Control method, device and computer equipment of motion assembly

Abstract

The present application relates to a control method, device, computer equipment, storage medium and computer program product for a motion component. The method comprises: obtaining an operation trajectory corresponding to a preset teaching content; determining the position trajectory of the operation component in the first coordinate direction from the operation trajectory, and determining the initial motion parameters of the first motion component and the second motion component according to the position trajectory in the first coordinate direction; determining the position trajectory of the operation component in the second coordinate direction from the operation trajectory, and determining the relative position of the first motion component and the second motion component according to the position trajectory in the second coordinate direction; adjusting the initial motion parameters of the first motion component and the second motion component according to the relative position, and obtaining the corresponding first target motion parameters of the first motion component and the second target motion parameters of the second motion component respectively. The present method can realize high-precision control of motion components and operation components.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a control method, device, computer equipment, storage medium and computer program product for a motion component. Background Art

[0002] In the field of industrial teaching, tool pen teaching has been widely used. Teachers and engineers can use tool pens for teaching and guidance. In traditional technology, a mechanical arm is usually used to hold the tool pen, and the movement of the tool pen is controlled by moving the mechanical arm to achieve automatic teaching. This method can control the movement of the tool pen very accurately, but it requires complex mechanical design and control algorithms.

[0003] In order to solve this problem, the prior art usually uses two servo motors to control the horizontal and vertical angles of the tool pen respectively, thereby realizing the control of the tool pen trajectory. This method simplifies the complexity of the control algorithm, but because the servo motor system usually relies on complex transmission mechanisms such as gears and belts, the accuracy of the tool pen trajectory movement is limited to a certain extent. Therefore, the prior art cannot simultaneously solve the problems of low automatic teaching accuracy of the tool pen and complex control algorithm. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, device, computer equipment, computer-readable storage medium and computer program product for a motion component in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a control method for a motion assembly. The control unit is electrically connected to a teaching unit, the teaching unit includes a first motion assembly and a second motion assembly, and the two motion assemblies are respectively movably connected to an operating assembly through corresponding connecting rods, and the method includes:

[0006] Obtain the operation trajectory corresponding to the preset teaching content;

[0007] Determine a position trajectory of the working component in a first coordinate direction from the working trajectory, and determine initial motion parameters of the first motion component and initial motion parameters of the second motion component according to the position trajectory in the first coordinate direction;

[0008] Determine a position trajectory of the working component in a second coordinate direction from the working trajectory, and determine the relative position of the first motion component and the second motion component according to the position trajectory in the second coordinate direction;

[0009] According to the relative position, adjusting the initial motion parameters of the first motion component and the initial motion parameters of the second motion component to obtain corresponding first target motion parameters of the first motion component and second target motion parameters of the second motion component respectively;

[0010] The first motion component is controlled to move according to the first target motion parameter, and the second motion component is controlled to move according to the second target motion parameter.

[0011] In one embodiment, determining the position trajectory of the operating component in the first coordinate direction from the operating trajectory includes:

[0012] Obtaining an initial position of the operation component;

[0013] Determine the walking trajectory of the working component according to the initial position of the working component and the working trajectory; wherein the walking trajectory includes the working trajectory and the moving trajectory from the initial position to the working trajectory;

[0014] The position trajectory of the working component in the first coordinate direction is determined from the walking trajectory.

[0015] In one embodiment, determining the walking trajectory of the operating component according to the initial position of the operating component and the operating trajectory includes:

[0016] Segmenting the operation trajectory to obtain multiple sub-operation trajectories;

[0017] Determining an initial walking trajectory of the operating component according to the multiple sub-operation trajectories;

[0018] The walking trajectory of the working component is determined according to the initial position of the working component and the initial walking trajectory.

[0019] In one embodiment, adjusting the initial motion parameters of the first motion component and the initial motion parameters of the second motion component according to the relative position to obtain the corresponding first target motion parameters of the first motion component and the second target motion parameters of the second motion component respectively includes:

[0020] Determining, according to the relative position, a corrected motion parameter of the first motion component in the second coordinate direction and a corrected motion parameter of the second motion component in the second coordinate direction;

[0021] The initial motion parameters and the revised motion parameters of the first motion component are fused respectively to obtain the target motion parameters of the first motion component, and the initial motion parameters and the revised motion parameters of the second motion component are fused respectively to obtain the target motion parameters of the second motion component.

[0022] In one embodiment, the fusing the initial motion parameters and the modified motion parameters of the first motion component to obtain the target motion parameters of the first motion component, and fusing the initial motion parameters and the modified motion parameters of the second motion component to obtain the target motion parameters of the second motion component, include:

[0023] The initial motion parameters and the modified motion parameters of the first motion component are fused to obtain first intermediate motion parameters of the first motion component, and the initial motion parameters and the modified motion parameters of the second motion component are fused to obtain second intermediate motion parameters of the second motion component;

[0024] determining a simulated operation trajectory of the operation component according to the first intermediate motion parameter and the second intermediate motion parameter;

[0025] According to the difference between the simulated working trajectory of the working component and the working trajectory corresponding to the teaching content, the first intermediate motion parameter and the second intermediate motion parameter are adjusted until the difference meets the preset requirements, and the motion parameters that meet the preset requirements are used as target motion parameters.

