Control method, device and readable storage medium of wire-paying assembly

Abstract

The present application discloses a control method, device and readable storage medium for a wire-laying component, the method comprising: determining a second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system based on the posture information of the wire-laying component; determining a base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system based on the second homogeneous transformation matrix; solving a moving path corresponding to the coordinates of the starting point based on the base homogeneous transformation matrix and the posture information; solving a wire-laying path corresponding to the coordinates of the end point based on the base homogeneous transformation matrix and the posture information after movement. The method solves the technical problem in related technologies that the robot has a large amount of calculation and low data reusability when continuously performing different tasks due to the cumbersome calculation process of base coordinate calibration and path planning, and achieves the technical effect of optimizing the steps of base coordinate calibration and wire-laying path planning, thereby improving data reusability.

Description

Technical Field

[0001] The present application relates to the field of robot control, and in particular to a control method for a wire-paying assembly, a control device for the wire-paying assembly, and a computer-readable storage medium. Background Art

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industry. They possess a certain degree of autonomy and rely on their own power and control capabilities to perform various industrial processing and manufacturing functions. Their practical applications require solutions for accurate control of the robot's position, parametric programming of the robot, high-precision coordination of robot groups, and robot position transformation.

[0003] To address this issue, related technologies calibrate the robot's working coordinate system to build a model of the robot in the actual working scenario. The robot's target working pose is then determined, and the rotation angles of each joint are calculated through inverse kinematics. This splits the actual work into two parts: base coordinate calibration and path planning, enabling robot control.

[0004] However, the robot needs to calibrate the base coordinates and plan the path when performing each task, and the base coordinate calibration process is cumbersome. When the robot needs to perform different tasks continuously, the above workflow results in low robot efficiency. Summary of the Invention

[0005] The embodiments of the present application provide a control method, device and readable storage medium for a wire-laying component, thereby solving the technical problems in the related art that the base coordinate calibration and path planning calculation process are cumbersome, resulting in large amount of calculation and low data reusability when the robot continuously performs different tasks. This achieves the technical effect of optimizing the steps of base coordinate calibration and wire-laying path planning and improving data reusability.

[0006] An embodiment of the present application provides a control method for a wire-paying assembly, which is used to control the wire-paying assembly. The wire-paying assembly includes a wire-paying head, an A3 axis, an A4 axis, and an A5 axis. The joint between the A3 axis and the A4 axis corresponds to a base coordinate system, the joint between the A4 axis and the A5 axis corresponds to a first coordinate system, and the launch point of the wire-paying head corresponds to a second coordinate system. The control method of the wire-paying assembly includes:

[0007] Determining a second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system according to the posture information of the line-setting component;

[0008] Determining a base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system based on the second homogeneous transformation matrix;

[0009] Solve the moving path corresponding to the starting point coordinates according to the base homogeneous transformation matrix and the posture information;

[0010] The line-laying path corresponding to the coordinates of the end point is solved according to the base homogeneous transformation matrix and the posture information after the movement.

[0011] Optionally, the step of determining a second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system based on the posture information of the line-setting component includes:

[0012] Determining a first coordinate of the pay-off head and a joint angle value of the A5 axis relative to an initial posture according to the posture information;

[0013] Control the A5 axis to rotate and reset according to the rotation scheme matching the joint angle value, and obtain the second coordinate and the third coordinate;

[0014] The second homogeneous transformation matrix is ​​determined according to the first coordinate, the second coordinate, and the third coordinate.

[0015] Optionally, the step of controlling the A5 axis to rotate and reset according to a rotation scheme matching the joint angle value to obtain the second coordinate and the third coordinate includes:

[0016] When the joint angle value is less than zero, the A5 axis is controlled to rotate ninety degrees in the positive direction, and the coordinates of the pay-off head are obtained as the second coordinates, where the positive direction is the right-handed spiral direction of the z-axis of the first coordinate system;

[0017] Control the A5 axis to rotate ninety degrees in the positive direction, and obtain the coordinates of the pay-off head as the third coordinate;

[0018] The A5 axis is controlled to rotate 180 degrees in the negative direction to complete the reset, wherein the negative direction is the left-hand spiral direction of the z-axis of the A5 axis coordinate system.

[0019] Optionally, the joint between the A4 axis and the A5 axis is recorded as a first axis intersection, and the step of determining the second homogeneous transformation matrix according to the first coordinate, the second coordinate, and the third coordinate includes:

[0020] Determine axis intersection coordinates according to the posture information, the axis intersection coordinates being the coordinates of the first axis intersection;

[0021] Determine the vector relationship between the axis intersection coordinates and the first coordinate and the second coordinate respectively;

[0022] The second homogeneous transformation matrix is ​​determined according to the vector relationship.

[0023] Optionally, the step of determining the second homogeneous transformation matrix according to the vector relationship includes:

[0024] Obtaining a basic configuration corresponding to the second homogeneous transformation matrix;

[0025] Determine, according to the vector relationship, the unit vectors in the three axis directions of the second coordinate system, as a first component, a second component, and a third component in the measurement coordinate system, respectively;

[0026] The basic configuration is solved according to the first component, the second component and the third component to determine the second homogeneous transformation matrix.

[0027] Optionally, the step of determining a base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system based on the second homogeneous transformation matrix includes:

[0028] determining a first transformation relationship between the second coordinate system and the first coordinate system;

[0029] determining a second transformation relationship between the first coordinate system and the base coordinate system;

[0030] The basis homogeneous transformation matrix is ​​determined according to the first transformation relationship and the second transformation relationship.

