A collaborative control method for an automobile door panel assembly robot

Abstract

The present invention provides a collaborative control method for an automobile door panel assembly robot. Based on the process flow of automobile door panel assembly and the relative distance between a dual-station robot and an operating table, an assembly task is allocated to each manipulator in a dual-station robot, thereby ensuring the rationality and superiority of the task allocation to the dual-station robot and providing a basis for collaborative control. Then, based on the allocation of assembly tasks to each manipulator, a triggering action and an activity trajectory of the dual-station robot operation are determined; based on the triggering action and the activity trajectory of the dual-station robot operation, an overall operation flow of the dual-station robot is established to determine the overall operation flow of the dual-station robot; based on the overall operation flow and the position and posture relationship of the dual-station robot, a collaborative control instruction chain is established to achieve collaborative control of the dual-station robot, thereby better completing the automobile door panel assembly and ensuring the assembly quality and assembly efficiency of the automobile door panel assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of manipulators, and in particular to a collaborative control method of a manipulator for assembling automobile door panels. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. It can be programmed to complete various expected operations, and has the advantages of both humans and robots in structure and performance. Manipulators can be used in the production and manufacturing of automobiles, specifically for the assembly of automobile door panels.

[0003] The general automobile door panel assembly has a complex process, which is difficult for a single robot to complete alone. It requires the collaboration of a dual-station robot. How to coordinate the control of the dual-station robot to better complete the automobile door panel assembly is a problem we need to solve. Summary of the invention

[0004] The present invention provides a coordinated control method of an automobile door panel assembly robot, which is used to solve the problems raised in the background technology.

[0005] A collaborative control method for an automobile door panel assembly robot, comprising:

[0006] S1: Based on the process flow of automobile door panel assembly, the assembly task is assigned to each manipulator in the dual-station manipulator based on the relative distance between the dual-station manipulator and the operating table;

[0007] S2: Based on the assembly tasks assigned to each robot, the triggering actions and activity trajectories of the dual-station robot operations are determined;

[0008] S3: Based on the triggering actions and activity trajectories of the dual-station manipulator operation, the overall operation process of the dual-station manipulator is established;

[0009] S4: Establish a collaborative control command chain based on the overall operation process and the posture relationship of the dual-station manipulator.

[0010] Preferably, in S1, based on the process flow of automobile door panel assembly and based on the relative distance between the dual-station manipulator and the operating table, an assembly task is assigned to each manipulator in the dual-station manipulator, including:

[0011] According to the process characteristics, the process flow of automobile door panel assembly is divided into multiple sub-processes;

[0012] Based on the mutual distance between the dual-station manipulator and the operating table, determine the sub-process that each manipulator in the dual-station manipulator can implement;

[0013] Based on processing efficiency and processing fluency, combined with the sub-process that each robot in the dual-station robot can achieve, the sub-process is allocated to obtain the target sub-process assigned to each robot, and the assembly task of each robot is determined based on the target sub-process.

[0014] Preferably, the sub-processes are allocated based on the processing efficiency and processing fluency, combined with the sub-processes that can be implemented by each manipulator in the dual-station manipulator, to obtain the target sub-process allocated to each manipulator, including:

[0015] Based on the sub-processes that each robot in the dual-station robot can implement, all sub-processes are grouped to obtain multiple grouping results;

[0016] Obtain the number of manipulator movements required for the manipulator to complete the sub-process in each grouping result, and obtain the relative posture characteristics of the two manipulators in the double-station manipulator during the operation;

[0017] Based on the movement times and relative posture characteristics of the manipulator, determining the processing fluency of the dual-station manipulator when operating according to each grouping result;

[0018] Based on the total processing time required for the manipulator to complete the sub-process in each grouping result, the processing efficiency of the dual-station manipulator when operating according to each grouping result is obtained;

[0019] Obtaining the working time that two manipulators in the dual-station manipulator need to work simultaneously in each grouping result, and the relative posture relationship of the two manipulators under the working time;

[0020] Based on the working time, determining a first collaborative weight, based on the relative posture relationship, determining a second collaborative weight, and obtaining a collaborative control difficulty based on the first collaborative weight and the second collaborative weight;

[0021] Based on the automotive door panel assembly process requirements and combined with deep learning, a comprehensive process scoring model is established, and the processing fluency, processing efficiency and collaborative control difficulty are input into the comprehensive process scoring model to obtain the process score corresponding to each grouping result;

[0022] The sub-process division result corresponding to the grouping result with the highest process score is selected to determine the target sub-process assigned to each robot in the dual-station robot.