[0026] In one embodiment, determining the simulated operation trajectory of the operation component according to the first intermediate motion parameter and the second intermediate motion parameter includes:

[0027] Determining a simulated relative position of the first motion component and the second motion component according to an intermediate motion parameter of the first motion component and an intermediate motion parameter of the second motion component;

[0028] Determining a simulated motion trajectory of the operating component in a second coordinate direction according to the simulated relative position;

[0029] Determining a simulated motion trajectory of the working component in a first coordinate direction according to an intermediate motion parameter of the first motion component and an intermediate motion parameter of the second motion component;

[0030] The simulated motion trajectory of the operating component in the first coordinate direction and the simulated motion trajectory in the second coordinate direction are combined to obtain the simulated motion trajectory of the operating component.

[0031] In a second aspect, the present application also provides a control device for a motion assembly. The control device is applied to a control unit, the control unit is electrically connected to a teaching unit, the teaching unit includes a first motion assembly and a second motion assembly, the two motion assemblies are respectively movably connected to the working assembly through corresponding connecting rods, and the device includes:

[0032] A trajectory acquisition module is used to obtain the operation trajectory corresponding to the preset teaching content;

[0033] An initial parameter determination module, used to determine a position trajectory of the working component in a first coordinate direction from the working trajectory, and determine an initial motion parameter of the first motion component and an initial motion parameter of the second motion component according to the position trajectory in the first coordinate direction;

[0034] A relative position determination module, used to determine a position trajectory of the working component in a second coordinate direction from the working trajectory, and determine the relative position of the first motion component and the second motion component according to the position trajectory in the second coordinate direction;

[0035] a target parameter determination module, used to adjust the initial motion parameters of the first motion component and the initial motion parameters of the second motion component according to the relative position, and obtain the corresponding first target motion parameters of the first motion component and the second target motion parameters of the second motion component respectively;

[0036] The component motion module is used to control the first motion component to move according to the first target motion parameter, and to control the second motion component to move according to the second target motion parameter.

[0037] In one embodiment, the initial parameter determination module includes:

[0038] An initial position acquisition submodule, used to acquire the initial position of the operation component;

[0039] A walking trajectory determination submodule, used to determine the walking trajectory of the working component according to the initial position of the working component and the working trajectory; wherein the walking trajectory includes the working trajectory and the moving trajectory from the initial position to the working trajectory;

[0040] The position trajectory determination submodule is used to determine the position trajectory of the working component in the first coordinate direction from the walking trajectory.

[0041] In one embodiment, the walking trajectory determination submodule includes:

[0042] A track segmentation unit, used for segmenting the operation track to obtain a plurality of sub-operation tracks;

[0043] An initial trajectory determination unit, configured to determine an initial walking trajectory of the operation component according to the plurality of sub-operation trajectories;

[0044] A walking trajectory determining unit is used to determine the walking trajectory of the working component according to the initial position of the working component and the initial walking trajectory.

[0045] In one embodiment, the target parameter determination module includes:

[0046] a correction parameter determination submodule, used to determine, according to the relative position, a correction motion parameter of the first motion component in the second coordinate direction and a correction motion parameter of the second motion component in the second coordinate direction;

[0047] The parameter fusion submodule is used to fuse the initial motion parameters and the corrected motion parameters of the first motion component respectively to obtain the target motion parameters of the first motion component, and to fuse the initial motion parameters and the corrected motion parameters of the second motion component to obtain the target motion parameters of the second motion component.

[0048] In one embodiment, the parameter fusion submodule includes:

[0049] a parameter fusion unit, configured to fuse the initial motion parameters and the modified motion parameters of the first motion component to obtain first intermediate motion parameters of the first motion component, and to fuse the initial motion parameters and the modified motion parameters of the second motion component to obtain second intermediate motion parameters of the second motion component;

[0050] a simulated trajectory determining unit, configured to determine a simulated operation trajectory of the operation component according to the first intermediate motion parameter and the second intermediate motion parameter;

[0051] A target parameter determination unit is used to adjust the first intermediate motion parameter and the second intermediate motion parameter according to the difference between the simulated working trajectory of the working component and the working trajectory corresponding to the teaching content, until the difference meets the preset requirements, and use the motion parameters that meet the preset requirements as target motion parameters.

[0052] In one embodiment, the simulation trajectory determination unit includes:

[0053] a relative position determination subunit, configured to determine a simulated relative position of the first motion component and the second motion component according to an intermediate motion parameter of the first motion component and an intermediate motion parameter of the second motion component;

[0054] A simulated trajectory determination subunit, used to determine a simulated motion trajectory of the working component in a second coordinate direction according to the simulated relative position;

[0055] The simulated trajectory determination subunit is further used to determine the simulated motion trajectory of the working component in the first coordinate direction according to the intermediate motion parameters of the first motion component and the intermediate motion parameters of the second motion component;

[0056] The simulated trajectory determination subunit is further used to merge the simulated motion trajectory of the operating component in the first coordinate direction and the simulated motion trajectory in the second coordinate direction to obtain the simulated motion trajectory of the operating component.

