阅读说明：本技术 一种多机械臂系统机械臂碰撞预警系统 (Mechanical arm collision early warning system of multi-mechanical-arm system ) 是由 孙胜喜 孙克洋 孙成芳 陈剑 张圣阁 于 2021-08-06 设计创作，主要内容包括：本发明涉及机械臂碰撞预警领域,特别涉及一种多机械臂系统机械臂碰撞预警系统,包括控制单元和与控制单元对应引脚连接的编码器、声光报警器,其中编码器用于读取机械臂转动节点的转动角度,控制单元与机械臂控制系统连接；碰撞预警系统包括以下工作步骤：S1、控制单元获取多机械臂的系统参数和运行参数；S2、控制单元构建多机械臂空间坐标系；S3、控制单元根据多机械臂空间坐标系和运行参数判断多机械臂之间是否会产生碰撞并做出预警。本发明的有益效果在于：本发明解决了背景技术中对处于不同平面上的机械臂的碰撞无法进行预警的问题。(The invention relates to the field of mechanical arm collision early warning, in particular to a mechanical arm collision early warning system of a multi-mechanical arm system, which comprises a control unit, and a coder and an audible and visual alarm which are connected with corresponding pins of the control unit, wherein the coder is used for reading the rotation angle of a rotation node of a mechanical arm, and the control unit is connected with a mechanical arm control system; the collision early warning system comprises the following working steps: s1, the control unit acquires system parameters and operation parameters of the multiple mechanical arms; s2, the control unit constructs a multi-mechanical arm space coordinate system; and S3, the control unit judges whether the multiple mechanical arms collide or not according to the space coordinate system and the operation parameters of the multiple mechanical arms and gives an early warning. The invention has the beneficial effects that: the invention solves the problem that the collision of mechanical arms on different planes can not be early warned in the background technology.)

1. A collision early warning system for mechanical arms of a multi-mechanical-arm system comprises a mechanical arm control system (7) and the mechanical arms, and is characterized by comprising a control unit (1), and an encoder (2) and an audible and visual alarm (3) which are connected with pins corresponding to the control unit (1), wherein the encoder (2) is used for reading the rotation angle of a mechanical arm rotation node (6), and the control unit (1) is connected with the mechanical arm control system (7); the collision early warning system comprises the following working steps:

s1, the control unit (1) acquires system parameters and operation parameters of the multiple mechanical arms;

s2, the control unit (1) constructs a multi-mechanical-arm space coordinate system;

s3, the control unit (1) judges whether the multiple mechanical arms collide or not according to the space coordinate system of the multiple mechanical arms and the operation parameters and gives an early warning.

2. The collision warning system for mechanical arms of multi-mechanical arm system according to claim 1, wherein the system parameters of the multi-mechanical arm include the number of rotational nodes (6) of the mechanical arm, the length of each mechanical arm, and the spatial position relationship between the fixed nodes of each mechanical arm.

3. The collision warning system for mechanical arms of multi-mechanical arm system according to claim 1, wherein the operating parameters of the multi-mechanical arm include the rotation angle, the rotation direction, the rotation angular velocity vector and the acceleration vector of each rotation angular velocity of each rotation node (6) of each mechanical arm.

4. The system for warning collision of mechanical arms in a multi-mechanical-arm system according to claim 1, wherein the step S2 is specifically:

s2.1, randomly selecting a fixed node of one mechanical arm as a coordinate origin, and determining the positive direction of an X axis, the positive direction of a Y axis and the positive direction of a Z axis of a spatial coordinate system of the multiple mechanical arms according to the origin;

s2.2, determining the position of each mechanical arm fixing node in a multi-mechanical arm space coordinate system according to the space position relation among the multi-mechanical arm fixing nodes;

and S2.3, determining the initial position of each mechanical arm in a multi-mechanical-arm space coordinate system according to the rotation angle of each rotation node (6) and the length of each mechanical arm.