[0031] Optionally, the step of solving the movement path corresponding to the starting point coordinates according to the base homogeneous transformation matrix and the posture information includes:

[0032] Taking the joint between the A4 axis and the A5 axis as a first axis intersection point, determining a unit vector between the axis intersection point coordinates of the first axis intersection point and the starting point coordinates;

[0033] Determine the components of the unit vector along each axis in the base coordinate system;

[0034] determining a third homogeneous transformation matrix of the base coordinate system relative to the second coordinate system according to the base homogeneous transformation matrix;

[0035] The moving path is determined according to the components and the third homogeneous transformation matrix.

[0036] Optionally, the step of solving the line-laying path corresponding to the coordinates of the end point according to the base homogeneous transformation matrix and the posture information after the movement includes:

[0037] Determine the axis intersection coordinates of the first axis intersection according to the posture information after the movement;

[0038] Determine the unit vector between the axis intersection coordinates and the end point coordinates, and the components of each axis in the base coordinate system;

[0039] determining a fourth homogeneous transformation matrix of the base coordinate system relative to the second coordinate system according to the base homogeneous transformation matrix;

[0040] The playout path is determined according to the components and the fourth homogeneous transformation matrix.

[0041] In addition, the present application also proposes a control device for a wire-paying component, which includes a memory, a processor, and a control program for the wire-paying component stored in the memory and runnable on the processor. When the processor executes the control program for the wire-paying component, the steps of the control method for the wire-paying component as described above are implemented.

[0042] In addition, the present application also proposes a computer-readable storage medium, on which a control program of a wire-paying component is stored. When the control program of the wire-paying component is executed by a processor, the steps of the control method of the wire-paying component as described above are implemented.

[0043] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0044] 1. Due to the adoption of the second homogeneous transformation matrix relative to the measurement coordinate system, the second coordinate system corresponding to the joint between the A4 axis and the A5 axis is determined based on the posture information of the pay-off component; the base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system is determined based on the second homogeneous transformation matrix, wherein the joint between the A3 axis and the A4 axis corresponds to the base coordinate system; the moving path corresponding to the starting point coordinates is solved based on the base homogeneous transformation matrix and the posture information; the pay-off path corresponding to the end point coordinates is solved based on the base homogeneous transformation matrix and the posture information after the movement. Therefore, the technical problem in the related art that the base coordinate calibration and path planning calculation process are cumbersome, resulting in a large amount of calculation and low data reusability when the robot continuously performs different tasks is effectively solved, and the steps of optimizing the base coordinate calibration and pay-off path planning are achieved, thereby improving the technical effect of data reusability.

[0045] 2. Due to the adoption of the method of determining the first coordinate of the pay-off head and the joint angle value of the A5 axis relative to the initial posture according to the posture information; controlling the A5 axis to rotate and reset according to the rotation scheme matching the joint angle value, obtaining the second coordinate and the third coordinate; determining the second homogeneous transformation matrix according to the first coordinate, the second coordinate and the third coordinate; determining the base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system according to the transformation relationship between each coordinate system and the second homogeneous transformation matrix. Therefore, the technical problem of needing to calibrate the base coordinates and then calculate the moving paths of each axis in the related technology is effectively solved, thereby achieving the technical effect of completing the pay-off work from any position by completing the coordinate transformation.

[0046] 3. The coordinates of the first axis intersection corresponding to the joint between the A4 axis and the A5 axis are determined, and the components of the unit vector between the coordinates and the starting point coordinates in the base coordinate system are determined; the third homogeneous transformation matrix of the base coordinate system relative to the second coordinate system is determined; and the moving path and the pay-off path are determined according to the third homogeneous transformation matrix and the components. Therefore, the technical problem of needing to calibrate the base coordinates and then calculate the moving paths of the various axes in the related technology is effectively solved, thereby achieving the technical effect of completing the pay-off work of the pay-off component from any position through coordinate transformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of the working of the wire laying assembly for this application;

[0048] Figure 2 This is a schematic diagram of the coordinate systems in the wiring assembly of this application;

[0049] Figure 3 This is a flow chart of a first embodiment of a method for controlling a wire-paying assembly according to the present application;

[0050] Figure 4 This is a flow chart of a detailed description of step S230 in the second embodiment of the control method for the pay-off assembly of the present application;

[0051] Figure 5 This is a flow chart of a detailed description of step S130 in the third embodiment of the control method for the pay-off assembly of the present application;

[0052] Figure 6 This is a schematic diagram of the hardware structure involved in an embodiment of the control device of the wire-paying component of this application. DETAILED DESCRIPTION

[0053] In the related art, the base coordinate calibration is calculated separately from the manipulator path planning. When the line-laying robot needs to continuously change its spatial position and perform the line-laying work, it is necessary to obtain the information of the positive direction of the x-axis of the base coordinate system each time to complete the base coordinate calibration. After the calibration is completed, it is necessary to obtain the posture information corresponding to the target line-laying point that the line-laying component wants to reach. The process is computationally intensive and the steps are cumbersome. The main technical solution adopted in the embodiment of the present application is: obtaining the posture information of the end of the line-laying component, and determining the second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system based on the posture information; then combining the conversion relationship between each coordinate system to determine the base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system; solving the moving path corresponding to the starting point coordinates based on the base homogeneous transformation matrix and the posture information; after the line-laying head of the line-laying component moves to the starting point, solving the line-laying path corresponding to the end point coordinates based on the current posture information and the base homogeneous transformation matrix. This achieves the goal of not requiring information on the positive direction of the x-axis of the base coordinate system, nor obtaining the posture information of the line-laying head at the target point, and completing the line-laying work of the line-laying component from any position through coordinate transformation.