[0057] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the control method of the motion component as described in any one of the embodiments of the present disclosure is implemented.

[0058] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the control method of the motion component as described in any one of the embodiments of the present disclosure is implemented.

[0059] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the control method of the motion component as described in any one of the embodiments of the present disclosure is implemented.

[0060] The control method, device, computer equipment, storage medium and computer program product of the motion component determine the position trajectory of the working component in the first coordinate direction and the second coordinate direction through the working trajectory corresponding to the teaching content, determine the initial motion parameters of the motion component using the position trajectory in the first coordinate direction, and adjust the initial motion parameters using the position trajectory in the second coordinate direction to obtain the target motion parameters of the motion component. This method is used to control the two-dimensional motion of the working component through the one-dimensional motion of the motion component, ensuring that the working component moves along a predetermined path. By analyzing the working trajectory and the position trajectory, the motion component is accurately controlled, further ensuring that the working component moves along the predetermined working trajectory, and improving the accuracy of the target motion parameters. At the same time, the method can adjust the motion parameters according to different operating requirements, so that the system can adapt to a variety of working environments and tasks, and improve the adaptability and flexibility of the system. By moving the motion component according to the target motion parameters, automatic control is achieved, manual intervention is reduced, and the accuracy of the motion component control is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is a schematic flow chart of a method for controlling a motion component in one embodiment;

[0062] Figure 2 A diagram showing an application environment of a method for controlling a motion component in an embodiment;

[0063] Figure 3 A schematic diagram of a process for obtaining a position trajectory in a first coordinate direction in an embodiment;

[0064] Figure 4 A schematic diagram of a process for determining a walking trajectory of an operating component in one embodiment;

[0065] Figure 5 A schematic diagram of a process for obtaining target motion parameters in one embodiment;

[0066] Figure 6 A schematic diagram of a process of adjusting and obtaining target motion parameters in one embodiment;

[0067] Figure 7 A schematic diagram of a process for obtaining a simulated motion trajectory in one embodiment;

[0068] Figure 8 A schematic diagram of a flow chart of a control method for a motion component in one embodiment;

[0069] Fig. 9 is a structural block diagram of a control device for a motion component in one embodiment;

[0070] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0072] In one embodiment, Figure 1 As shown, a control method for a motion component is provided, which is applied to a control unit, the control unit is electrically connected to a teaching unit, the teaching unit includes a first motion component and a second motion component, the two motion components are respectively connected to the working component through corresponding connecting rods, it can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0073] Step S100, obtaining the operation trajectory corresponding to the preset teaching content.

[0074] In an exemplary embodiment, the teaching unit can be as follows Figure 2 As shown, it includes a working component 1, a connecting rod 2, a motion component 3 and a display board 4 for teaching; specifically, the two motion components 3 can control the working component 1 to move on the display board 4, thereby forming teaching content, etc. It can be understood that the length of the connecting rod here is fixed, that is, when the spacing between the two motion components 3 decreases, the connecting rod will cause the working component to provide an upward force, thereby controlling the upward movement of the working component; specifically, state 5 indicates that the working component 1 is at a moderate height. When it is necessary to convert to state 4 (the height of the working component 1 increases), it is only necessary to control the two motion components 3 and reduce the spacing between the two motion components 3; conversely, if it is necessary to convert from state 6 to state 4, it is only necessary to increase the spacing between the two motion components, etc. It can be understood that the motion component can be controlled to move in a variety of ways, such as a magnetic drive engine, an internal combustion engine, an electric motor, etc.

[0075] In an exemplary embodiment, teaching can be applied to multiple fields, such as teaching, demonstration, and industrial fields. The teaching tool can also include questions, images, etc. For example, in classroom teaching content, the teaching content can include content that teachers need to write, such as text, images, etc. In the industrial field, engineers use laser pens for operation guidance and teaching, and the path of the laser pen can also belong to the teaching content. It can be understood that as long as the content can be written with a pen, it can be input into the teaching content here.

[0076] In an exemplary embodiment, the operation trajectory may include a trajectory that the operation component corresponding to the teaching content needs to pass through, etc.

[0077] Step S200, determining a position trajectory of the working component in a first coordinate direction from the working trajectory, and determining initial motion parameters of the first motion component and initial motion parameters of the second motion component according to the position trajectory in the first coordinate direction.

[0078] In an exemplary embodiment, the operation trajectory can be mapped to the first coordinate direction by mapping, and the position trajectory in the first coordinate direction can be further obtained. In another exemplary embodiment, a coordinate system can be established, and the operation trajectory indicates that the coordinates of the operation component are changing. Only by considering the change of the first coordinate of the operation component, the position trajectory of the operation component in the first coordinate direction can be obtained.

[0079] In an exemplary embodiment, the first coordinate direction may include a direction in which the first moving component and the second moving component move, etc.