5. The collision early warning system for the mechanical arms of the multi-mechanical-arm system is characterized by further comprising a limiting unit, wherein the limiting unit comprises a relay (4) and a fuse (5), and the control end of the relay (4) is connected with the corresponding pin of the control unit (1); one end of the output end of the relay (4) is connected with a corresponding pin of the mechanical arm control system (7) through the circuit breaker, and the other end of the output end of the relay (4) is connected with the mechanical arm rotating node (6).

6. The system for warning collision of mechanical arms in a multi-mechanical-arm system according to claim 1, wherein the step S3 is specifically:

s3.1, reading the rotation angle of each rotation node (6) and the length of each mechanical arm in a detection period to determine the position of each mechanical arm in a spatial coordinate system of the multiple mechanical arms;

and S3.2, judging whether the distance between the mechanical arms is smaller than a set distance or not, controlling an alarm unit to give an alarm and enter a limiting mode if the distance is smaller than the set distance, and entering the next period of detection if the distance is larger than the set distance.

7. The system of claim 6, further comprising, between the step S3.2 and the next cycle of inspection:

s3.21, acquiring a rotating speed vector and an acceleration vector of a rotating angular speed of each rotating node (6) of the multiple mechanical arms;

s3.22, estimating the position of each mechanical arm in a multi-mechanical-arm space coordinate system after one period of time, judging whether the distance between the mechanical arms is smaller than a set distance, and if the distance is smaller than the set distance, controlling an audible and visual alarm (3) to perform audible and visual alarm by a control unit (1) and entering a limiting mode; if the distance is larger than the set distance, entering the next step;

s3.23, estimating the positions of the mechanical arms in a multi-mechanical-arm space coordinate system after two periods of time, and judging whether the distance between the mechanical arms is smaller than a set distance or not, if so, controlling an audible and visual alarm (3) to perform audible and visual alarm by a control unit (1); if the distance is larger than the set distance, the next period of detection is started.

8. The multi-robot-arm system robot arm collision warning system according to claim 6 or 7, wherein the limit mode specifically comprises: judging whether the control instruction output by the mechanical arm control system (7) enables the two mechanical arms with the distance smaller than the set distance to have a trend of being away from each other or not, and if so, controlling the relay (4) to be an open circuit by the control unit (1); if not, the control unit (1) controls the relay (4) to be open-circuit.

Technical Field

The invention relates to the field of mechanical arm collision early warning, in particular to a mechanical arm collision early warning system of a multi-mechanical arm system.

Background

The prior double-arm wet spraying trolley which is put into use inevitably has cross collision of two arm supports in the using and operating process. In order to avoid the situation, the method adopted at the present stage is to install two travel switches at the bottoms of the two arm support slewing bearings respectively, and stop running when any arm support in the two arm supports reaches the position of the limit switch through position positioning of experiments in advance.

Problems and disadvantages: the existing limiting method can effectively avoid collision of the two cantilever cranes only when the two cantilever cranes operate on the same horizontal plane. However, when the two arm supports work on different horizontal planes, the two arm supports sometimes need to be crossed; or when only one straight arm support is used for spraying concrete, the arm support is required to rotate to a wider angle. But the operation requirement cannot be better finished due to the action of the limit switch.

Disclosure of Invention

In order to solve the defects in the background technology, the invention provides a mechanical arm collision early warning system of a multi-mechanical arm system, which has the following specific scheme:

a collision early warning system for mechanical arms of a multi-mechanical-arm system comprises a control unit, and a coder and an audible and visual alarm which are connected with corresponding pins of the control unit, wherein the coder is used for reading the rotation angle of a rotation node of the mechanical arm, and the control unit is connected with a mechanical-arm control system; the collision early warning system comprises the following working steps:

s1, the control unit acquires system parameters and operation parameters of the multiple mechanical arms;

s2, the control unit constructs a multi-mechanical arm space coordinate system;

and S3, the control unit judges whether the multiple mechanical arms collide or not according to the space coordinate system and the operation parameters of the multiple mechanical arms and gives an early warning.

