阅读说明：本技术 一种用于建筑施工的scara智能化机械臂控制方法和系统 (SCARA intelligent mechanical arm control method and system for building construction ) 是由 刘伟杰 于 2021-10-09 设计创作，主要内容包括：本发明提出了一种用于建筑施工的SCARA智能化机械臂控制方法和系统。所述方法包括输入机械臂需要执行的目标任务；根所述目标任务规划三组与所要执行任务对应的动作方案；对每组动作方案进行试操作,通过试操作确定每组动作方案的运行指标是否符合要求；在符合要求的动作方案中,按照执行规则进行目标任务操作。所述系统包括与所述方案步骤对应的模块。(The invention provides an SCARA intelligent mechanical arm control method and system for building construction. Inputting a target task to be executed by a mechanical arm; planning three groups of action schemes corresponding to the tasks to be executed according to the target tasks; performing trial operation on each group of action schemes, and determining whether the operation indexes of each group of action schemes meet the requirements or not through the trial operation; and in the action scheme meeting the requirement, performing target task operation according to the execution rule. The system includes modules corresponding to the recipe steps.)

1. A SCARA intelligent mechanical arm control method for building construction is characterized by comprising the following steps:

inputting a target task to be executed by a mechanical arm;

planning three groups of action schemes corresponding to the tasks to be executed according to the target tasks;

performing trial operation on each group of action schemes, and determining whether the operation indexes of each group of action schemes meet the requirements or not through the trial operation;

in the action scheme meeting the requirement, performing target task operation according to an execution rule;

the execution rule includes:

if two action schemes meeting the operation requirements of task execution are finally determined, sequencing the action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first action scheme according to the sequence of the plurality of action schemes, switching a second action scheme to execute the task when the task amount executed by the first action scheme reaches a first standard task amount, and executing the task by using the first action scheme after controlling the mechanical arm to rest for 45min until all the residual task amounts are finished after the task executed by the second action scheme reaches a second standard task amount; wherein the first standard task amount and the second standard task amount are as follows:

C ₁=45%C _{general assembly}，C ₂=40%C _{General assembly}

Wherein the content of the first and second substances,C ₁representing a first standard task quantity;C ₂representing a second standard task quantity;C _{general assembly}Representing the total task amount;

if three action schemes meeting the operation requirements of task execution are finally determined, sequencing the action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; according to the sequence of the plurality of action schemes, executing a first action scheme, switching a second action scheme to execute the task when the task amount executed by the first action scheme reaches a third standard task amount, and controlling the mechanical arm to rest for 30min and then executing the task by using the third action scheme until all the residual task amounts are finished when the task amount executed by the second action scheme reaches a fourth standard task amount; wherein the third standard task amount and the fourth standard task amount are as follows:

C ₃=40%C _{general assembly}，C ₄=35%C _{General assembly}

Wherein the content of the first and second substances,C ₃representing a third standard task quantity;C ₄representing a fourth standard task quantity;

if the action scheme meeting the operation requirement of task execution is finally determined to be one, the action scheme is executed, when the task amount executed by the action scheme reaches a fifth standard task amount, the mechanical arm is controlled to rest for 30min and then operate, and when the task executed by the action scheme reaches a sixth standard task amount, the mechanical arm is controlled to rest for 40min and then the action scheme is used for executing the task until all the residual task amounts are finished; wherein the fifth standard task amount and the sixth standard task amount are as follows:

C ₅=35%C _{general assembly}，C ₆=45%C _{General assembly}

Wherein the content of the first and second substances,C ₅representing a fifth standard task amount;C ₆indicating the sixth standard task amount.

2. The method of claim 1, wherein planning three sets of action scenarios corresponding to tasks to be performed based on the target task comprises:

extracting target tasks to be executed by the mechanical arm;

planning the execution paths of the mechanical arm according to the execution route related to the target task to obtain three groups of execution paths;

according to the position of the transported object related to the target task and the three groups of execution paths, performing staged action planning on the execution actions of the mechanical arms corresponding to the three groups of execution paths respectively; acquiring the executing action of the mechanical arm corresponding to each action stage;

combining the mechanical arm execution actions corresponding to each action stage to obtain three groups of mechanical arm execution actions;

and correspondingly matching the execution actions of each group of mechanical arms with each group of execution paths to obtain three groups of action schemes corresponding to the tasks to be executed.