[0080] In an exemplary embodiment, the relative distance between the two moving components will not change when only the position trajectory in the first coordinate direction is considered. It can be understood that at this time, the change of the working component in the first coordinate direction is the change of the two moving components in the first coordinate direction, etc. Specifically, the starting coordinate of the working component in the first coordinate direction is 5; the starting coordinates of the two moving components in the first coordinate direction are 3 and 7 respectively; when the working component moves a distance of x, the coordinates of the working component become 5+x; at this time, the coordinates of the two moving components become 3+x and 7+x respectively, etc.

[0081] In an exemplary embodiment, the operation trajectory may include a motion speed; in the case where the operation trajectory includes a motion speed, the initial motion parameters may also include the motion speed of the motion component; in another exemplary embodiment, the operation trajectory does not include a motion speed, and the initial motion parameters of the motion component may only include a motion trajectory. It is understandable that the initial motion parameters may include only one of the motion speed and the motion trajectory. In the case where the motion speed is included, the motion trajectory may be further determined based on the relationship between time and speed; in the case where the motion trajectory is included, the motion speed may be determined based on the relationship between time and trajectory. In actual use, time may not be included, and only the motion trajectory needs to be considered.

[0082] Step S300: determining a position trajectory of the working component in a second coordinate direction from the working trajectory, and determining a relative position of the first motion component and the second motion component according to the position trajectory in the second coordinate direction.

[0083] In an exemplary embodiment, the relative position of the first moving component and the second moving component may include the spacing between the first moving component and the second moving component, etc.; it can be understood that the first moving component and the second moving component only move in one-dimensional coordinates, and the relative position of the first moving component and the second moving component can be obtained in the following manner: a one-dimensional coordinate system in the moving direction of the moving component is established, the coordinates of the first moving component and the second moving component are obtained respectively, and the coordinates of the first moving component and the second moving component are subjected to difference processing, so as to obtain the relative position of the first moving component and the second moving component, etc.

[0084] In an exemplary embodiment, the operation trajectory can be mapped to the second coordinate direction by mapping, and the position trajectory in the second coordinate direction can be further obtained. In another exemplary embodiment, a coordinate system can be established, and the operation trajectory indicates that the coordinates of the operation component are changing. Only by considering the change of the second coordinate of the operation component, the position trajectory of the operation component in the second coordinate direction can be obtained.

[0085] In an exemplary embodiment, the second coordinate direction is perpendicular to the first coordinate direction. It can be understood that by controlling the relative distance between the two motion components, the position change of the working component in the second coordinate direction can be controlled. Specifically, the height of the working component can be obtained by the Pythagorean theorem, and the height of the working component can be obtained by the following formula (1):

[0086] (1)

[0087] Among them, Y represents the height of the working component, L represents the length of the connecting rod; x2-x1 represents the relative distance between the two moving components; it can be understood that after determining the height of the working component and the length of the connecting rod, the relative distance between the two moving components can also be inferred.

[0088] In an exemplary embodiment, the relative position may include a relationship between the position trajectory and the relative position, that is, the relative position in the entire position trajectory, etc.

[0089] Step S400: adjusting the initial motion parameters of the first motion component and the initial motion parameters of the second motion component according to the relative position, and obtaining corresponding first target motion parameters of the first motion component and second target motion parameters of the second motion component respectively.

[0090] In an exemplary embodiment, the relative position adjusting the initial motion parameters may include determining the motion trajectory or motion speed of the first motion component and the second motion component when the working component moves in the second coordinate direction by relative position, and fusing the obtained motion trajectory or motion speed with the initial motion parameters to obtain the target motion parameters, etc. It is understandable that when the motion component moves according to the target motion parameters, the position trajectory in the first coordinate direction and the position trajectory in the second coordinate direction, etc. can be satisfied at the same time.

[0091] Step S500: controlling the first motion component to move according to the first target motion parameter, and controlling the second motion component to move according to the second target motion parameter.

[0092] In an exemplary embodiment, the first target motion parameter and the second target motion parameter may correspond to each other; that is, the first target motion parameter corresponds to the only second target motion parameter. Therefore, during the motion process, the first motion component and the second motion component are kept moving simultaneously and in the same manner. For example, when the motion parameter is a speed change curve, the first motion component and the second motion component should be kept entering the speed change curve at the same time. Similarly, when the motion parameter is a trajectory, the time of the target motion parameters corresponding to the first motion component and the second motion component should be consistent. For example, the trajectory includes four parts abcd respectively. When the motion parameter of the first motion component is the first motion parameter corresponding to the starting point b, the motion parameter of the second motion component should also be the second target motion parameter corresponding to the starting point b, and so on.

[0093] In the control method of the motion component, the position trajectory of the working component in the first coordinate direction and the second coordinate direction is determined by the working trajectory corresponding to the teaching content, the initial motion parameters of the motion component are determined by the position trajectory in the first coordinate direction, and the initial motion parameters are adjusted by the position trajectory in the second coordinate direction to obtain the target motion parameters of the motion component. This method is used to control the two-dimensional motion of the working component through the one-dimensional motion of the motion component, ensuring that the working component moves along a predetermined path. By analyzing the working trajectory and the position trajectory, precise control of the motion component is achieved, further ensuring that the working component moves along the predetermined working trajectory, and improving the accuracy of the target motion parameters. At the same time, this method can adjust the motion parameters according to different operating requirements, so that the system can adapt to a variety of working environments and tasks, and improve the adaptability and flexibility of the system. By moving the motion component according to the target motion parameters, automatic control is achieved, manual intervention is reduced, and the accuracy of motion component control is further improved.