[0023] Preferably, the method of determining the sub-process that can be implemented by each manipulator in the dual-station manipulator based on the mutual distance between the dual-station manipulator and the operating table includes:

[0024] Obtaining the distance condition satisfied by the current manipulator when the current sub-process is operated in the dual-station manipulator, and determining whether the mutual distance between the dual-station manipulator and the operating table satisfies the distance condition;

[0025] If so, determine that the current robot in the dual-station robot can implement the current sub-process;

[0026] Otherwise, it is determined that the current manipulator in the dual-station manipulator does not implement the current sub-process.

[0027] Preferably, in S2, based on the assembly task assigned to each manipulator, determining the triggering action of the dual-station manipulator operation includes:

[0028] Assigning assembly tasks to each manipulator, determining target assembly tasks for two manipulator systems in the dual-station manipulator, and determining a first task segment of the first manipulator in the target assembly task and a second task segment of the second manipulator in the target assembly task;

[0029] Obtaining an overlapping point between the first task segment and the second task segment, and obtaining an operation posture of the first manipulator and the second manipulator at the overlapping point;

[0030] Based on the operation posture, the trigger action for starting any one of the dual-station manipulators is determined.

[0031] Preferably, the triggering action of starting any one of the dual-station manipulators based on the operating posture includes:

[0032] Acquire the current posture of the second manipulator in the dual-station manipulator from the operating posture when the first manipulator switches from the original posture to the working posture;

[0033] The current posture of the second manipulator is used as a triggering action for starting the first manipulator.

[0034] Preferably, in S2, based on the allocation of assembly tasks to each manipulator, determining the activity trajectory of the dual-station manipulator operation includes:

[0035] Based on the distribution of assembly tasks to each robot, the motion data of each robot is generated;

[0036] Establishing a three-dimensional spatial model of the automobile door panel assembly, and determining a plurality of position points in the three-dimensional spatial model based on the motion data;

[0037] The activity trajectory of the dual-station manipulator operation is determined based on the position points.

[0038] Preferably, in S3, based on the triggering action and activity trajectory of the dual-station manipulator operation, an overall operation process of the dual-station manipulator is established, including:

[0039] Establishing the first process node based on the triggering action of the dual-station robot operation;

[0040] The second process node and process feature are established based on the activity trajectory of the dual-station manipulator operation;

[0041] The overall operation flow of the dual-station robot is established based on the first process node, the second process node and the process characteristics.

[0042] Preferably, in S4, a collaborative control instruction chain is established based on the overall operation process and the posture relationship of the dual-station manipulator, including:

[0043] Based on the overall operation process, a first-level collaborative control sequence of the first process node is established, a second-level collaborative control sequence of the second process node is established, and the first-level collaborative control sequence and the second-level collaborative control sequence are integrated to obtain a collaborative control sequence diagram;

[0044] Based on the posture relationship of the dual-station manipulator and the process characteristics in the overall operation process, a collaborative posture feature map of the first process node and the second process node is established;

[0045] Matching the collaborative control sequence graph and the collaborative posture feature graph to obtain a corresponding relationship between the collaborative control and the collaborative posture feature, and establishing a standard collaborative feature based on the corresponding relationship;

[0046] Establish initial collaborative control instructions according to standard collaborative features, sort the initial collaborative control instructions based on the collaborative control sequence diagram, obtain an initial collaborative control instruction sequence, assign chain features to the initial collaborative control instruction sequence based on the collaborative posture feature diagram, and generate an initial collaborative control instruction chain;

[0047] Based on whether the control objects of two adjacent initial collaborative control instructions in the initial collaborative control instruction chain are the same, the two adjacent initial collaborative control instructions are divided into a same-manipulator control instruction chain and a different-manipulator control instruction chain;

[0048] Cross-commands are added to control command links of different manipulators to obtain control command links of manipulators with different targets. The control command links of the same manipulator and the control command links of manipulators with different targets are integrated to obtain the final collaborative control command chain.