3. The method of claim 1, wherein performing a trial operation on each group of action schemes, and determining whether the operation index of each group of action schemes meets the requirement by the trial operation comprises:

performing trial operation for 10-20 times on each group of action schemes corresponding to the tasks to be executed;

monitoring and recording the deviation amount between the actual joint operation parameters and the set joint operation parameters when the mechanical arm completes each action in the executing process of each group of action schemes in real time;

calculating through deviation to obtain the operation index of the mechanical arm, and judging whether each group of action schemes meet the operation requirement according to the operation index of the mechanical arm;

and extracting the action scheme meeting the operation requirement, and determining to execute the task by using the action scheme meeting the operation requirement.

4. The method according to claim 3, wherein the obtaining of the operation index of the mechanical arm through deviation calculation and the judging whether each group of action schemes meets the operation requirement according to the operation index of the mechanical arm comprise:

calculating the operation index of the mechanical arm by using an index acquisition model, wherein the index acquisition model comprises the following steps:

wherein the content of the first and second substances,Wrepresenting the operation index of the mechanical arm;nrepresenting the number of times of occurrence of deviation amount of the joint operation parameter;H _i is shown asiCorresponding deviation value when the deviation value of the joint operation parameter occurs next time;H _max representing the maximum deviation value of the joint operation parameter;mrepresenting the number of the stage decomposition actions contained in each group of action schemes; t represents the time length for executing and completing one stage decomposition action in each group of action scheme;T ₀representing the preset decomposition action standard running time;

and if the operation index of the mechanical arm exceeds a preset index threshold value, determining that the action scheme does not meet the operation requirement of task execution.

5. A SCARA intelligent mechanical arm control system for building construction, characterized in that the system comprises:

the input module is used for inputting a target task to be executed by the mechanical arm;

the planning module is used for planning three groups of action schemes corresponding to the tasks to be executed according to the target tasks;

the trial operation module is used for performing trial operation on each group of action schemes and determining whether the operation indexes of each group of action schemes meet the requirements or not through the trial operation;

the execution module is used for performing target task operation according to the execution rule in the action scheme meeting the requirement;

the execution rule includes:

if two action schemes meeting the operation requirements of task execution are finally determined, sequencing the action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first action scheme according to the sequence of the plurality of action schemes, switching a second action scheme to execute the task when the task amount executed by the first action scheme reaches a first standard task amount, and executing the task by using the first action scheme after controlling the mechanical arm to rest for 45min until all the residual task amounts are finished after the task executed by the second action scheme reaches a second standard task amount; wherein the first standard task amount and the second standard task amount are as follows:

C ₁=45%C _{general assembly}，C ₂=40%C _{General assembly}

Wherein the content of the first and second substances,C ₁representing a first standard task quantity;C ₂representing a second standard task quantity;C _{general assembly}Representing the total task amount;

if three action schemes meeting the operation requirements of task execution are finally determined, sequencing the action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; according to the sequence of the plurality of action schemes, executing a first action scheme, switching a second action scheme to execute the task when the task amount executed by the first action scheme reaches a third standard task amount, and controlling the mechanical arm to rest for 30min and then executing the task by using the third action scheme until all the residual task amounts are finished when the task amount executed by the second action scheme reaches a fourth standard task amount; wherein the third standard task amount and the fourth standard task amount are as follows:

C ₃=40%C _{general assembly}，C ₄=35%C _{General assembly}

Wherein the content of the first and second substances,C ₃representing a third standard task quantity;C ₄representing a fourth standard task quantity;

if the action scheme meeting the operation requirement of task execution is finally determined to be one, the action scheme is executed, when the task amount executed by the action scheme reaches a fifth standard task amount, the mechanical arm is controlled to rest for 30min and then operate, and when the task executed by the action scheme reaches a sixth standard task amount, the mechanical arm is controlled to rest for 40min and then the action scheme is used for executing the task until all the residual task amounts are finished; wherein the fifth standard task amount and the sixth standard task amount are as follows:

C ₅=35%C _{general assembly}，C ₆=45%C _{General assembly}

Wherein the content of the first and second substances,C ₅representing a fifth standard task amount;C ₆indicating the sixth standard task amount.

6. The system of claim 5, wherein the planning module comprises:

the extraction module is used for extracting a target task to be executed by the mechanical arm;

the path planning module is used for planning the execution paths of the mechanical arm according to the execution paths related to the target task to obtain three groups of execution paths;

the action planning module is used for respectively carrying out staged action planning on the execution actions of the mechanical arms corresponding to the three groups of execution paths according to the positions of the transported objects related to the target tasks and the three groups of execution paths; acquiring the executing action of the mechanical arm corresponding to each action stage;

the merging module is used for merging the mechanical arm execution actions corresponding to each action stage to obtain three groups of mechanical arm execution actions;

and the matching module is used for correspondingly matching the execution actions of each group of mechanical arms with each group of execution paths to obtain three groups of action schemes corresponding to the tasks to be executed.