Specifically, the system parameters of the multiple mechanical arms include the number of mechanical arm rotation nodes, the length of each mechanical arm, and the spatial position relationship between the mechanical arm fixing nodes.

Specifically, the operating parameters of the multiple mechanical arms include rotation angles of rotation nodes of the mechanical arms, rotation directions, rotation angular velocity vectors and acceleration vectors of the rotation angular velocities.

Specifically, step S2 specifically includes:

s2.1, randomly selecting a fixed node of one mechanical arm as a coordinate origin, and determining the positive direction of an X axis, the positive direction of a Y axis and the positive direction of a Z axis of a spatial coordinate system of the multiple mechanical arms according to the origin;

s2.2, determining the position of each mechanical arm fixing node in a multi-mechanical arm space coordinate system according to the space position relation among the multi-mechanical arm fixing nodes;

and S2.3, determining the initial position of each mechanical arm in the space coordinate system of the multiple mechanical arms according to the rotation angle of each rotation node and the length of each mechanical arm.

Specifically, the device also comprises a limiting unit, wherein the limiting unit comprises a relay and a fuse, and the control end of the relay is connected with a corresponding pin of the control unit; one end of the output end of the relay is connected with a corresponding pin of the mechanical arm control system through the circuit breaker, and the other end of the output end of the relay is connected with the mechanical arm rotating node.

Specifically, step S3 specifically includes:

s3.1, reading the rotation angle of each rotation node and the length of each mechanical arm in a detection period to determine the position of each mechanical arm in a spatial coordinate system of the multiple mechanical arms;

and S3.2, judging whether the distance between the mechanical arms is smaller than a set distance or not, if the distance is smaller than the set distance, controlling an alarm unit to give an alarm and entering a limiting mode by a control unit, and if the distance is larger than the set distance, entering the detection of the next period.

Specifically, the method further comprises the following steps before the step S3.2 enters the next period detection:

s3.21, acquiring a rotating speed vector and an acceleration vector of a rotating angular speed of each rotating node of the multiple mechanical arms;

s3.22, estimating the position of each mechanical arm in a multi-mechanical-arm space coordinate system after one period of time, judging whether the distance between the mechanical arms is smaller than a set distance, and if the distance is smaller than the set distance, controlling an audible and visual alarm to perform audible and visual alarm by a control unit and entering a limiting mode; if the distance is larger than the set distance, entering the next step;

s3.23, estimating the positions of the mechanical arms in a multi-mechanical-arm space coordinate system after two periods of time, and judging whether the distance between the mechanical arms is smaller than a set distance or not, if so, controlling an audible and visual alarm to perform audible and visual alarm by a control unit; if the distance is larger than the set distance, the next period of detection is started.

Specifically, the limit mode specifically includes: judging whether the control instruction output by the mechanical arm control system enables the two mechanical arms with the distance smaller than the set distance to have a trend of being away from each other or not, and if so, controlling the relay to be an open circuit by the control unit; if not, the control unit controls the relay to be open-circuit.

The invention has the beneficial effects that:

(1) according to the invention, the collision among the multiple mechanical arms can be early warned after the spatial position of the mechanical arm in each detection period is obtained through the spatial coordinate system and the operation parameters of the mechanical arm, so that the problem that the collision of the mechanical arm on different planes can not be early warned in the background technology is solved.

(2) Through setting up spacing unit, can be less than when setting for the distance between the multi-robot arm the collision between the robot arm because the operator maloperation leads to between the robot arm has been stopped to restriction operator's action.

(3) The time for an operator to process an imminent collision event can be increased by estimating the position of the multiple mechanical arms after one cycle time and two cycle times, thereby avoiding the occurrence of collision.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a flow chart of the system operation of the present invention.