[0094] In one embodiment, Figure 3 As shown, determining the position trajectory of the operating component in the first coordinate direction from the operating trajectory includes:

[0095] Step S201, obtaining the initial position of the operation component.

[0096] In an exemplary embodiment, the initial positions of the two moving components can be obtained; based on the initial positions of the two moving components, the initial position of the working component is determined. It is understandable that the moving components are in one-dimensional coordinates and the working components are in two-dimensional coordinates. It is understandable that in actual use, the method of obtaining the initial positions of the moving components is simpler, but this is not limited here. After obtaining the initial positions of the two moving components, the two-dimensional coordinates of the working components, that is, the initial positions, can be determined according to the following formulas (2) and (3), respectively:

[0097] (2)

[0098] (3)

[0099] Among them, X represents the coordinate of the working component in the first coordinate direction; x1+x2 represents the sum of the initial positions of the two moving components (it can be understood that the moving component is in one dimension, so the initial position of the moving component can be a one-dimensional coordinate, etc.); Y represents the coordinate of the working component in the second coordinate direction; L represents the length of the connecting rod between the working component and the moving component; x2-x1 represents the relative distance between the two moving components; it can be understood that a variety of methods can be used here to obtain the initial position of the working component, which is not limited here.

[0100] Step S202, determining the walking trajectory of the working component according to the initial position of the working component and the working trajectory; wherein the walking trajectory includes the working trajectory and the moving trajectory from the initial position to the working trajectory.

[0101] In an exemplary embodiment, the operation track may include a track where the operation component needs to operate, etc. It is understandable that the operation component may always be connected to the operated component (the operation component operates on the component, for example, the operation component is a pen and the operated component is paper, etc.); and the initial position of the operation component may not be on the operation track, so in the actual use process, the planning of the track also needs to consider the path from the operation component to the operation track, so the walking track of the operation component here includes the operation track and the moving track from the initial position to the operation track, etc.

[0102] Step S203: determining a position trajectory of the working component in a first coordinate direction from the walking trajectory.

[0103] In an exemplary embodiment, the walking trajectory can be mapped to the first coordinate direction by mapping, and the position trajectory in the first coordinate direction can be further obtained. In another exemplary embodiment, a coordinate system can be established, and the walking trajectory indicates that the coordinates of the working component are changing. Only by considering the change of the first coordinate of the working component, the position trajectory of the working component in the first coordinate direction can be obtained.

[0104] In this embodiment, the walking trajectory of the operating component is determined by the initial position and the operating trajectory of the operating component, and the position trajectory of the operating component in the first coordinate direction is further determined. The walking trajectory can be set by the initial position and the operating trajectory, which reduces unnecessary movement of the operating component and improves the operating efficiency of the operating component. Through the initial position of the operating component, the operating trajectory can be adjusted in real time to adapt to more application scenarios, thereby improving the flexibility and adaptability of the operating component. At the same time, the walking trajectory obtained by the initial position and the operating trajectory of the operating component provides an accurate data basis for determining the motion parameters of the motion component, thereby improving the accuracy of the motion parameters of the motion component.

[0105] In one embodiment, Figure 4 As shown, the step of determining the walking trajectory of the operating component according to the initial position of the operating component and the operating trajectory includes:

[0106] Step S211, segmenting the operation trajectory to obtain multiple sub-operation trajectories.

[0107] In an exemplary embodiment, the sub-operation track may include a function that defines a track as different line segments, such as horizontal lines, vertical lines, oblique lines, arcs, etc. For example, the letter Z may be segmented into horizontal lines, oblique lines, horizontal lines, etc. In another exemplary embodiment, the operation track may include multiple unconnected sub-operation tracks, etc. For example, the letter apple, "a" and "p" are not connected; "p" and "l" are not connected, etc. Here, apple is the operation track, and "a", "p", "p", "l", "e" are sub-operation tracks, etc.

[0108] Step S212: determining an initial walking trajectory of the operation component according to the multiple sub-operation trajectories.

[0109] In an exemplary embodiment, since multiple sub-trajectories are not connected, a path from one sub-trajectory to another sub-trajectory can be designed, that is, moving from the end point of one sub-trajectory to the starting point of another sub-trajectory, etc. It can be understood that the operation trajectory only includes the trajectory of the operation component, so the non-operation trajectory and the trajectory of the movement of the operation component do not exist in the operation trajectory, so the initial walking trajectory here is used to determine this part of the trajectory, that is, the initial walking trajectory can include all sub-operation trajectories, as well as the movement trajectory from one sub-operation trajectory to another sub-operation trajectory, etc.