7. The system of claim 5, wherein the test operation module comprises:

the operation module is used for carrying out trial operation for 10-20 times on each group of action schemes corresponding to the tasks to be executed;

the monitoring module is used for monitoring and recording the deviation amount between the actual joint operation parameter and the set joint operation parameter when the mechanical arm completes each action in the execution process of each group of action schemes in real time;

the index acquisition module is used for acquiring the operation indexes of the mechanical arm through deviation calculation and judging whether each group of action schemes meet the operation requirements or not according to the operation indexes of the mechanical arm;

and the scheme determining module is used for extracting the action scheme meeting the operation requirement and determining to execute the task by utilizing the action scheme meeting the operation requirement.

8. The system of claim 7, wherein the metric acquisition module comprises:

the index calculation module is used for calculating the operation index of the mechanical arm by using an index acquisition model, wherein the index acquisition model comprises the following steps:

wherein the content of the first and second substances,Wrepresenting the operation index of the mechanical arm;nrepresenting the number of times of occurrence of deviation amount of the joint operation parameter;H _i is shown asiRecurrent joint movementThe corresponding deviation value when the deviation value of the line parameter is measured;H _max representing the maximum deviation value of the joint operation parameter;mrepresenting the number of the stage decomposition actions contained in each group of action schemes; t represents the time length for executing and completing one stage decomposition action in each group of action scheme;T ₀representing the preset decomposition action standard running time;

and the comparison determination module is used for determining that the action scheme does not meet the operation requirement of task execution if the operation index of the mechanical arm exceeds a preset index threshold value.

Technical Field

The invention provides an SCARA intelligent mechanical arm control method and system for building construction, and belongs to the technical field of mechanical arm control.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the method is widely applied to the fields of industrial assembly, safety, explosion prevention and the like.

The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

When the existing SCARA mechanical arm is applied to a construction site, because the construction site environment is severe and the load is heavy, in the control of the mechanical arm, the problem that the abrasion of the specific position of the joint is serious due to the fact that the mechanical arm is subjected to single action and the task is finished by only one single action is often caused.

Disclosure of Invention

The invention provides an SCARA intelligent mechanical arm control method for building construction, which is used for solving the problems that the task execution flexibility is low due to the execution of a single scheme and the mechanical arm is seriously abraded due to the execution of a single action in the existing mechanical arm control:

the invention provides an SCARA intelligent mechanical arm control method for building construction, which comprises the following steps:

inputting a target task to be executed by a mechanical arm;

planning three groups of action schemes corresponding to the tasks to be executed according to the target tasks;

performing trial operation on each group of action schemes, and determining whether the operation indexes of each group of action schemes meet the requirements or not through the trial operation;

and in the action scheme meeting the requirement, performing target task operation according to the execution rule.

Further, planning three groups of action schemes corresponding to the tasks to be executed according to the target tasks, which comprises the following steps:

extracting target tasks to be executed by the mechanical arm;

planning the execution paths of the mechanical arm according to the execution route related to the target task to obtain three groups of execution paths;

according to the position of the transported object related to the target task and the three groups of execution paths, performing staged action planning on the execution actions of the mechanical arms corresponding to the three groups of execution paths respectively; acquiring the executing action of the mechanical arm corresponding to each action stage;

combining the mechanical arm execution actions corresponding to each action stage to obtain three groups of mechanical arm execution actions;

and correspondingly matching the execution actions of each group of mechanical arms with each group of execution paths to obtain three groups of action schemes corresponding to the tasks to be executed.

Further, performing trial operation on each group of action schemes, and determining whether the operation index of each group of action schemes meets the requirement through the trial operation, including:

performing trial operation for 10-20 times on each group of action schemes corresponding to the tasks to be executed;

monitoring and recording the deviation amount between the actual joint operation parameters and the set joint operation parameters when the mechanical arm completes each action in the executing process of each group of action schemes in real time;

calculating through deviation to obtain the operation index of the mechanical arm, and judging whether each group of action schemes meet the operation requirement according to the operation index of the mechanical arm;

and extracting the action scheme meeting the operation requirement, and determining to execute the task by using the action scheme meeting the operation requirement.