[0049] Preferably, it also includes:

[0050] The collaborative control instruction chain is transmitted to two manipulators of the dual-station manipulator simultaneously;

[0051] The execution of the collaborative control instructions in the two manipulators of the dual-station manipulator is monitored synchronously, and an early warning reminder is issued when the collaborative control instructions are found to be out of sync.

[0052] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0053] Based on the process flow of automobile door panel assembly and the relative distance between the dual-station manipulator and the operating table, an assembly task is assigned to each manipulator in the dual-station manipulator to ensure the rationality and superiority of the task assignment of the dual-station manipulator, providing a basis for collaborative control. Then, based on the assembly task assigned to each manipulator, the trigger action and activity trajectory of the dual-station manipulator operation are determined; based on the trigger action and activity trajectory of the dual-station manipulator operation, the overall operation process of the dual-station manipulator is established to determine the overall operation process of the dual-station manipulator; based on the overall operation process and the position and posture relationship of the dual-station manipulator, a collaborative control instruction chain is established to achieve collaborative control of the dual-station manipulator, better complete the assembly of automobile door panels, and ensure the assembly quality and efficiency of automobile door panels.

[0054] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0055] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0057] Figure 1 This is a flow chart of a collaborative control method for an automobile door panel assembly robot according to an embodiment of the present invention;

[0058] Figure 2 A flow chart for determining the activity trajectory of a dual-station manipulator operation in an embodiment of the present invention;

[0059] Figure 3 A flow chart of the overall operation process of establishing a dual-station manipulator in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0061] Embodiment 1:

[0062] The embodiment of the present invention provides a collaborative control method for an automobile door panel assembly robot, such as Figure 1 As shown, including:

[0063] S1: Based on the process flow of automobile door panel assembly, the assembly task is assigned to each manipulator in the dual-station manipulator based on the relative distance between the dual-station manipulator and the operating table;

[0064] S2: Based on the assembly tasks assigned to each robot, the triggering actions and activity trajectories of the dual-station robot operations are determined;

[0065] S3: Based on the triggering actions and activity trajectories of the dual-station manipulator operation, the overall operation process of the dual-station manipulator is established;

[0066] S4: Establish a collaborative control command chain based on the overall operation process and the posture relationship of the dual-station manipulator.

[0067] In this embodiment, the dual-station manipulator includes two manipulators distributed in different positions.

[0068] In this embodiment, the operating table includes an automobile door panel placing table, an automobile door panel gluing operating table and an automobile door panel assembling operating table.

[0069] In this embodiment, the assembly task is specifically one of the tasks of moving, gluing and assembling the door panel.

[0070] In this embodiment, the overall operation process of the dual-station robot is obtained by allocating and continuously combining the dual-station robot assembly tasks to the robots.

[0071] In this embodiment, the collaborative control instruction chain establishes instructions for two manipulators in the dual-station manipulator based on the sequence of the overall operation process, and the instruction chain is obtained in sequence.

[0072] The beneficial effects of the above design scheme are: based on the process flow of automobile door panel assembly and the relative distance between the dual-station manipulator and the operating table, an assembly task is assigned to each manipulator in the dual-station manipulator, ensuring the rationality and superiority of the task assignment of the dual-station manipulator, providing a basis for collaborative control, and then assigning assembly tasks based on each manipulator, determining the triggering action and activity trajectory of the dual-station manipulator operation; based on the triggering action and activity trajectory of the dual-station manipulator operation, establishing the overall operation process of the dual-station manipulator, and determining the overall operation process of the dual-station manipulator; based on the overall operation process and the position and posture relationship of the dual-station manipulator, establishing a collaborative control instruction chain, realizing collaborative control of the dual-station manipulator, better completing the assembly of automobile door panels, and ensuring the assembly quality and assembly efficiency of automobile door panels.