The labels in the figure are specifically:

1. a control unit; 2. an encoder; 3. an alarm; 4. a relay; 5. a fuse; 6. a rotating node; 7. a robotic arm control system.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 and 2, the invention discloses a collision early warning system for a mechanical arm of a multi-mechanical-arm system, which comprises a control unit 1, an encoder 2 and an audible and visual alarm 3, wherein the encoder 2 and the audible and visual alarm 3 are connected with pins corresponding to the control unit 1, the encoder 2 is used for reading the rotation angle of a rotation node 6 of the mechanical arm, and the control unit 1 is connected with a mechanical arm control system 7; the collision early warning system comprises the following working steps:

s1, the control unit 1 acquires system parameters and operation parameters of the multiple mechanical arms;

s2, the control unit 1 constructs a multi-mechanical-arm space coordinate system;

s3, the control unit 1 judges whether the multiple mechanical arms collide or not according to the space coordinate system of the multiple mechanical arms and the operation parameters and gives an early warning.

The system parameters of the multiple mechanical arms comprise 6 mechanical arm rotating nodes, the length of each mechanical arm and the spatial position relation among the mechanical arm fixing nodes.

The operation parameters of the multiple mechanical arms comprise the rotation angle, the rotation direction, the rotation angular velocity vector and the acceleration vector of each rotation angular velocity of each rotation node 6 of each mechanical arm.

Step S2 specifically includes:

s2.1, randomly selecting a fixed node of one mechanical arm as a coordinate origin, and determining the positive direction of an X axis, the positive direction of a Y axis and the positive direction of a Z axis of a spatial coordinate system of the multiple mechanical arms according to the origin;

s2.2, determining the position of each mechanical arm fixing node in a multi-mechanical arm space coordinate system according to the space position relation among the multi-mechanical arm fixing nodes;

and S2.3, determining the initial position of each mechanical arm in the space coordinate system of the multiple mechanical arms according to the rotation angle of each rotation node 6 and the length of each mechanical arm.

The device also comprises a limiting unit, wherein the limiting unit comprises a relay 4 and a fuse 5, and the control end of the relay 4 is connected with a corresponding pin of the control unit 1; one end of the output end of the relay 4 is connected with a corresponding pin of the mechanical arm control system 7 through a circuit breaker, and the other end of the output end of the relay 4 is connected with the mechanical arm rotating node 6.

Step S3 specifically includes:

s3.1, reading the rotation angle of each rotation node 6 and the length of each mechanical arm in a detection period to determine the position of each mechanical arm in a spatial coordinate system of the multiple mechanical arms;

and S3.2, judging whether the distance between the mechanical arms is smaller than a set distance or not, controlling an alarm unit to give an alarm and enter a limiting mode if the distance is smaller than the set distance, and entering the next period of detection if the distance is larger than the set distance.

Further comprising, between step S3.2 and the next cycle of testing:

s3.21, acquiring a rotating speed vector and an acceleration vector of a rotating angular speed of each rotating node 6 of the multiple mechanical arms;

s3.22, estimating the position of each mechanical arm in a multi-mechanical-arm space coordinate system after one period of time, judging whether the distance between the mechanical arms is smaller than a set distance, and if the distance is smaller than the set distance, controlling the audible and visual alarm 3 to perform audible and visual alarm by the control unit 1 and entering a limiting mode; if the distance is larger than the set distance, entering the next step;

s3.23, estimating the positions of the mechanical arms in a multi-mechanical-arm space coordinate system after two periods of time, and judging whether the distance between the mechanical arms is smaller than a set distance or not, if so, controlling the audible and visual alarm 3 to perform audible and visual alarm by the control unit 1; if the distance is larger than the set distance, the next period of detection is started.

In step S3, the limiting mode specifically includes: the control unit 1 judges whether the control instruction output by the mechanical arm control system 7 enables two mechanical arms smaller than a set distance to have a trend of being away from each other, and if so, the control unit 1 controls the relay 4 to be an open circuit; if not, the control unit 1 controls the relay 4 to be open-circuit.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.