[0110] In an exemplary embodiment, the sub-operation trajectory may include functions of different line segments (horizontal lines, vertical lines, oblique lines, circular arcs, etc.). The movement of the operating component can be regarded as the movement of a functional point on a two-dimensional coordinate. Through the two-dimensional coordinates, the coordinate changes in the two coordinate directions can be determined respectively, that is, the position trajectories in the two coordinate directions. The motion parameters of the two motion components can be determined through the position trajectories in the two coordinate directions of the operating component.

[0111] Step S213, determining the walking trajectory of the working component according to the initial position of the working component and the initial walking trajectory.

[0112] In an exemplary embodiment, the initial walking trajectory may include all paths from the starting point of the working trajectory to the end point of the working trajectory, and the walking trajectory includes the initial walking trajectory and the trajectory of the working component moving from the starting position to the starting point of the initial walking trajectory. Therefore, here it can include determining the trajectory of the working component moving from the starting position to the starting point of the initial walking trajectory based on the starting position of the working component and the initial point of the initial walking trajectory, and merging the obtained trajectory with the initial walking trajectory to obtain the walking trajectory of the working component, etc.

[0113] In this embodiment, the operation track is segmented into multiple sub-operation tracks, and the initial walking track is further obtained. The walking track is obtained by the initial operation track of the operation component, and the initial walking track can be determined by multiple sub-operation tracks, thereby improving the accuracy of the initial walking track and providing an accurate data basis for the generation of the walking track. At the same time, the walking track is determined by the initial position and the initial walking track, which provides an accurate data basis for determining the motion parameters of the motion component and improves the accuracy of the motion parameters of the motion component.

[0114] In one embodiment, Figure 5 As shown, the initial motion parameters of the first motion component and the initial motion parameters of the second motion component are adjusted according to the relative position to obtain the corresponding first target motion parameters of the first motion component and the second target motion parameters of the second motion component, respectively, including:

[0115] Step S401, determining, according to the relative position, a corrected motion parameter of the first motion component in the second coordinate direction and a corrected motion parameter of the second motion component in the second coordinate direction.

[0116] In an exemplary embodiment, the relative position may include the spacing between the first moving component and the second moving component. The motion parameter may include a motion trajectory and a motion speed. When the motion parameter is a motion trajectory, the two modified motion parameters may respectively represent the relative distance between the moving component and the working component. For example, the relative position is 10, and the two modified motion parameters represent -5 and 5 respectively. Specifically, the direction may be set to further determine which moving component -5 and 5 belong to. When the motion parameter is a motion speed, the relative position change speed may be determined based on the relationship between the relative position and time, and the two modified motion parameters may be obtained by the same method.

[0117] Step S402, respectively fuse the initial motion parameters and the revised motion parameters of the first motion component to obtain the target motion parameters of the first motion component, and fuse the initial motion parameters and the revised motion parameters of the second motion component to obtain the target motion parameters of the second motion component.

[0118] In an exemplary embodiment, the target motion parameters can be obtained by fusing the initial motion parameters and the modified motion parameters. It can be understood that the two motion parameters can be directly summed up; for example,

[0119] The initial motion parameters of a motion component are that the coordinates range uniformly from 5 to 10 within 0-5s; the corrected motion parameters are that the coordinates are all 0 within 0-1s; the coordinates range uniformly from 0 to -1 within 1-2s; the coordinates range uniformly from -1 to 0 within 2-5s; then the target motion parameters are that the coordinates range uniformly from 5 (0+5=5) to 6 (0+6=6) within 0-1s; the coordinates range uniformly from 6 (0+6=6) to 6 (-1+7=6) within 1-2s, i.e., no change; the coordinates range uniformly from 6 (-1+7=6) to 10 (0+10=10) within 2-5s, and so on. It can be understood here that the motion parameters after merging are the target motion parameters, and the corresponding trajectory can be obtained by moving according to the target motion parameters. For example, the expected trajectory is that the first coordinate changes uniformly from 3 to 6 within 3s; the second coordinate changes uniformly from 3 to 4 during 1-3s; the initial coordinates of the motion components are 0 and 6 respectively (here it is assumed that the distance from the motion component to the working component can be fully converted into the upward movement of the working component, that is, the distance between the two motion components is reduced by 2, and the vertical coordinate of the working component is increased by 1); at 0s, the motion correction parameter is 0; at this time, according to the change of the first coordinate, and the initial coordinates of the motion component, the initial motion parameters can be obtained, which are uniformly from 0 to 3 within 3s and uniformly from 6 to 9 within 3s; since the initial coordinates of the two motion components are 0 and 6 respectively, the two motion components The relative distances of the workpiece relative to the working component are -3 and 3, and the second coordinate is uniformly from 3 to 4. It can be seen that the relative position between the two moving components changes from 6 (6-0=6) to 4 (6-2=4); therefore, the modified motion parameters of the two moving components should be uniformly from 0 to 1 within 2-3s and uniformly from 0 to -1 within 2-3s; respectively combine the modified motion parameters and the initial motion parameters to obtain the target motion parameters. The target motion parameters of the first moving component are uniformly from 0 to 1 within 0-1s; uniformly from 1 to 4 within 2-3s (3+1=4); the target motion parameters of the second moving component are uniformly from 6 to 7 within 0-1s; uniformly from 7 to 8 within 2-3s (9-1=8); according to the target motion parameters, the expected trajectory can be obtained. The modified motion parameter here is the difference in relative distances, not the relative distance itself. For example, if the relative distance changes from 6 to 4, the modified motion parameter here should be a change of 2, not from 6 to 4, etc.In another exemplary embodiment, the relative position of the working component and the motion component can be used to obtain, for example, the expected trajectory is that the first coordinate is uniformly from 3 to 6 within 3s; the second coordinate is uniformly from 3 to 4 during 1-3s; the initial coordinates of the motion components are 0 and 6 respectively (here it is assumed that the distance from the motion component to the working component can be fully converted into the upward movement of the working component, that is, the distance between the two motion components is reduced by 2, and the vertical coordinate of the working component is increased by 1). At this time, the initial coordinates of the two motion components can be set to the first coordinate of the expected trajectory, that is, 3; the modified motion parameters are -3 and 3 respectively (the distance between the two motion components relative to the first coordinate of the working component); according to the first coordinate, it can be obtained that the initial motion parameters of the two motion components are uniformly within 3s. From 3 to 6; and according to the second coordinate, the corrected motion parameter of the first motion component is uniformly from -3 to -2 within 1-3s (since the second coordinate of the working component increases by 1, the distance between the two motion components decreases by 2, so here one motion component moves 1 toward the working component) The corrected motion parameter of the second motion component is uniformly from 3 to 2 within 1-3s; the initial motion parameters and the corrected motion parameters are fused to obtain the first target motion parameter uniformly from 0 (-3+3=0) to 1 (-3+4=1) within 0-1s; uniformly from 1 (-3+4=1) to 4 (-2+6=4) within 1-3s; the second target motion parameter is uniformly from 7 (4+3=7) within 0-1s; uniformly from 7 to 8 (6+2=8) within 1-3s, etc.

