CN-121199776-B - Intelligent multi-manipulator knife sharpening cooperative control system

CN121199776BCN 121199776 BCN121199776 BCN 121199776BCN-121199776-B

Abstract

The invention relates to the technical field of multi-manipulator control, and discloses an intelligent multi-manipulator knife sharpening cooperative control system. The system comprises a data acquisition module, a state analysis module, a cooperative computing module and a control optimization module. The system comprises a data acquisition module, a state analysis module, a collaborative calculation module and a control optimization module, wherein the data acquisition module acquires real-time operation data of a plurality of manipulators in the sharpening process, the real-time operation data comprise position data, force data and cutter abrasion data, the state analysis module identifies a stable working mode and a changing working mode according to the changing mode of the real-time operation data of each manipulator along with time, the collaborative calculation module calculates the collaborative performance index of each manipulator based on the real-time operation data in the stable working mode and the changing working mode, and the control optimization module generates a collaborative sharpening control strategy of the manipulators according to the collaborative performance index and the real-time operation data. The system can realize effective cooperative control of the multi-manipulator knife sharpening operation, and is suitable for multi-manipulator cooperative knife sharpening scenes in the machining field.

Inventors

HUANG DAHAI
LIU BINGYAO
HE BINGQIANG
ZHANG YONG
Xu Piyong
LIANG RONGJI
HUANG DAOSHENG
ZHANG YIYIN
HUANG RONGKE

Assignees

阳江市广海机械有限公司

Dates

Publication Date: 20260508
Application Date: 20251030

Claims (8)

1. An intelligent multi-manipulator knife sharpening cooperative control system, characterized in that the system comprises: The data acquisition module is used for acquiring real-time operation data of the plurality of manipulators in the sharpening process, wherein the real-time operation data comprise position data, force data and cutter abrasion data; the state analysis module is used for identifying a stable working mode and a changing working mode according to the changing mode of the real-time operation data of each manipulator along with time; The collaborative computing module is used for computing the collaborative performance index of each manipulator based on the real-time operation data in the stable working mode and the variable working mode; The control optimization module is used for generating a coordinated sharpening control strategy of the multiple manipulators according to the coordinated performance index and the real-time operation data; The collaborative computing module is specifically configured to: Marking the manipulator with real-time operation data as a reference manipulator in a stable working mode, and marking the manipulator with real-time operation data as a target manipulator in a variable working mode; for each reference manipulator and each target manipulator, calculating the control influence of the reference manipulator relative to the target manipulator according to the similarity analysis of the real-time operation data and combining time information; the calculation of the control influence includes: The method comprises the steps of obtaining a reference manipulator, obtaining a target manipulator, obtaining a similarity measure based on the starting time and the operation duration of the reference manipulator and the target manipulator in each sharpening operation, taking the time ratio of the target manipulator to the reference manipulator in operation as a first factor, taking the time ratio of the similarity measure to the operation duration as a second factor, and calculating the product of the first factor and the second factor as control influence.
2. The intelligent multi-robot sharpening cooperative control system of claim 1, wherein the real-time operational data further comprises a start time, an end time, and an operational duration of each sharpening operation.
3. The intelligent multi-manipulator knife sharpening cooperative control system of claim 2, wherein the state analysis module is specifically configured to: for each manipulator, extracting a real-time operation data sequence, calculating a first-order differential value of the sequence, and screening the moment when the differential value is positive as the growth moment; The growing moments are ordered according to the difference values to form a difference sequence, the second-order difference values of the difference sequence are calculated, key moments are determined, the time periods before the key moments correspond to stable working modes, and the time periods after the key moments correspond to changing working modes.
4. The intelligent multi-manipulator knife sharpening cooperative control system of claim 1, wherein the control optimization module is further configured to calculate a decision capability index for each manipulator based on the tool wear data and the duration of operation in the real-time operation data; Combining the cooperative performance index and the decision capability index to obtain the control priority of each manipulator; And selecting a dominant manipulator based on the control priority, and constructing a cooperative control hierarchical structure.
5. The intelligent multi-manipulator knife sharpening cooperative control system of claim 4, wherein the calculating of the decision capability index comprises: And calculating the characteristic ratio of the operation duration time and the interval time of each sharpening operation, and taking the product of the average value of the characteristic ratios of all the operations and the number of times of tool wear as a decision capability index.
6. The intelligent multi-manipulator knife sharpening cooperative control system of claim 5, wherein the control optimization module is specifically configured to: determining a manipulator with a control priority higher than a set value as a dominant manipulator; For each dominant manipulator, calculating a following degree index of the target manipulator relative to the dominant manipulator, wherein the following degree index is based on control influence and decision capability indexes; and arranging the cooperative control hierarchical structure according to the size of the following degree index, wherein nodes at the same level in the hierarchical structure have the same following degree index.
7. The intelligent multi-manipulator knife sharpening cooperative control system of claim 6, wherein the control optimization module is further configured to divide the control stage hierarchy according to a cooperative control hierarchy, and apply differentiated control strategies for different stage hierarchies.
8. The intelligent multi-manipulator knife sharpening cooperative control system of claim 1, further comprising a verification module for checking validity of the real-time operation data, verifying the local operation data based on the global control parameter, and adjusting the global control parameter after verification.