Further, the step of calculating and acquiring the operation indexes of the mechanical arm through the deviation amount, and judging whether each group of action schemes meet the operation requirements according to the operation indexes of the mechanical arm includes:

calculating the operation index of the mechanical arm by using an index acquisition model, wherein the index acquisition model comprises the following steps:

wherein the content of the first and second substances,Wrepresenting the operation index of the mechanical arm;nrepresenting the number of times of occurrence of deviation amount of the joint operation parameter;H _i is shown asiCorresponding deviation value when the deviation value of the joint operation parameter occurs next time;H _max representing the maximum deviation value of the joint operation parameter;mrepresenting the number of the stage decomposition actions contained in each group of motion schemes; t represents the time length for executing one stage decomposition action in each group of motion schemes;T ₀representing the preset decomposition action standard running time;

and if the operation index of the mechanical arm exceeds a preset index threshold value, determining that the action scheme does not meet the operation requirement of task execution.

Further, the executing the rule includes:

if two action schemes meeting the operation requirements of task execution are finally determined, sequencing the multiple action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first operation scheme according to the sequence of the operation schemes, switching a second motion scheme to execute the tasks when the task amount executed by the first operation scheme reaches a first standard task amount, and executing the tasks by using the first operation scheme after controlling the mechanical arm to rest for 45min when the task executed by the second motion scheme reaches a second standard task amount until all the residual task amounts are finished; wherein the first standard task amount and the second standard task amount are as follows:

C ₁=45%C _{general assembly}，C ₂=40%C _{General assembly}

Wherein the content of the first and second substances,C ₁representing a first standard task quantity;C ₂representing a second standard task quantity;C _{general assembly}Representing the total task amount;

if three action schemes meeting the operation requirements of task execution are finally determined, sequencing the plurality of action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first operation scheme according to the sequence of the operation schemes, switching a second motion scheme to execute the tasks when the task amount executed by the first operation scheme reaches a third standard task amount, and controlling the mechanical arm to rest for 30min and then executing the tasks by using the third operation scheme until all the residual task amounts are finished when the task amount executed by the second motion scheme reaches a fourth standard task amount; wherein the third standard task amount and the fourth standard task amount are as follows:

C ₃=40%C _{general assembly}，C ₄=35%C _{General assembly}

Wherein the content of the first and second substances,C ₃representing a third standard task quantity;C ₄representing a fourth standard task quantity;

if the action scheme meeting the task execution operation requirement is finally determined to be one, the operation scheme is executed, when the task amount executed by the motion scheme reaches a fifth standard task amount, the mechanical arm is controlled to rest for 30min and then operate, and when the task executed by the motion scheme reaches a sixth standard task amount, the mechanical arm is controlled to rest for 40min and then the operation scheme is utilized to execute the tasks until all the residual task amounts are finished; wherein the fifth standard task amount and the sixth standard task amount are as follows:

C ₅=35%C _{general assembly}，C ₆=45%C _{General assembly}

Wherein the content of the first and second substances,C ₅representing a fifth standard task amount;C ₆indicating the sixth standard task amount.

A SCARA intelligent robotic arm control system for building construction, the system comprising:

the input module is used for inputting a target task to be executed by the mechanical arm;

the planning module is used for planning three groups of action schemes corresponding to the tasks to be executed according to the target tasks;

the trial operation module is used for performing trial operation on each group of action schemes and determining whether the operation indexes of each group of action schemes meet the requirements or not through the trial operation;

and the execution module is used for performing target task operation according to the execution rule in the action scheme meeting the requirement.

Further, the planning module includes:

the extraction module is used for extracting a target task to be executed by the mechanical arm;

the path planning module is used for planning the execution paths of the mechanical arm according to the execution paths related to the target task to obtain three groups of execution paths;

the action planning module is used for respectively carrying out staged action planning on the execution actions of the mechanical arms corresponding to the three groups of execution paths according to the positions of the transported objects related to the target tasks and the three groups of execution paths; acquiring the executing action of the mechanical arm corresponding to each action stage;

the merging module is used for merging the mechanical arm execution actions corresponding to each action stage to obtain three groups of mechanical arm execution actions;

and the matching module is used for correspondingly matching the execution actions of each group of mechanical arms with each group of execution paths to obtain three groups of action schemes corresponding to the tasks to be executed.

Further, the trial operation module includes:

the operation module is used for carrying out trial operation for 10-20 times on each group of action schemes corresponding to the tasks to be executed;

the monitoring module is used for monitoring and recording the deviation amount between the actual joint operation parameter and the set joint operation parameter when the mechanical arm completes each action in the execution process of each group of action schemes in real time;

the index acquisition module is used for acquiring the operation indexes of the mechanical arm through deviation calculation and judging whether each group of action schemes meet the operation requirements or not according to the operation indexes of the mechanical arm;

and the scheme determining module is used for extracting the action scheme meeting the operation requirement and determining to execute the task by utilizing the action scheme meeting the operation requirement.