[0120] In an exemplary embodiment, the distance range of the working component in the second coordinate direction can be obtained by the following formula (4) and formula (5):

[0121] (4)

[0122] (5)

[0123] Among them, Z max and Z min They represent the maximum distance and minimum distance of the working component in the second coordinate direction respectively; L represents the length of the connecting rod between the motion component and the working component, a min and a max They represent the minimum relative distance and maximum relative distance of the two moving components respectively. At the same time, when the distance of the working component in the second coordinate direction is known, the relative distance of the two moving components can be obtained using the following formula (6):

[0124] (6)

[0125] Wherein, △x represents the relative distance between the two moving components, L represents the length of the connecting rod between the moving component and the working component, and z represents the distance of the working component in the second coordinate direction. In actual use, the position information of the moving component can be obtained using the following equations (7) and (8):

[0126] (7)

[0127] (8)

[0128] Among them, x1 and x2 represent the positions of the two moving components, respectively, and x i represents the coordinate of the working component in the first coordinate direction, which can be obtained from the working trajectory of the teaching content. △x represents the relative distance between the two moving components. x Represents the minimum value of the motion component in one-dimensional coordinates.

[0129] In this embodiment, the corrected motion parameters are determined by relative position, and the corrected motion parameters are merged with the initial motion parameters to obtain the target motion parameters, so that the motion component can move according to the target motion parameters and simultaneously realize the movement of the working component in the first coordinate direction and the second coordinate direction, thereby improving the accuracy of the target motion parameters.

[0130] In one embodiment, Figure 6 As shown, the initial motion parameters and the modified motion parameters of the first motion component are respectively fused to obtain the target motion parameters of the first motion component, and the initial motion parameters and the modified motion parameters of the second motion component are fused to obtain the target motion parameters of the second motion component, including:

[0131] Step S411, the initial motion parameters and the corrected motion parameters of the first motion component are merged to obtain the first intermediate motion parameters of the first motion component, and the initial motion parameters and the corrected motion parameters of the second motion component are merged to obtain the second intermediate motion parameters of the second motion component.

[0132] Step S412: determining a simulated operation trajectory of the operation component according to the first intermediate motion parameter and the second intermediate motion parameter.

[0133] Step S413, according to the difference between the simulated working trajectory of the working component and the working trajectory corresponding to the teaching content, the first intermediate motion parameter and the second intermediate motion parameter are adjusted until the difference meets the preset requirements, and the motion parameters that meet the preset requirements are used as target motion parameters.

[0134] In an exemplary embodiment, the intermediate motion may include initially planned motion parameters, simulate the operation trajectory through the intermediate motion parameters, and optimize the intermediate motion parameters so that the trajectory error meets preset requirements. The optimized motion parameters are the target motion parameters, etc.

[0135] In an exemplary embodiment, the simulated operation trajectory may include moving two motion components using intermediate motion parameters, and the difference may include the difference between the simulated operation trajectory and the expected operation trajectory within a time range, etc.

[0136] In this embodiment, the simulated operation trajectory of the operation component is obtained by using the intermediate motion parameters, and the target motion parameters are obtained according to the difference between the simulated operation trajectory and the operation trajectory corresponding to the teaching content. By adjusting the intermediate motion parameters, the accuracy of the target motion parameters is improved.