Description

Intelligent multi-manipulator knife sharpening cooperative control system Technical Field The invention relates to the technical field of multi-manipulator control, in particular to an intelligent multi-manipulator knife sharpening cooperative control system. Background In the field of machining, sharpening operation is an important link for guaranteeing subsequent machining precision and efficiency, and along with the development of an automatic technology, the cooperative completion of sharpening operation by multiple mechanical arms has gradually become a mainstream application direction of the industry. At present, in the actual operation process, a multi-manipulator knife sharpening system faces the problem that multi-equipment operation data are difficult to acquire synchronously, most systems can acquire partial operation parameters of a single manipulator, and the position change, force output and cutter abrasion conditions of a plurality of manipulators in the knife sharpening process are difficult to grasp comprehensively, so that blind areas exist in the monitoring of the whole cooperative operation process. The existing system lacks an effective recognition mechanism for the working mode of the manipulator, and can not distinguish whether the manipulator is in a stable working state or in a changing working state according to the change rule of real-time operation data along with time. When the working mode of the manipulator is changed, the system cannot timely sense the change, and further cannot adjust the subsequent cooperative control strategy, so that the condition that actions of multiple manipulators are uncoordinated easily occurs. In the process of multi-manipulator cooperative control, the existing system is difficult to quantitatively evaluate the cooperative performance of each manipulator based on the operation data in different working modes, and lacks scientific cooperative performance measurement standards, so that the establishment of a control strategy lacks reliable basis. Although partial systems try to generate a cooperative control strategy, the cooperative control strategy is judged only by means of parameters of a single dimension, and the real-time operation data and the cooperative performance condition of multiple manipulators cannot be fully combined, so that the generated control strategy is poor in applicability, the cooperative control requirement under a complex sharpening operation scene cannot be met, the quality and efficiency of the whole sharpening operation are affected, and the further popularization and application of the multi-manipulator sharpening system in the high-precision and high-efficiency processing field are restricted. Disclosure of Invention The invention aims to provide an intelligent multi-manipulator knife sharpening cooperative control system so as to solve the problems in the background technology. In order to achieve the above purpose, the present invention provides an intelligent multi-manipulator knife sharpening cooperative control system, which comprises: The data acquisition module is used for acquiring real-time operation data of the plurality of manipulators in the sharpening process, wherein the real-time operation data comprise position data, force data and cutter abrasion data; the state analysis module is used for identifying a stable working mode and a changing working mode according to the changing mode of the real-time operation data of each manipulator along with time; The collaborative computing module is used for computing the collaborative performance index of each manipulator based on the real-time operation data in the stable working mode and the variable working mode; and the control optimization module is used for generating a coordinated sharpening control strategy of the multiple manipulators according to the coordinated performance index and the real-time operation data. Preferably, the real-time operation data further includes a start time, an end time and an operation duration of each sharpening operation. Preferably, the state analysis module is specifically configured to: for each manipulator, extracting a real-time operation data sequence, calculating a first-order differential value of the sequence, and screening the moment when the differential value is positive as the growth moment; The growing moments are ordered according to the difference values to form a difference sequence, the second-order difference values of the difference sequence are calculated, key moments are determined, the time periods before the key moments correspond to stable working modes, and the time periods after the key moments correspond to changing working modes. Preferably, the cooperative computing module is specifically configured to: marking the manipulator with real-time operation data as a reference manipulator in a stable working mode, and marking the manipulator with real-time operation data as a target manipulator in a va