[0073] Embodiment 2:

[0074] Based on Example 1, the embodiment of the present invention provides a collaborative control method for an automobile door panel assembly robot. In S1, based on the process flow of automobile door panel assembly and based on the relative distance between the dual-station robot and the operating table, an assembly task is assigned to each robot in the dual-station robot, including:

[0075] According to the process characteristics, the process flow of automobile door panel assembly is divided into multiple sub-processes;

[0076] Based on the mutual distance between the dual-station manipulator and the operating table, determine the sub-process that each manipulator in the dual-station manipulator can implement;

[0077] Based on processing efficiency and processing fluency, combined with the sub-process that each robot in the dual-station robot can achieve, the sub-process is allocated to obtain the target sub-process assigned to each robot, and the assembly task of each robot is determined based on the target sub-process.

[0078] The beneficial effects of the above design scheme are: according to the process characteristics, the process flow of automobile door panel assembly is divided to obtain multiple sub-processes; based on the mutual distance between the dual-station manipulator and the operating table, the sub-process that each manipulator in the dual-station manipulator can implement is determined to ensure the feasibility of the assembly task determined by the dual-station manipulator, based on the processing efficiency and processing fluency, combined with the sub-process that each manipulator in the dual-station manipulator can implement, the sub-process is allocated to obtain the target sub-process assigned to each manipulator, and the assembly task of each manipulator is determined based on the target sub-process, to ensure the efficiency and quality of the assembly task determined by the dual-station manipulator, and to facilitate subsequent collaborative control.

[0079] Embodiment 3:

[0080] Based on Example 2, an embodiment of the present invention provides a collaborative control method for an automobile door panel assembly robot, which allocates sub-processes based on processing efficiency and processing fluency, combined with the sub-processes that can be implemented by each robot in the dual-station robot, to obtain a target sub-process allocated to each robot, including:

[0081] Based on the sub-processes that each robot in the dual-station robot can implement, all sub-processes are grouped to obtain multiple grouping results;

[0082] Obtain the number of manipulator movements required for the manipulator to complete the sub-process in each grouping result, and obtain the relative posture characteristics of the two manipulators in the double-station manipulator during the operation;

[0083] Based on the movement times and relative posture characteristics of the manipulator, determining the processing fluency of the dual-station manipulator when operating according to each grouping result;

[0084] Based on the total processing time required for the manipulator to complete the sub-process in each grouping result, the processing efficiency of the dual-station manipulator when operating according to each grouping result is obtained;

[0085] Obtaining the working time that two manipulators in the dual-station manipulator need to work simultaneously in each grouping result, and the relative posture relationship of the two manipulators under the working time;

[0086] Based on the working time, determining a first collaborative weight, based on the relative posture relationship, determining a second collaborative weight, and obtaining a collaborative control difficulty based on the first collaborative weight and the second collaborative weight;

[0087] Based on the automotive door panel assembly process requirements and combined with deep learning, a comprehensive process scoring model is established, and the processing fluency, processing efficiency and collaborative control difficulty are input into the comprehensive process scoring model to obtain the process score corresponding to each grouping result;

[0088] The sub-process division result corresponding to the grouping result with the highest process score is selected to determine the target sub-process assigned to each robot in the dual-station robot.

[0089] In this embodiment, the fewer the number of robot movements and the simpler the relative posture characteristics, the higher the processing fluency of the corresponding dual-station robot when operating according to each grouping result.

[0090] In this embodiment, the comprehensive process scoring model is obtained in advance based on historical process data combined with deep learning training.