[0054] To better understand the above technical solutions, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0055] Example 1

[0056] Embodiment 1 of the present application discloses a control method for a wire-paying assembly, the control method comprising a wire-paying head, an A3 axis, an A4 axis, and an A5 axis, wherein the joint between the A3 axis and the A4 axis corresponds to a base coordinate system, the joint between the A4 axis and the A5 axis corresponds to a first coordinate system, and the launch point of the wire-paying head corresponds to a second coordinate system. When each axis rotates, the right-handed spiral direction of the z-axis of the corresponding coordinate system is considered the positive direction.

[0057] In this embodiment, Figure 1 This is an example of the payoff assembly in this embodiment. This position has the following characteristics: the intersection point C (Intersection_A4×A5) corresponding to the joint between the A4 and A5 axes in space falls on the line extending in the opposite direction of the payoff head's emission direction, and the line connecting the laser head center point tcp and point C is parallel to the A6 axis. The payoff head is the laser head. Installing the payoff assembly in this position can achieve the technical effect of facilitating measurement in conjunction with the technical features of this embodiment.

[0058] The wire-laying operation requires two degrees of freedom. Therefore, to simplify the process, axes A1, A2, A3, and A6 are locked, requiring only axes A4 and A5 to rotate. Because axes A1, A2, and A3 are locked, the rods, joints, and base containing these three axes are considered a single rigid body. A base coordinate system is established at the intersection E of axes A3 and A4. This base coordinate system and the various coordinate systems are then established.

[0059] like Figure 2 As shown, the line-laying component is simplified to the relative position relationship between the axis of each shaft, the center line of each rod, the center line of the installation accessories and the center point. O is the measurement coordinate system, O1 is the first coordinate system, O2 is the second coordinate system, and O0 is the base coordinate system.

[0060] As an optional implementation, the transformation relationships between the various coordinate systems are preset. After the O0 coordinate system is moved a first distance along the z0 direction, it is then rotated 90 degrees in a right-handed spiral about the x-axis (i.e., the moved x0 axis) to obtain the O1 coordinate system. The O1 coordinate system is moved a second distance along the x1 direction to obtain the O2 coordinate system. The first distance is the length of the A4 axis, and the second distance is the distance between the center point of the release head and the joint between the A4 and A5 axes.

[0061] Reference Figure 3 , the control method of the pay-off assembly includes:

[0062] Step S110: determining a second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system according to the posture information of the pay-off component.

[0063] In this embodiment, the posture information includes the spatial coordinates of the payout head at the end of the payout assembly in the measurement coordinate system. The measurement coordinate system is the coordinate system established by the total station. The first coordinate of the payout head in the measurement coordinate system is obtained, and the joint angle value of the A5 axis relative to the initial posture is obtained. Based on the joint angle value, the rotation scheme of the A5 axis and the calculation scheme of the second homogeneous transformation matrix are determined.

[0064] As an optional implementation, different rotation schemes and calculation schemes for the second homogeneous transformation matrix are determined according to the magnitude relationship between the joint angle value and zero.

[0065] For example, when the joint angle value is less than 0, the A5 axis is controlled to rotate 90 degrees in the positive direction, then rotate 90 degrees in the positive direction, and then rotate 180 degrees in the negative direction to return to the original position. The right-handed spiral direction of the Z axis of the first coordinate system is the positive direction, and the left-handed spiral direction is the negative direction.

[0066] For example, when the joint angle value is greater than 0, the A5 axis is controlled to rotate 90 degrees in the negative direction; then rotate 90 degrees in the negative direction; and then rotate 180 degrees in the positive direction to return to the original position.

[0067] For example, when the joint angle value of axis 5 = 0, the A5 axis is controlled to rotate 90 degrees in the positive direction; then rotate 180 degrees in the negative direction; and then rotate 90 degrees in the positive direction to return to the original position.

[0068] Step S120: determining a base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system based on the second homogeneous transformation matrix.

[0069] In this embodiment, the base homogeneous transformation matrix is ​​a homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system.

[0070] As an optional implementation, the base homogeneous transformation matrix is ​​determined based on the second homogeneous transformation matrix and the transformation relationship between the coordinate systems of each level of the pay-out component.

[0071] Optionally, step S120 includes:

[0072] Step S121: Determine a first transformation relationship between the second coordinate system and the first coordinate system.

[0073] Step S122: Determine a second transformation relationship between the first coordinate system and the base coordinate system.

[0074] Step S123: determining the basis homogeneous transformation matrix according to the first transformation relationship and the second transformation relationship.

[0075] As an optional implementation, determine the first transformation relationship between the second coordinate system and the first coordinate system, determine the second transformation relationship between the first coordinate system and the base coordinate system, and determine the third transformation relationship between the second coordinate system and the base coordinate system based on the first transformation relationship and the second transformation relationship; and determine the base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system based on the third transformation relationship and the second homogeneous transformation matrix.

[0076] Exemplarily, the replacement amount of each axis of the second coordinate system is determined according to the third transformation relationship, and the corresponding parameters in the second homogeneous transformation matrix are replaced according to the replacement amount, thereby determining the basis homogeneous transformation matrix.

[0077] As another optional implementation, determine the first transformation relationship between the second coordinate system and the first coordinate system, determine the first replacement amount of each parameter based on the first transformation relationship, and then update the second homogeneous transformation matrix based on the first replacement amount; determine the second transformation relationship between the first coordinate system and the base coordinate system, determine the second replacement amount of each parameter based on the second transformation relationship, and then convert the updated second homogeneous transformation matrix into the base homogeneous transformation matrix based on the second replacement amount.