Further, the index obtaining module includes:

the index calculation module is used for calculating the operation index of the mechanical arm by using an index acquisition model, wherein the index acquisition model comprises the following steps:

wherein the content of the first and second substances,Wrepresenting the operation index of the mechanical arm;nrepresenting the number of times of occurrence of deviation amount of the joint operation parameter;H _i is shown asiCorresponding deviation value when the deviation value of the joint operation parameter occurs next time;H _max representing the maximum deviation value of the joint operation parameter;mrepresenting the number of the stage decomposition actions contained in each group of motion schemes; t represents the time length for executing one stage decomposition action in each group of motion schemes;T ₀representing the preset decomposition action standard running time;

and the comparison determination module is used for determining that the action scheme does not meet the operation requirement of task execution if the operation index of the mechanical arm exceeds a preset index threshold value.

Further, the executing the rule includes:

if two action schemes meeting the operation requirements of task execution are finally determined, sequencing the multiple action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first operation scheme according to the sequence of the operation schemes, switching a second motion scheme to execute the tasks when the task amount executed by the first operation scheme reaches a first standard task amount, and executing the tasks by using the first operation scheme after controlling the mechanical arm to rest for 45min when the task executed by the second motion scheme reaches a second standard task amount until all the residual task amounts are finished; wherein the first standard task amount and the second standard task amount are as follows:

C ₁=45%C _{general assembly}，C ₂=40%C _{General assembly}

Wherein the content of the first and second substances,C ₁representing a first standard task quantity;C ₂representing a second standard task quantity;C _{general assembly}Representing the total task amount;

if three action schemes meeting the operation requirements of task execution are finally determined, sequencing the plurality of action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first operation scheme according to the sequence of the operation schemes, switching a second motion scheme to execute the tasks when the task amount executed by the first operation scheme reaches a third standard task amount, and controlling the mechanical arm to rest for 30min and then executing the tasks by using the third operation scheme until all the residual task amounts are finished when the task amount executed by the second motion scheme reaches a fourth standard task amount; wherein the third standard task amount and the fourth standard task amount are as follows:

C ₃=40%C _{general assembly}，C ₄=35%C _{General assembly}

Wherein the content of the first and second substances,C ₃representing a third standard task quantity;C ₄representing a fourth standard task quantity;

if the action scheme meeting the task execution operation requirement is finally determined to be one, the operation scheme is executed, when the task amount executed by the motion scheme reaches a fifth standard task amount, the mechanical arm is controlled to rest for 30min and then operate, and when the task executed by the motion scheme reaches a sixth standard task amount, the mechanical arm is controlled to rest for 40min and then the operation scheme is utilized to execute the tasks until all the residual task amounts are finished; wherein the fifth standard task amount and the sixth standard task amount are as follows:

C ₅=35%C _{general assembly}，C ₆=45%C _{General assembly}

Wherein the content of the first and second substances,C ₅representing a fifth standard task amount;C ₆indicating the sixth standard task amount.

The invention has the beneficial effects that:

according to the SCARA intelligent mechanical arm control method and system for building construction, the flexibility of the implementation scheme that the mechanical arm completes one task can be effectively improved by executing the same task through a plurality of action schemes, meanwhile, the mechanical arm can be guaranteed not to generate high abrasion on a certain specific position of a joint in the process of completing one task through executing different actions, the abrasion rate of the mechanical arm joint is effectively reduced, and the service life of the mechanical arm is prolonged. On the other hand, the screening strength of the action schemes can be strictly and effectively improved through index screening, the obtained action schemes can meet the requirements of target tasks, the execution efficiency of the target tasks can be effectively improved in the process of switching and executing a plurality of action schemes, the task execution time is shortened, and the wear rate of the mechanical arm is further reduced.

Drawings

FIG. 1 is a flow chart of the method of the present invention;

fig. 2 is a system block diagram of the system of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

The invention provides a SCARA intelligent mechanical arm control method for building construction, which comprises the following steps of:

s1, inputting target tasks to be executed by the mechanical arm;

s2, planning three groups of action schemes corresponding to the tasks to be executed according to the target tasks;

s3, performing trial operation on each group of action schemes, and determining whether the operation indexes of each group of action schemes meet the requirements or not through the trial operation;

and S4, in the action scheme meeting the requirement, performing target task operation according to the execution rule.