[0091] The beneficial effects of the above design scheme are: by obtaining the process scores corresponding to the individual grouping results from the processing fluency, processing efficiency and collaborative control difficulty, selecting the sub-process division results corresponding to the grouping results with the highest process scores, and determining the target sub-process assigned to each robot in the dual-station robot, the rationality and superiority of the target sub-process assigned to each robot are ensured, providing a basis for task allocation.

[0092] Embodiment 4:

[0093] Based on Example 2, an embodiment of the present invention provides a collaborative control method for an automobile door panel assembly robot, wherein the method determines the sub-process that can be implemented by each robot in the dual-station robot based on the mutual distance between the dual-station robot and the operating table, including:

[0094] Obtaining the distance condition satisfied by the current manipulator when the current sub-process is operated in the dual-station manipulator, and determining whether the mutual distance between the dual-station manipulator and the operating table satisfies the distance condition;

[0095] If so, determine that the current robot in the dual-station robot can implement the current sub-process;

[0096] Otherwise, it is determined that the current manipulator in the dual-station manipulator does not implement the current sub-process.

[0097] The beneficial effect of the above design scheme is: by obtaining the distance condition satisfied by the current manipulator when operating the current sub-process in the dual-station manipulator, and judging whether the mutual distance between the dual-station manipulator and the operating table satisfies the said distance condition, if so, it is determined that the current manipulator in the dual-station manipulator can realize the current sub-process; otherwise, it is determined that the current manipulator in the dual-station manipulator does not realize the current sub-process, thereby ensuring the feasibility of the assembly task determined by the dual-station manipulator.

[0098] Embodiment 5:

[0099] Based on Example 1, the embodiment of the present invention provides a collaborative control method for automobile door panel assembly manipulators. In S2, based on the allocation of assembly tasks to each manipulator, a triggering action for the operation of the dual-station manipulator is determined, including:

[0100] Assigning assembly tasks to each manipulator, determining target assembly tasks for two manipulator systems in the dual-station manipulator, and determining a first task segment of the first manipulator in the target assembly task and a second task segment of the second manipulator in the target assembly task;

[0101] Obtaining an overlapping point between the first task segment and the second task segment, and obtaining an operation posture of the first manipulator and the second manipulator at the overlapping point;

[0102] Based on the operation posture, the trigger action for starting any one of the dual-station manipulators is determined.

[0103] The beneficial effects of the above design scheme are: allocating assembly tasks to each manipulator, determining the target assembly tasks of the two manipulator systems in the dual-station manipulator, and determining the first task segment of the first manipulator in the target assembly task and the second task segment of the second manipulator in the target assembly task; obtaining the overlapping point of the first task segment and the second task segment, and obtaining the operating posture of the first manipulator and the second manipulator at the overlapping point; based on the operating posture, determining the trigger action for starting any manipulator in the dual-station manipulator, providing an action basis for determining collaborative control.

[0104] Embodiment 6:

[0105] Based on Example 5, an embodiment of the present invention provides a method for collaboratively controlling an automobile door panel assembly robot, wherein the method determines a triggering action for starting any one of the dual-station robots based on the operation posture, including:

[0106] Acquire the current posture of the second manipulator in the dual-station manipulator from the operating posture when the first manipulator switches from the original posture to the working posture;

[0107] The current posture of the second manipulator is used as a triggering action for starting the first manipulator.

[0108] The beneficial effect of the above design scheme is: by obtaining the current posture of the second manipulator in the dual-station manipulator when the first manipulator switches from the original posture to the working posture from the operating posture, the current posture of the second manipulator is used as the trigger action for the first manipulator to start, providing an action basis for determining collaborative control.

[0109] Embodiment 7:

[0110] Based on Example 1, the present invention provides a collaborative control method for an automobile door panel assembly robot, such as Figure 2 As shown, in S2, based on the allocation of assembly tasks to each manipulator, the activity trajectory of the dual-station manipulator operation is determined, including:

[0111] Based on the distribution of assembly tasks to each robot, the motion data of each robot is generated;

[0112] Establishing a three-dimensional spatial model of the automobile door panel assembly, and determining a plurality of position points in the three-dimensional spatial model based on the motion data;

[0113] The activity trajectory of the dual-station manipulator operation is determined based on the position points.

