller and the reliability of practical application can be improved. The robot can be widely applied to the technical field of robots.

A robot controller includes a storage unit that stores load information including a mass and a center of gravity position of a load to be attached to a robot; a lead-through control unit that controls the robot comprising a sensor that detects an external force, based on the external force detected by the sensor and the load information stored in the storage unit; and a load suitability determining unit that determines whether or not the load information stored in the storage unit is suitable. In response to the load suitability determining unit determining that the load information has a possibility of being unsuitable, the lead-through control unit performs a restriction on a movement of the robot.

The application discloses a quick high-precision positioning method suitable for an industrial robot optical polishing system, and installs an edge finder on a rotating main shaft of a polishing grinding head of the industrial robot optical polishing system, and a probe terminal of the edge finder is a standard ball head with a radius of r; a calibration tool coordinate system of the robot is determined, a tool center point TCP of the robot is fixed as a ball center position of the ball head of the edge finder probe, a size value of the tool coordinate system is measured, and the robot controller is input; the calibration ball head contacts a target position, corresponding TCP coordinates on a robot teach box are read, and a workpiece coordinate system of an optical mirror to be processed is solved according to the geometric principle that three points determine a plane and three points determine a circle. The method has the characteristics of sub-millimeter positioning precision, good safety performance and simple and quick operation.