[0078] As another optional implementation, each coordinate system is established using the DH method. Matrix 1 is right-multiplied by Matrix 2, and then right-multiplied by Matrix 3 to obtain Matrix 4. Matrix 1 is the base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system, and Matrix 4 is the second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system. Matrix 4 is the homogeneous transformation matrix of the second coordinate system relative to the first coordinate system. Matrix 3 is the homogeneous transformation matrix of the first coordinate system relative to the base coordinate system.

[0079] According to the DH parameters, the joint angle value of the A4 axis, the joint angle value of the A5 axis, the coordinates of the release head and the axis intersection coordinates of the axis intersection C, matrix two and matrix three are determined, and then according to the matrix two, the matrix three and the second homogeneous transformation matrix, the base homogeneous transformation matrix is ​​determined.

[0080] For example, Right now,

[0081]

[0082] in, That is T O , is the basis homogeneous transformation matrix, is matrix two, is matrix three, That is T tcp , is the second homogeneous transformation matrix.

[0083] Step S130: solving the moving path corresponding to the starting point coordinates according to the basis homogeneous transformation matrix and the posture information.

[0084] In this embodiment, the moving path is the rotation direction and rotation angle of each axis of the pay-off assembly. After the pay-off assembly moves according to the rotation pay-off and rotation angle corresponding to the moving path, the pay-off head moves from the current spatial position to the working position corresponding to the starting point coordinates. The starting point coordinates are the spatial coordinates of the starting point of the pay-off pattern in the measurement coordinate system. Among them, when the pay-off head is in the working position, the straight line connecting the pay-off head and the axis intersection C (that is, the first axis intersection) will pass through the starting point, that is, the starting point, the pay-off head and the first axis intersection are on the same straight line. That is, when the pay-off head is in the working position corresponding to the starting point coordinates, the laser emitted by the pay-off head passes through the point corresponding to the starting point coordinates.

[0085] As an optional implementation, based on the posture information, the intersection point between the A4 axis and the A5 axis is denoted as C, and the starting point is denoted as A. According to the components of the unit vector of vector CA in the base coordinate system, the moving path corresponding to the coordinates of point A is determined in combination with the base homogeneous transformation matrix.

[0086] Step S140: solving the line-laying path corresponding to the coordinates of the end point according to the basis homogeneous transformation matrix and the posture information after the movement.

[0087] In this embodiment, the pay-off path is the rotation direction and rotation angle of each axis of the pay-off component. After the pay-off component moves according to the rotation pay-off and rotation angle corresponding to the pay-off path, the pay-off head moves from the working position corresponding to the starting point coordinates to the working position corresponding to the end point coordinates, and the path passed by the movement process is the pay-off pattern. The end point coordinates are the spatial coordinates of the end point of the pay-off pattern in the measurement coordinate system. When the pay-off head is in the working position, the straight line connecting the pay-off head and the axis intersection C (i.e., the first axis intersection) will pass through the end point, that is, the end point, the pay-off head and the first axis intersection are on the same straight line. That is, when the pay-off head is in the working position corresponding to the end point coordinates, the laser emitted by the pay-off head passes through the point corresponding to the end point coordinates.

[0088] As an optional implementation, after the pay-off head moves to the starting point, according to the posture information, the intersection point between the A4 axis and the A5 axis is recorded as C, and the end point is recorded as B. According to the components of the unit vector of vector CB in the base coordinate system, combined with the base homogeneous transformation matrix, the pay-off path corresponding to the coordinates of the end point is determined.

[0089] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0090] Due to the adoption of the second coordinate system corresponding to the joint between the A4 axis and the A5 axis and the second homogeneous transformation matrix relative to the measurement coordinate system based on the posture information of the line-laying component; based on the second homogeneous transformation matrix, the base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system is determined, wherein the joint between the A3 axis and the A4 axis corresponds to the base coordinate system; based on the base homogeneous transformation matrix and the posture information, the moving path corresponding to the starting point coordinates is solved; based on the base homogeneous transformation matrix and the posture information after the movement, the line-laying path corresponding to the end point coordinates is solved. Therefore, the technical problem in the related art that the base coordinate calibration and path planning calculation process are cumbersome, resulting in a large amount of calculation and low data reusability when the robot continuously performs different tasks is effectively solved, and the steps of optimizing the base coordinate calibration and line-laying path planning are achieved, thereby improving the technical effect of data reusability.

[0091] Example 2

[0092] Based on the first embodiment, the second embodiment of the present application proposes a control method for a wire pay-off assembly, wherein step S110 includes:

[0093] Step S210, determining the first coordinate of the pay-off head and the joint angle value of the A5 axis relative to the initial posture according to the posture information;

[0094] Reference Figure 1 and Figure 2In this embodiment, the initial posture is the posture of the wire-laying component when the coordinate system is established, that is, Figure 1 The relative positional relationship of the A1 axis, A2 axis, A3 axis, A4 axis, A5 axis and A6 axis is shown in FIG. A first coordinate system is established with the axis intersection of the A5 axis and the A4 axis (i.e., the first axis intersection), and the right-handed spiral direction of the z1 axis of the first coordinate system is the positive direction of rotation of the A5 axis of the pay-off assembly.

[0095] As an optional implementation, the total station obtains the spatial coordinates of the pay-off head in the measurement coordinate system, with the coordinates as the first coordinates; obtains historical movement data, and determines the joint angle value of the A5 axis relative to the initial posture based on the historical movement data.

[0096] Step S220, controlling the A5 axis to rotate and reset according to the rotation scheme matched with the joint angle value, and obtaining the second coordinate and the third coordinate;

[0097] In this embodiment, since rotation has positive and negative directions, with the initial posture being 0 degrees, the joint angle values ​​can be greater than zero, equal to zero, and less than zero. These three magnitude relationships each have a corresponding rotation scheme, as well as a calculation scheme for the second homogeneous transformation matrix.