[0114] In this embodiment, the position point is a key point of the dual-station manipulator, such as a robot arm node.

[0115] The beneficial effects of the above design scheme are: by assigning assembly tasks based on each robot, the motion data of each robot is generated; a three-dimensional space model of automobile door panel assembly is established, and based on the motion data, multiple position points are determined in the three-dimensional space model, and the activity trajectory of the dual-station robot operation is determined based on the position points, providing a trajectory basis for establishing the overall operation process of the dual-station robot.

[0116] Embodiment 8:

[0117] Based on Example 1, the present invention provides a collaborative control method for an automobile door panel assembly robot, such as Figure 3 As shown, in S3, based on the triggering action and activity trajectory of the dual-station manipulator operation, the overall operation process of the dual-station manipulator is established, including:

[0118] Establishing the first process node based on the triggering action of the dual-station robot operation;

[0119] The second process node and process feature are established based on the activity trajectory of the dual-station manipulator operation;

[0120] The overall operation flow of the dual-station robot is established based on the first process node, the second process node and the process characteristics.

[0121] The beneficial effects of the above design scheme are: establishing a first process node based on the triggering action of the dual-station robot operation; establishing a second process node and process process characteristics based on the activity trajectory of the dual-station robot operation; establishing the overall operation process of the dual-station robot based on the first process node, the second process node and the process characteristics, thereby determining the overall operation process of the dual-station robot.

[0122] Embodiment 9:

[0123] Based on Example 8, the embodiment of the present invention provides a collaborative control method for an automobile door panel assembly robot. In S4, a collaborative control instruction chain is established based on the overall operation process and the posture relationship of the dual-station robot, including:

[0124] Based on the overall operation process, a first-level collaborative control sequence of the first process node is established, a second-level collaborative control sequence of the second process node is established, and the first-level collaborative control sequence and the second-level collaborative control sequence are integrated to obtain a collaborative control sequence diagram;

[0125] Based on the posture relationship of the dual-station manipulator and the process characteristics in the overall operation process, a collaborative posture feature map of the first process node and the second process node is established;

[0126] Matching the collaborative control sequence graph and the collaborative posture feature graph to obtain a corresponding relationship between the collaborative control and the collaborative posture feature, and establishing a standard collaborative feature based on the corresponding relationship;

[0127] Establish initial collaborative control instructions according to standard collaborative features, sort the initial collaborative control instructions based on the collaborative control sequence diagram, obtain an initial collaborative control instruction sequence, assign chain features to the initial collaborative control instruction sequence based on the collaborative posture feature diagram, and generate an initial collaborative control instruction chain;

[0128] Based on whether the control objects of two adjacent initial collaborative control instructions in the initial collaborative control instruction chain are the same, the two adjacent initial collaborative control instructions are divided into a same-manipulator control instruction chain and a different-manipulator control instruction chain;

[0129] Cross-commands are added to control command links of different manipulators to obtain control command links of manipulators with different targets. The control command links of the same manipulator and the control command links of manipulators with different targets are integrated to obtain the final collaborative control command chain.

[0130] The beneficial effect of the above-mentioned design scheme is: based on whether the control objects of two adjacent initial collaborative control instructions in the initial collaborative control instruction chain are the same, the two adjacent initial collaborative control instructions are divided into the same-manipulator control instruction link and the different-manipulator control instruction link, and cross-instructions are added to the different-manipulator control instruction links to obtain the target different-manipulator control instruction link, and the same-manipulator control instruction link and the target different-manipulator control instruction link are integrated to obtain the final collaborative control instruction chain, thereby ensuring the accuracy of the obtained collaborative control instruction chain, realizing the collaborative control of the dual-station manipulator, better completing the assembly of automobile door panels, and ensuring the assembly quality and efficiency of automobile door panels.