The effect of the above technical scheme is as follows: the flexibility of the implementation scheme that the mechanical arm completes one task can be effectively improved by executing the same task through a plurality of action schemes, meanwhile, the mechanical arm can be guaranteed not to generate high abrasion on a certain specific position of the joint during the completion of one task through executing different actions, the abrasion rate of the joint of the mechanical arm is effectively reduced, and the service life of the mechanical arm is prolonged. On the other hand, the screening strength of the action schemes can be strictly and effectively improved through index screening, the obtained action schemes can meet the requirements of target tasks, the execution efficiency of the target tasks can be effectively improved in the process of switching and executing a plurality of action schemes, the task execution time is shortened, and the wear rate of the mechanical arm is further reduced.

According to one embodiment of the invention, three groups of action schemes corresponding to the tasks to be executed are planned according to the target tasks, and the action schemes comprise:

s201, extracting a target task to be executed by the mechanical arm;

s202, planning the execution path of the mechanical arm according to the execution path related to the target task to obtain three groups of execution paths;

s203, respectively carrying out staged action planning on the execution actions of the mechanical arms corresponding to the three groups of execution paths according to the position of the transported object related to the target task and the three groups of execution paths; acquiring the executing action of the mechanical arm corresponding to each action stage;

s204, combining the mechanical arm execution actions corresponding to each action stage to obtain three groups of mechanical arm execution actions;

and S205, correspondingly matching the execution actions of each group of mechanical arms with each group of execution paths to obtain three groups of action schemes corresponding to the tasks to be executed.

The effect of the above technical scheme is as follows: by the scheme, the obtaining efficiency of the action scheme can be effectively improved, and the matching degree between the obtained action scheme and the target task is effectively improved. And further improve the execution efficiency of subsequent target tasks.

One embodiment of the present invention performs a trial operation on each group of action schemes, and determines whether the operation index of each group of action schemes meets the requirement through the trial operation, including:

s301, performing trial operation for 10-20 times on each group of action schemes corresponding to the tasks to be executed;

s302, monitoring and recording the deviation amount between the actual joint operation parameters and the set joint operation parameters when the mechanical arm completes each action in the executing process of each group of action schemes in real time;

s303, calculating and acquiring operation indexes of the mechanical arm through deviation, and judging whether each group of action schemes meet operation requirements or not according to the operation indexes of the mechanical arm;

and S304, extracting the action scheme meeting the operation requirement, and determining to execute the task by using the action scheme meeting the operation requirement.

The method comprises the following steps of calculating deviation to obtain operation indexes of the mechanical arm, and judging whether each group of action schemes meet operation requirements according to the operation indexes of the mechanical arm, wherein the operation indexes comprise:

s3031, calculating the operation index of the mechanical arm by using an index acquisition model, wherein the index acquisition model comprises the following steps:

wherein the content of the first and second substances,Wrepresenting the operation index of the mechanical arm;nrepresenting the number of times of occurrence of deviation amount of the joint operation parameter;H _i is shown asiCorresponding deviation value when the deviation value of the joint operation parameter occurs next time;H _max representing the maximum deviation value of the joint operation parameter;mrepresenting the number of the stage decomposition actions contained in each group of motion schemes; t represents the time length for executing one stage decomposition action in each group of motion schemes;T ₀representing the preset decomposition action standard running time;

and S3032, if the operation index of the mechanical arm exceeds a preset index threshold value, determining that the action scheme does not meet the operation requirement of task execution.

The effect of the above technical scheme is as follows: according to the scheme, the screening accuracy of the acquired mechanical arm action schemes can be effectively improved, the completion efficiency of the target task can be improved for each subsequent executed action scheme, and the reduction of the completion efficiency and the completion quality of the target task in the execution process of the action scheme which is not in accordance with the target task completion plan is prevented. Meanwhile, the indexes obtained through the formula can effectively reflect the performance of the current action scheme, the evaluation accuracy of execution of each action scheme is improved, and the screening accuracy of the action schemes is further improved. On the other hand, the complexity of action scheme screening can be reduced through the index formula of the operation scheme, and resource consumption caused by a large amount of complex operation and monitoring is avoided.