[0098] Optionally, step S220 includes:

[0099] Step S221, when the joint angle value is less than zero, controlling the A5 axis to rotate ninety degrees in the positive direction, and obtaining the coordinates of the pay-off head as the second coordinates, wherein the positive direction is the right-handed spiral direction of the z-axis of the first coordinate system;

[0100] Step S222, controlling the A5 axis to rotate 90 degrees in the positive direction, and obtaining the coordinates of the pay-off head as the third coordinates;

[0101] Step S223 , controlling the A5 axis to rotate 180 degrees in the negative direction to complete the reset, wherein the negative direction is the left-hand spiral direction of the z-axis of the A5 axis coordinate system.

[0102] As an optional implementation, when the joint angle value is less than zero, the A5 axis is controlled to rotate 90 degrees in the positive direction, and the coordinates of the wire-releasing head in the measurement coordinate system at this time are obtained as the second coordinates; the A5 axis is controlled to rotate another 90 degrees in the positive direction, and the coordinates of the wire-releasing head in the measurement coordinate system at this time are obtained as the third coordinates; the A5 axis is controlled to rotate 180 degrees in the negative direction to return to the original position.

[0103] Optionally, step S220 further includes:

[0104] When the joint angle value is greater than zero, control the A5 axis to rotate 90 degrees in the negative direction, and obtain the coordinates of the wire-releasing head in the measurement coordinate system at this time as the second coordinate; control the A5 axis to rotate another 90 degrees in the negative direction, and obtain the coordinates of the wire-releasing head in the measurement coordinate system at this time as the third coordinate; control the A5 axis to rotate 180 degrees in the positive direction to return to the original position.

[0105] When the joint angle value is equal to zero, control the A5 axis to rotate 90 degrees in the positive direction, and obtain the coordinate of the wire-releasing head in the measurement coordinate system at this time as the second coordinate; control the A5 axis to rotate 180 degrees in the negative direction, and obtain the coordinate of the wire-releasing head in the measurement coordinate system at this time as the third coordinate; control the A5 axis to rotate 90 degrees in the positive direction to return to the original position.

[0106] Step S230: Determine the second homogeneous transformation matrix according to the first coordinate, the second coordinate, and the third coordinate.

[0107] As an optional implementation, a basic configuration of the homogeneous transformation matrix is ​​obtained, and the value of each element in the basic configuration is calculated according to the vector relationship between the first coordinate, the second coordinate and the axis intersection coordinate, thereby determining the second homogeneous transformation matrix.

[0108] Optional, see Figure 4 , step S230 includes:

[0109] Step S231, determining the axis intersection coordinates according to the posture information, the axis intersection coordinates being the coordinates of the first axis intersection;

[0110] In this embodiment, the joint between the A4 axis and the A5 axis is the first axis intersection. Since the line connecting the first axis intersection and the pay-off head is parallel to the A6 axis, the coordinates of the pay-off head in each preset state can be determined based on the posture information, and then the coordinates of the first axis intersection can be determined.

[0111] As an optional implementation manner, the axis intersection coordinates are determined based on the first coordinate and the third coordinate.

[0112] Step S232, determining the vector relationship between the axis intersection coordinates and the first coordinates and the second coordinates respectively;

[0113] Step S233: Determine the second homogeneous transformation matrix according to the vector relationship.

[0114] As an optional implementation, the first vector is determined based on the axis intersection coordinates and the first coordinates, and the second vector is determined based on the axis intersection coordinates and the second coordinates; the modulus of the first vector and the modulus of the second vector are determined, and the second homogeneous transformation matrix is ​​determined based on the modulus of the first vector and the modulus of the second vector.

[0115] Optionally, step S233 includes:

[0116] Step S2331, obtaining a basic configuration corresponding to the second homogeneous transformation matrix;

[0117] Step S2332: determining, based on the vector relationship, the unit vectors in the three axis directions of the second coordinate system, which are the first component, the second component, and the third component in the measurement coordinate system, respectively;

[0118] Step S2333: Solve the basic configuration according to the first component, the second component and the third component to determine the second homogeneous transformation matrix.

[0119] As an optional implementation, a basic configuration corresponding to the second homogeneous transformation matrix is ​​obtained, where the elements in the basic configuration are several vectors and zero and one; based on the vector relationship, the first component, second component and third component of the unit vectors in the x-, y- and z-axis directions of the second coordinate system in each direction of the measurement coordinate system are determined; the first component, second component, third component and first coordinate are filled into the basic configuration, and combined with the zero and one elements to determine the second homogeneous transformation matrix.

[0120] Exemplarily, the basic configuration of obtaining the second homogeneous transformation matrix is ​​T tcp ,in,

[0121]

[0122] The first coordinate obtained is D1, the second coordinate is D2, the third coordinate is D3, and the intersection of the first axis is C, where

[0123] D1=(x D1 ,y D1 ,z D1 )

[0124] D2=(x D2 ,y D2 ,z d2 )

[0125] D3=(x D3 ,y D3 ,z D3 )

[0126] The first axis coordinate is determined based on the sum of the x-axis coordinate, the y-axis coordinate, and the z-axis coordinate in the first coordinate and the third coordinate, where:

[0127] C=(x C ,Y C ,z C )=((x D1 + D3 ) / 2,(y D1 +D3 ) / 2,(z D1 + D3 ) / 2)