[0131] Embodiment 10:

[0132] Based on Example 9, the embodiment of the present invention provides a collaborative control method for an automobile door panel assembly robot, further comprising:

[0133] The collaborative control instruction chain is transmitted to two manipulators of the dual-station manipulator simultaneously;

[0134] The execution of the collaborative control instructions in the two manipulators of the dual-station manipulator is monitored synchronously, and an early warning reminder is issued when the collaborative control instructions are found to be out of sync.

[0135] The beneficial effect of the above design scheme is: the collaborative control instruction chain is transmitted to the two manipulators of the dual-station manipulator at the same time, and the execution of the collaborative control instructions in the two manipulators of the dual-station manipulator is synchronously monitored. When it is found that the collaborative control instructions are not synchronized, an early warning reminder is issued to achieve real-time monitoring of the collaborative control of the manipulators and ensure the accuracy of the collaborative control process.

[0136] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention belong to the scope of this application document and its equivalent technology, the present invention is also intended to include these changes and variations.

Claims

1. A collaborative control method for an automobile door panel assembly robot, characterized in that: include: S1: Based on the process flow of automobile door panel assembly, the assembly task is assigned to each manipulator in the dual-station manipulator based on the relative distance between the dual-station manipulator and the operating table; S2: Based on the assembly tasks assigned to each robot, the triggering actions and activity trajectories of the dual-station robot operations are determined; S3: Based on the triggering actions and activity trajectories of the dual-station manipulator operation, the overall operation process of the dual-station manipulator is established; S4: Establish a collaborative control command chain based on the overall operation process and the posture relationship of the dual-station manipulator; In S3, based on the triggering action and activity trajectory of the dual-station manipulator operation, the overall operation process of the dual-station manipulator is established, including: Establishing the first process node based on the triggering action of the dual-station robot operation; The second process node and process feature are established based on the activity trajectory of the dual-station manipulator operation; Establishing the overall operation process of the dual-station manipulator based on the first process node, the second process node and the process characteristics; In S4, based on the overall operation process and the posture relationship of the dual-station manipulator, a collaborative control instruction chain is established, including: Based on the overall operation process, a first-level collaborative control sequence of the first process node is established, a second-level collaborative control sequence of the second process node is established, and the first-level collaborative control sequence and the second-level collaborative control sequence are integrated to obtain a collaborative control sequence diagram; Based on the posture relationship of the dual-station manipulator and the process characteristics in the overall operation process, a collaborative posture feature map of the first process node and the second process node is established; Matching the collaborative control sequence graph and the collaborative posture feature graph to obtain a corresponding relationship between the collaborative control and the collaborative posture feature, and establishing a standard collaborative feature based on the corresponding relationship; Establish initial collaborative control instructions according to standard collaborative features, sort the initial collaborative control instructions based on the collaborative control sequence diagram, obtain an initial collaborative control instruction sequence, assign chain features to the initial collaborative control instruction sequence based on the collaborative posture feature diagram, and generate an initial collaborative control instruction chain; Based on whether the control objects of two adjacent initial collaborative control instructions in the initial collaborative control instruction chain are the same, the two adjacent initial collaborative control instructions are divided into a same-manipulator control instruction chain and a different-manipulator control instruction chain; Cross-commands are added to control command links of different manipulators to obtain control command links of manipulators with different targets. The control command links of the same manipulator and the control command links of manipulators with different targets are integrated to obtain the final collaborative control command chain.

2. The collaborative control method of an automobile door panel assembly robot according to claim 1, characterized in that: In S1, based on the process flow of automobile door panel assembly and the relative distance between the dual-station manipulator and the operating table, an assembly task is assigned to each manipulator in the dual-station manipulator, including: According to the process characteristics, the process flow of automobile door panel assembly is divided into multiple sub-processes; Based on the mutual distance between the dual-station manipulator and the operating table, determine the sub-process that each manipulator in the dual-station manipulator can implement; Based on processing efficiency and processing fluency, combined with the sub-process that each robot in the dual-station robot can achieve, the sub-process is allocated to obtain the target sub-process assigned to each robot, and the assembly task of each robot is determined based on the target sub-process.