In one embodiment of the present invention, the execution rule includes:

if two action schemes meeting the operation requirements of task execution are finally determined, sequencing the multiple action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first operation scheme according to the sequence of the operation schemes, switching a second motion scheme to execute the tasks when the task amount executed by the first operation scheme reaches a first standard task amount, and executing the tasks by using the first operation scheme after controlling the mechanical arm to rest for 45min when the task executed by the second motion scheme reaches a second standard task amount until all the residual task amounts are finished; wherein the first standard task amount and the second standard task amount are as follows:

C ₁=45%C _{general assembly}，C ₂=40%C _{General assembly}

Wherein the content of the first and second substances,C ₁representing a first standard task quantity;C ₂representing a second standard task quantity;C _{general assembly}Representing the total task amount;

if three action schemes meeting the operation requirements of task execution are finally determined, sequencing the plurality of action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first operation scheme according to the sequence of the operation schemes, switching a second motion scheme to execute the tasks when the task amount executed by the first operation scheme reaches a third standard task amount, and controlling the mechanical arm to rest for 30min and then executing the tasks by using the third operation scheme until all the residual task amounts are finished when the task amount executed by the second motion scheme reaches a fourth standard task amount; wherein the third standard task amount and the fourth standard task amount are as follows:

C ₃=40%C _{general assembly}，C ₄=35%C _{General assembly}

Wherein the content of the first and second substances,C ₃representing a third standard task quantity;C ₄representing a fourth standard task quantity;

if the action scheme meeting the task execution operation requirement is finally determined to be one, the operation scheme is executed, when the task amount executed by the motion scheme reaches a fifth standard task amount, the mechanical arm is controlled to rest for 30min and then operate, and when the task executed by the motion scheme reaches a sixth standard task amount, the mechanical arm is controlled to rest for 40min and then the operation scheme is utilized to execute the tasks until all the residual task amounts are finished; wherein the fifth standard task amount and the sixth standard task amount are as follows:

C ₅=35%C _{general assembly}，C ₆=45%C _{General assembly}

Wherein the content of the first and second substances,C ₅representing a fifth standard task amount;C ₆indicating the sixth standard task amount.

The effect of the above technical scheme is as follows: through the appointments of the execution rules, the flexibility of the implementation scheme that the mechanical arm completes one task can be effectively improved by executing the same task through a plurality of action schemes, meanwhile, the mechanical arm can be guaranteed not to generate high abrasion on a certain specific position of the joint during the completion of one task through executing different actions, the abrasion rate of the mechanical arm joint is effectively reduced, and the service life of the mechanical arm is prolonged.

An embodiment of the present invention provides an SCARA intelligent mechanical arm control system for building construction, as shown in fig. 2, the system includes:

the input module is used for inputting a target task to be executed by the mechanical arm;

the planning module is used for planning three groups of action schemes corresponding to the tasks to be executed according to the target tasks;

the trial operation module is used for performing trial operation on each group of action schemes and determining whether the operation indexes of each group of action schemes meet the requirements or not through the trial operation;

and the execution module is used for performing target task operation according to the execution rule in the action scheme meeting the requirement.

The effect of the above technical scheme is as follows: the flexibility of the implementation scheme that the mechanical arm completes one task can be effectively improved by executing the same task through a plurality of action schemes, meanwhile, the mechanical arm can be guaranteed not to generate high abrasion on a certain specific position of the joint during the completion of one task through executing different actions, the abrasion rate of the joint of the mechanical arm is effectively reduced, and the service life of the mechanical arm is prolonged. On the other hand, the screening strength of the action schemes can be strictly and effectively improved through index screening, the obtained action schemes can meet the requirements of target tasks, the execution efficiency of the target tasks can be effectively improved in the process of switching and executing a plurality of action schemes, the task execution time is shortened, and the wear rate of the mechanical arm is further reduced.

In one embodiment of the invention, the planning module comprises:

the extraction module is used for extracting a target task to be executed by the mechanical arm;

the path planning module is used for planning the execution paths of the mechanical arm according to the execution paths related to the target task to obtain three groups of execution paths;

the action planning module is used for respectively carrying out staged action planning on the execution actions of the mechanical arms corresponding to the three groups of execution paths according to the positions of the transported objects related to the target tasks and the three groups of execution paths; acquiring the executing action of the mechanical arm corresponding to each action stage;

the merging module is used for merging the mechanical arm execution actions corresponding to each action stage to obtain three groups of mechanical arm execution actions;

and the matching module is used for correspondingly matching the execution actions of each group of mechanical arms with each group of execution paths to obtain three groups of action schemes corresponding to the tasks to be executed.

The effect of the above technical scheme is as follows: by the scheme, the obtaining efficiency of the action scheme can be effectively improved, and the matching degree between the obtained action scheme and the target task is effectively improved. And further improve the execution efficiency of subsequent target tasks.