[0128] Thus, the first vector is determined according to the first axis coordinate and the first coordinate Determine the second vector based on the first axis coordinate and the second coordinate in is the magnitude of the first vector, is the modulus of the second vector; based on the first vector and the modulus of the first vector, determine the first component of the x-direction unit vector of the second coordinate system in each direction of the measurement coordinate system; based on the second vector and the modulus of the second vector, determine the second component of the x-direction unit vector of the second coordinate system in each direction of the measurement coordinate system; based on the outer product of the two components, determine the third component of the z-direction unit vector of the second coordinate system in each direction of the measurement coordinate system. Determine the transposed matrix of the matrix corresponding to the first coordinate; bring the first component, the second component, the third component and the transposed matrix into the basic configuration to determine the second homogeneous transformation matrix. Wherein,

[0129]

[0130]

[0131]

[0132]

[0133]

[0134]

[0135]

[0136] X OD1 =[x D1 ,y D1 ,z D1 ] T

[0137] Where:

[0138] Represents the first component of the x-direction unit vector of the second coordinate system in each direction of the measurement coordinate system;

[0139] Represents the second component of the y-direction unit vector of the second coordinate system in each direction of the measurement coordinate system;

[0140] The third component of the z-direction unit vector of the second coordinate system in each direction of the measurement coordinate system;

[0141] X OD1 Indicates the position of the second coordinate system in the measurement coordinate system.

[0142] For example, when the joint angle value of the A5 axis is greater than zero, Change to The rest of the content remains unchanged, and the second homogeneous transformation matrix is ​​determined.

[0143] For example, when the joint angle value of the A5 axis is equal to zero degrees, the axis intersection coordinate of the first axis intersection is changed to, according to the sum of the x-axis coordinate, the sum of the y-axis coordinate, and the sum of the z-axis coordinate in the second and third coordinates, the first axis coordinate is determined, that is,

[0144] C=(x C ,y C ,z C )=((x D2 + D3 ) / 2,(y D2 + D3 ) / 2,(z D2 + D3 ) / 2)

[0145] The rest of the content remains unchanged, and the second homogeneous transformation matrix is ​​determined.

[0146] Because the first coordinate of the pay-off head and the joint angle value of the A5 axis relative to the initial posture are determined according to the posture information; the A5 axis is controlled to rotate and reset according to the rotation scheme matching the joint angle value to obtain the second coordinate and the third coordinate; the second homogeneous transformation matrix is ​​determined according to the first coordinate, the second coordinate and the third coordinate; the base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system is determined according to the transformation relationship between each coordinate system and the second homogeneous transformation matrix. Therefore, the technical problem of needing to calibrate the base coordinates and then calculate the moving path of each axis in the related technology is effectively solved, thereby achieving the technical effect of completing the pay-off work from any position by completing the coordinate transformation.

[0147] Example 3

[0148] Based on the first embodiment, the third embodiment of the present application proposes a control method for a wire-laying assembly, referring to Figure 5 Step S130 includes:

[0149] Step S310 , taking the joint between the A4 axis and the A5 axis as a first axis intersection, determining a unit vector between the axis intersection coordinates of the first axis intersection and the starting point coordinates;

[0150] Step S320, determining the components of the unit vector on each axis in the base coordinate system;

[0151] Step S330: determining a third homogeneous transformation matrix of the base coordinate system relative to the second coordinate system according to the base homogeneous transformation matrix;

[0152] Step S340: Determine the moving path according to the components and the third homogeneous transformation matrix.

[0153] In this embodiment, since the A6 axis is locked, the vector formed by the intersection of the first axis and the starting point coordinates is aligned with the x-axis of the base coordinate system. This unit vector, along with the homogeneous transformation matrix of the base coordinate system corresponding to the second coordinate system, can be used to simultaneously determine the first angle of rotation for the A4 axis and the second angle of rotation for the A5 axis. These angles are expressed in radians.

[0154] As an optional implementation, the joint between the A4 axis and the A5 axis is used as the intersection of the first axis, and the third vector is determined by the intersection of the first axis and the starting point, and the unit vector of the vector is determined; the transformation relationship from the base coordinate system to the second coordinate system is determined, and the third homogeneous transformation matrix of the base coordinate system relative to the second coordinate system is determined based on the transformation relationship and the base homogeneous transformation matrix; the three components of the unit vector on the three axes of the base coordinate system are matched with the corresponding elements in the third homogeneous transformation matrix to determine a group of simultaneous equations; and the movement path is determined based on the group of simultaneous equations.

[0155] Step S140 includes:

[0156] Step S350, determining the axis intersection coordinates of the first axis intersection according to the posture information after the movement;

[0157] Step S360, determining the unit vector between the axis intersection coordinates and the end point coordinates, and the components of each axis in the base coordinate system;

[0158] Step S370: determining a fourth homogeneous transformation matrix of the base coordinate system relative to the second coordinate system according to the base homogeneous transformation matrix;

[0159] Step S380: Determine the line-laying path according to the components and the fourth homogeneous transformation matrix.

[0160] As an optional implementation, after controlling the pay-off head to move from the current position to the starting point according to the moving path, the axis intersection coordinates of the first axis intersection are obtained; the fourth vector is determined by the first axis intersection and the end point, and the unit vector of the vector is determined; the transformation relationship from the base coordinate system to the second coordinate system is determined, and the fourth homogeneous transformation matrix of the base coordinate system relative to the second coordinate system is determined according to the transformation relationship and the base homogeneous transformation matrix; the three components of the unit vector on the three axes of the base coordinate system are matched with the corresponding elements in the fourth homogeneous transformation matrix to determine a group of simultaneous equations; the pay-off path is determined according to the group of simultaneous equations.