3. The coordinated control method of an automobile door panel assembly robot according to claim 2, characterized in that: Based on the processing efficiency and processing fluency, combined with the sub-processes that each manipulator in the dual-station manipulator can implement, the sub-processes are allocated to obtain the target sub-processes allocated to each manipulator, including: Based on the sub-processes that each robot in the dual-station robot can implement, all sub-processes are grouped to obtain multiple grouping results; Obtain the number of manipulator movements required for the manipulator to complete the sub-process in each grouping result, and obtain the relative posture characteristics of the two manipulators in the double-station manipulator during the operation; Based on the movement times and relative posture characteristics of the manipulator, determining the processing fluency of the dual-station manipulator when operating according to each grouping result; Based on the total processing time required for the manipulator to complete the sub-process in each grouping result, the processing efficiency of the dual-station manipulator when operating according to each grouping result is obtained; Obtaining the working time that two manipulators in the dual-station manipulator need to work simultaneously in each grouping result, and the relative posture relationship of the two manipulators under the working time; Based on the working time, determining a first collaborative weight, based on the relative posture relationship, determining a second collaborative weight, and obtaining a collaborative control difficulty based on the first collaborative weight and the second collaborative weight; Based on the automotive door panel assembly process requirements and combined with deep learning, a comprehensive process scoring model is established, and the processing fluency, processing efficiency and collaborative control difficulty are input into the comprehensive process scoring model to obtain the process score corresponding to each grouping result; The sub-process division result corresponding to the grouping result with the highest process score is selected to determine the target sub-process assigned to each robot in the dual-station robot.

4. The coordinated control method of an automobile door panel assembly robot according to claim 2, characterized in that: The method of determining the sub-process that can be implemented by each manipulator in the dual-station manipulator based on the mutual distance between the dual-station manipulator and the operating table includes: Obtaining the distance condition satisfied by the current manipulator when the current sub-process is operated in the dual-station manipulator, and determining whether the mutual distance between the dual-station manipulator and the operating table satisfies the distance condition; If so, determine that the current robot in the dual-station robot can implement the current sub-process; Otherwise, it is determined that the current manipulator in the dual-station manipulator does not implement the current sub-process.

5. The coordinated control method of an automobile door panel assembly robot according to claim 1, characterized in that: In S2, based on the assembly task assigned to each robot, the triggering action of the dual-station robot operation is determined, including: Assigning assembly tasks to each manipulator, determining target assembly tasks for two manipulator systems in the dual-station manipulator, and determining a first task segment of the first manipulator in the target assembly task and a second task segment of the second manipulator in the target assembly task; Obtaining an overlapping point between the first task segment and the second task segment, and obtaining an operation posture of the first manipulator and the second manipulator at the overlapping point; Based on the operation posture, the trigger action for starting any one of the dual-station manipulators is determined.

6. The coordinated control method of an automobile door panel assembly robot according to claim 5, characterized in that: The triggering action of starting any one of the dual-station manipulators based on the operation posture includes: Acquire the current posture of the second manipulator in the dual-station manipulator from the operating posture when the first manipulator switches from the original posture to the working posture; The current posture of the second manipulator is used as a triggering action for starting the first manipulator.

7. The coordinated control method of an automobile door panel assembly robot according to claim 1, characterized in that: In S2, based on the assembly task assigned to each manipulator, the activity trajectory of the dual-station manipulator operation is determined, including: Based on the distribution of assembly tasks to each robot, the motion data of each robot is generated; Establishing a three-dimensional spatial model of the automobile door panel assembly, and determining a plurality of position points in the three-dimensional spatial model based on the motion data; The activity trajectory of the dual-station manipulator operation is determined based on the position points.

8. The coordinated control method of an automobile door panel assembly robot according to claim 1, characterized in that: Also includes: The collaborative control instruction chain is transmitted to two manipulators of the dual-station manipulator simultaneously; The execution of the collaborative control instructions in the two manipulators of the dual-station manipulator is monitored synchronously, and an early warning reminder is issued when the collaborative control instructions are found to be out of sync.

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