In one embodiment of the present invention, the trial operation module includes:

the operation module is used for carrying out trial operation for 10-20 times on each group of action schemes corresponding to the tasks to be executed;

the monitoring module is used for monitoring and recording the deviation amount between the actual joint operation parameter and the set joint operation parameter when the mechanical arm completes each action in the execution process of each group of action schemes in real time;

the index acquisition module is used for acquiring the operation indexes of the mechanical arm through deviation calculation and judging whether each group of action schemes meet the operation requirements or not according to the operation indexes of the mechanical arm;

and the scheme determining module is used for extracting the action scheme meeting the operation requirement and determining to execute the task by utilizing the action scheme meeting the operation requirement.

Wherein, the index acquisition module comprises:

the index calculation module is used for calculating the operation index of the mechanical arm by using an index acquisition model, wherein the index acquisition model comprises the following steps:

wherein the content of the first and second substances,Wrepresenting the operation index of the mechanical arm;nrepresenting the number of times of occurrence of deviation amount of the joint operation parameter;H _i is shown asiCorresponding deviation value when the deviation value of the joint operation parameter occurs next time;H _max representing the maximum deviation value of the joint operation parameter;mrepresenting the number of the stage decomposition actions contained in each group of motion schemes; t represents the time length for executing one stage decomposition action in each group of motion schemes;T ₀representing the preset decomposition action standard running time;

and the comparison determination module is used for determining that the action scheme does not meet the operation requirement of task execution if the operation index of the mechanical arm exceeds a preset index threshold value.

The effect of the above technical scheme is as follows: according to the scheme, the screening accuracy of the acquired mechanical arm action schemes can be effectively improved, the completion efficiency of the target task can be improved for each subsequent executed action scheme, and the reduction of the completion efficiency and the completion quality of the target task in the execution process of the action scheme which is not in accordance with the target task completion plan is prevented. Meanwhile, the indexes obtained through the formula can effectively reflect the performance of the current action scheme, the evaluation accuracy of execution of each action scheme is improved, and the screening accuracy of the action schemes is further improved. On the other hand, the complexity of action scheme screening can be reduced through the index formula of the operation scheme, and resource consumption caused by a large amount of complex operation and monitoring is avoided.

In one embodiment of the present invention, the execution rule includes:

if two action schemes meeting the operation requirements of task execution are finally determined, sequencing the multiple action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first operation scheme according to the sequence of the operation schemes, switching a second motion scheme to execute the tasks when the task amount executed by the first operation scheme reaches a first standard task amount, and executing the tasks by using the first operation scheme after controlling the mechanical arm to rest for 45min when the task executed by the second motion scheme reaches a second standard task amount until all the residual task amounts are finished; wherein the first standard task amount and the second standard task amount are as follows:

C ₁=45%C _{general assembly}，C ₂=40%C _{General assembly}

Wherein the content of the first and second substances,C ₁representing a first standard task quantity;C ₂representing a second standard task quantity;C _{general assembly}Representing the total task amount;

if three action schemes meeting the operation requirements of task execution are finally determined, sequencing the plurality of action schemes according to the principle that the operation indexes of the mechanical arm are from low to high; executing a first operation scheme according to the sequence of the operation schemes, switching a second motion scheme to execute the tasks when the task amount executed by the first operation scheme reaches a third standard task amount, and controlling the mechanical arm to rest for 30min and then executing the tasks by using the third operation scheme until all the residual task amounts are finished when the task amount executed by the second motion scheme reaches a fourth standard task amount; wherein the third standard task amount and the fourth standard task amount are as follows:

C ₃=40%C _{general assembly}，C ₄=35%C _{General assembly}

Wherein the content of the first and second substances,C ₃representing a third standard task quantity;C ₄representing a fourth standard task quantity;

if the action scheme meeting the task execution operation requirement is finally determined to be one, the operation scheme is executed, when the task amount executed by the motion scheme reaches a fifth standard task amount, the mechanical arm is controlled to rest for 30min and then operate, and when the task executed by the motion scheme reaches a sixth standard task amount, the mechanical arm is controlled to rest for 40min and then the operation scheme is utilized to execute the tasks until all the residual task amounts are finished; wherein the fifth standard task amount and the sixth standard task amount are as follows:

C ₅=35%C _{general assembly}，C ₆=45%C _{General assembly}

Wherein the content of the first and second substances,C ₅representing a fifth standard task amount;C ₆indicating the sixth standard task amount.

The effect of the above technical scheme is as follows: through the appointments of the execution rules, the flexibility of the implementation scheme that the mechanical arm completes one task can be effectively improved by executing the same task through a plurality of action schemes, meanwhile, the mechanical arm can be guaranteed not to generate high abrasion on a certain specific position of the joint during the completion of one task through executing different actions, the abrasion rate of the mechanical arm joint is effectively reduced, and the service life of the mechanical arm is prolonged.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.