[0161] Since the coordinates of the first axis intersection corresponding to the joint between the A4 axis and the A5 axis are determined, the components of the unit vector between the coordinates and the starting point coordinates in the base coordinate system are determined; the third homogeneous transformation matrix of the base coordinate system relative to the second coordinate system is determined; and the moving path and the pay-off path are determined according to the third homogeneous transformation matrix and the components, the technical problem of needing to calibrate the base coordinates and then calculate the moving paths of the various axes in the related technology is effectively solved, thereby achieving the technical effect of completing the pay-off work of the pay-off component from any position through coordinate transformation.

[0162] This application also proposes a control device for a pay-off assembly, referring to Figure 6 , Figure 6 This is a schematic diagram of the control device structure of the wire-laying component in the hardware operating environment involved in the embodiment of the present application.

[0163] like Figure 6 As shown, the control device of the line-laying component may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and optionally the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) memory, or a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0164] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the control device of the line-paying assembly, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0165] Optionally, the memory 1005 is electrically connected to the processor 1001 , and the processor 1001 may be used to control the operation of the memory 1005 and to read data in the memory 1005 to control the pay-off assembly.

[0166] Alternatively, as Figure 6 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and a control program of the line-laying component.

[0167] Optionally, in Figure 6 In the control device of the wire-laying component shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the control device of the wire-laying component of this application can be set in the control device of the wire-laying component.

[0168] like Figure 6 As shown, it is used to control the wire-paying component, which includes a wire-paying head, an A3 axis, an A4 axis, and an A5 axis. The joint between the A3 axis and the A4 axis corresponds to the base coordinate system, the joint between the A4 axis and the A5 axis corresponds to the first coordinate system, and the launch point of the wire-paying head corresponds to the second coordinate system. The control device of the wire-paying component calls the control program of the wire-paying component stored in the memory 1005 through the processor 1001, and executes the relevant steps of the control method of the wire-paying component provided in the embodiment of the present application:

[0169] Determining a second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system according to the posture information of the line-setting component;

[0170] Determining a base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system based on the second homogeneous transformation matrix;

[0171] Solve the moving path corresponding to the starting point coordinates according to the base homogeneous transformation matrix and the posture information;

[0172] The line-laying path corresponding to the coordinates of the end point is solved according to the base homogeneous transformation matrix and the posture information after the movement.

[0173] Optionally, the processor 1001 may call a control program of the pay-off component stored in the memory 1005 and further perform the following operations:

[0174] Determining a first coordinate of the pay-off head and a joint angle value of the A5 axis relative to an initial posture according to the posture information;

[0175] Control the A5 axis to rotate and reset according to the rotation scheme matching the joint angle value, and obtain the second coordinate and the third coordinate;

[0176] The second homogeneous transformation matrix is ​​determined according to the first coordinate, the second coordinate, and the third coordinate.

[0177] Optionally, the processor 1001 may call a control program of the pay-off component stored in the memory 1005 and further perform the following operations:

[0178] When the joint angle value is less than zero, the A5 axis is controlled to rotate ninety degrees in the positive direction, and the coordinates of the pay-off head are obtained as the second coordinates, where the positive direction is the right-handed spiral direction of the z-axis of the first coordinate system;

[0179] Control the A5 axis to rotate ninety degrees in the positive direction, and obtain the coordinates of the pay-off head as the third coordinate;

[0180] The A5 axis is controlled to rotate 180 degrees in the negative direction to complete the reset, wherein the negative direction is the left-hand spiral direction of the z-axis of the A5 axis coordinate system.

[0181] Optionally, the joint between the A4 axis and the A5 axis is recorded as the first axis intersection point. The processor 1001 may call the control program of the pay-off component stored in the memory 1005 and further perform the following operations:

[0182] Determine axis intersection coordinates according to the posture information, the axis intersection coordinates being the coordinates of the first axis intersection;

[0183] Determine the vector relationship between the axis intersection coordinates and the first coordinate and the second coordinate respectively;

[0184] The second homogeneous transformation matrix is ​​determined according to the vector relationship.

[0185] Optionally, the processor 1001 may call a control program of the pay-off component stored in the memory 1005 and further perform the following operations:

[0186] Obtaining a basic configuration corresponding to the second homogeneous transformation matrix;

[0187] Determine, according to the vector relationship, the unit vectors in the three axis directions of the second coordinate system, as a first component, a second component, and a third component in the measurement coordinate system, respectively;

[0188] The basic configuration is solved according to the first component, the second component and the third component to determine the second homogeneous transformation matrix.

[0189] Optionally, the processor 1001 may call a control program of the pay-off component stored in the memory 1005 and further perform the following operations:

[0190] determining a first transformation relationship between the second coordinate system and the first coordinate system;

[0191] determining a second transformation relationship between the first coordinate system and the base coordinate system;

[0192] The basis homogeneous transformation matrix is ​​determined according to the first transformation relationship and the second transformation relationship.

[0193] Optionally, the processor 1001 may call a control program of the pay-off component stored in the memory 1005 and further perform the following operations:

[0194] Taking the joint between the A4 axis and the A5 axis as a first axis intersection point, determining a unit vector between the axis intersection point coordinates of the first axis intersection point and the starting point coordinates;

[0195] Determine the components of the unit vector along each axis in the base coordinate system;

[0196] determining a third homogeneous transformation matrix of the base coordinate system relative to the second coordinate system according to the base homogeneous transformation matrix;

[0197] The moving path is determined according to the components and the third homogeneous transformation matrix.

[0198] Optionally, the processor 1001 may call a control program of the pay-off component stored in the memory 1005 and further perform the following operations:

[0199] Determine the axis intersection coordinates of the first axis intersection according to the posture information after the movement;

[0200] Determine the unit vector between the axis intersection coordinates and the end point coordinates, and the components of each axis in the base coordinate system;

[0201] determining a fourth homogeneous transformation matrix of the base coordinate system relative to the second coordinate system according to the base homogeneous transformation matrix;

[0202] The playout path is determined according to the components and the fourth homogeneous transformation matrix.

[0203] In addition, an embodiment of the present application also proposes a computer-readable storage medium, which stores a control program for a wire-paying component. When the control program for the wire-paying component is executed by a processor, the relevant steps of any embodiment of the control method for the wire-paying component described above are implemented.

[0204] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0205] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0206] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0207] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0208] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present application may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0209] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0210] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A control method for a pay-off assembly, characterized in that: Used to control a wire-paying assembly, the wire-paying assembly includes a wire-paying head, an A3 axis, an A4 axis, and an A5 axis, the joint between the A3 axis and the A4 axis corresponds to a base coordinate system, the joint between the A4 axis and the A5 axis corresponds to a first coordinate system, and the launch point of the wire-paying head corresponds to a second coordinate system. The control method of the wire-paying assembly includes: Determining a second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system according to the posture information of the line-setting component; Determining a base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system based on the second homogeneous transformation matrix; Solve the moving path corresponding to the starting point coordinates according to the base homogeneous transformation matrix and the posture information; Solve the line-laying path corresponding to the coordinates of the end point according to the base homogeneous transformation matrix and the posture information after the movement; The step of determining a second homogeneous transformation matrix of the second coordinate system relative to the measurement coordinate system according to the posture information of the line-setting component includes: Determining a first coordinate of the pay-off head and a joint angle value of the A5 axis relative to an initial posture according to the posture information, wherein the initial posture is the posture of the pay-off component when the coordinate system is established; Control the A5 axis to rotate and reset according to the rotation scheme matching the joint angle value, and obtain the second coordinate and the third coordinate; The second homogeneous transformation matrix is ​​determined according to the first coordinate, the second coordinate, and the third coordinate.

2. The control method of the pay-off assembly according to claim 1, characterized in that: The step of controlling the A5 axis to rotate and reset according to the rotation scheme matching the joint angle value to obtain the second coordinate and the third coordinate includes: When the joint angle value is less than zero, the A5 axis is controlled to rotate ninety degrees in the positive direction, and the coordinates of the pay-off head are obtained as the second coordinates, where the positive direction is the right-handed spiral direction of the z-axis of the first coordinate system; Control the A5 axis to rotate ninety degrees in the positive direction, and obtain the coordinates of the pay-off head as the third coordinate; The A5 axis is controlled to rotate 180 degrees in the negative direction to complete the reset, wherein the negative direction is the left-hand spiral direction of the z-axis of the A5 axis coordinate system.

3. The control method of the pay-off assembly according to claim 1, characterized in that: The joint between the A4 axis and the A5 axis is denoted as a first axis intersection point, and the step of determining the second homogeneous transformation matrix according to the first coordinate, the second coordinate, and the third coordinate includes: Determine axis intersection coordinates according to the posture information, the axis intersection coordinates being the coordinates of the first axis intersection; Determine the vector relationship between the axis intersection coordinates and the first coordinate and the second coordinate respectively; The second homogeneous transformation matrix is ​​determined according to the vector relationship.

4. The control method of the pay-off assembly according to claim 3, characterized in that: The step of determining the second homogeneous transformation matrix according to the vector relationship includes: Obtaining a basic configuration corresponding to the second homogeneous transformation matrix; Determine, according to the vector relationship, the unit vectors in the three axis directions of the second coordinate system, as a first component, a second component, and a third component in the measurement coordinate system, respectively; The basic configuration is solved according to the first component, the second component and the third component to determine the second homogeneous transformation matrix.

5. The control method of the pay-off assembly according to claim 1, characterized in that: The step of determining the base homogeneous transformation matrix of the base coordinate system relative to the measurement coordinate system based on the second homogeneous transformation matrix includes: determining a first transformation relationship between the second coordinate system and the first coordinate system; determining a second transformation relationship between the first coordinate system and the base coordinate system; The basis homogeneous transformation matrix is ​​determined according to the first transformation relationship and the second transformation relationship.

6. The control method of the pay-off assembly according to claim 1, characterized in that: The step of solving the moving path corresponding to the starting point coordinates according to the base homogeneous transformation matrix and the posture information includes: Taking the joint between the A4 axis and the A5 axis as a first axis intersection point, determining a unit vector between the axis intersection point coordinates of the first axis intersection point and the starting point coordinates; Determine the components of the unit vector along each axis in the base coordinate system; determining a third homogeneous transformation matrix of the base coordinate system relative to the second coordinate system according to the base homogeneous transformation matrix; The moving path is determined according to the components and the third homogeneous transformation matrix.

7. The control method of the pay-off assembly according to claim 1, characterized in that: The step of solving the line-laying path corresponding to the coordinates of the end point according to the base homogeneous transformation matrix and the posture information after the movement includes: Determine the axis intersection coordinates of the first axis intersection according to the posture information after the movement; Determine the unit vector between the axis intersection coordinates and the end point coordinates, and the components of each axis in the base coordinate system; determining a fourth homogeneous transformation matrix of the base coordinate system relative to the second coordinate system according to the base homogeneous transformation matrix; The playout path is determined according to the components and the fourth homogeneous transformation matrix.

8. A control device for a pay-off assembly, characterized in that: The method comprises a memory, a processor and a control program of a wire-paying component stored in the memory and executable on the processor, wherein the processor implements the steps of the control method of the wire-paying component as claimed in any one of claims 1 to 7 when executing the control program of the wire-paying component.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a control program of the wire-paying component, and when the control program of the wire-paying component is executed by the processor, the steps of the control method of the wire-paying component according to any one of claims 1 to 7 are implemented.

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