[0137] In one embodiment, Figure 7 As shown, determining the simulated operation trajectory of the operation component according to the first intermediate motion parameter and the second intermediate motion parameter includes:

[0138] Step S421, determining a simulated relative position of the first motion component and the second motion component according to an intermediate motion parameter of the first motion component and an intermediate motion parameter of the second motion component.

[0139] In an exemplary embodiment, the simulated relative position can determine the distance between the two moving components according to the intermediate motion parameters of the first moving component and the second moving component, and the change of the distance can be the simulated relative position, etc.

[0140] Step S422: determining a simulated motion trajectory of the operating component in a second coordinate direction according to the simulated relative position.

[0141] In an exemplary embodiment, the motion trajectory in the second coordinate direction can be obtained through the relative positions of the two motion components and the length of the connecting rod between the motion component and the working component, through the Pythagorean theorem, etc.

[0142] Step S423: determining a simulated motion trajectory of the working component in the first coordinate direction according to the intermediate motion parameters of the first motion component and the intermediate motion parameters of the second motion component.

[0143] In an exemplary embodiment, the motion trajectory in the first coordinate direction can be obtained by the speed and distance of the two motion components moving in the same direction.

[0144] Step S424: merge the simulated motion trajectory of the operating component in the first coordinate direction and the simulated motion trajectory in the second coordinate direction to obtain the simulated motion trajectory of the operating component.

[0145] In an exemplary embodiment, the merging of the motion trajectories in the first coordinate direction and the second coordinate direction may include establishing a coordinate system in the first coordinate direction and the second coordinate direction, and integrating the two one-dimensional coordinates into a two-dimensional coordinate according to the trajectory, and finally obtaining the motion trajectory of the working component.

[0146] In this embodiment, by using the intermediate motion parameters of the first motion component and the intermediate motion parameters of the second motion component, the motion trajectory of the working component in the first coordinate direction and the motion trajectory of the second coordinate direction are obtained, and the motion trajectory is obtained by merging them. The motion trajectories in the two coordinate directions can be obtained separately, which provides a data basis for determining the motion trajectory and improves the accuracy of the working component simulating the working trajectory.

[0147] In an exemplary embodiment, the control method of the motion component can be as follows: Figure 8 The flowchart shown is implemented, specifically including:

[0148] Step S901, initializing the positions and parameters of two motion components; setting or obtaining the initial positions of the motion components;

[0149] Step S902, defining a path drawing function; obtaining an operation trajectory corresponding to the teaching content, and segmenting the operation trajectory to draw functions in different line segments, such as horizontal lines, vertical lines, oblique lines, arcs, etc.;

[0150] Step S903, path planning: planning the intermediate motion parameters of the two motion components according to the functions of different line segments;

[0151] Step S904, save the path data; use the intermediate path parameters to simulate the operation and obtain a simulated operation trajectory. According to the difference between the simulated operation trajectory of the operation component and the operation trajectory corresponding to the teaching content, adjust the intermediate motion parameters until the difference meets the preset requirements, and use the motion parameters that meet the preset requirements as the target motion parameters.

[0152] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0153] Based on the same inventive concept, the embodiment of the present application also provides a motion component control device for implementing the motion component control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiment of the control device for one or more motion components provided below can refer to the limitations of the motion component control method above, and will not be repeated here.

[0154] In one embodiment, Fig. 9 As shown, a control device 100 of a motion component is provided, which is applied to a control unit, wherein the control unit is electrically connected to a teaching unit, wherein the teaching unit comprises a first motion component and a second motion component, wherein the two motion components are movably connected to an operating component through corresponding connecting rods, respectively, and the device comprises: a trajectory acquisition module 101, an initial parameter determination module 102, a relative position determination module 103 and a target parameter determination module 104, wherein:

[0155] A trajectory acquisition module is used to obtain the operation trajectory corresponding to the preset teaching content;

[0156] An initial parameter determination module, used to determine a position trajectory of the working component in a first coordinate direction from the working trajectory, and determine an initial motion parameter of the first motion component and an initial motion parameter of the second motion component according to the position trajectory in the first coordinate direction;

[0157] A relative position determination module, used to determine a position trajectory of the working component in a second coordinate direction from the working trajectory, and determine the relative position of the first motion component and the second motion component according to the position trajectory in the second coordinate direction;

[0158] a target parameter determination module, used to adjust the initial motion parameters of the first motion component and the initial motion parameters of the second motion component according to the relative position, and obtain the corresponding first target motion parameters of the first motion component and the second target motion parameters of the second motion component respectively;

[0159] The component motion module is used to control the first motion component to move according to the first target motion parameter, and to control the second motion component to move according to the second target motion parameter.

[0160] In one embodiment, the initial parameter determination module includes:

[0161] An initial position acquisition submodule, used to acquire the initial position of the operation component;

[0162] A walking trajectory determination submodule, used to determine the walking trajectory of the working component according to the initial position of the working component and the working trajectory; wherein the walking trajectory includes the working trajectory and the moving trajectory from the initial position to the working trajectory;

[0163] The position trajectory determination submodule is used to determine the position trajectory of the working component in the first coordinate direction from the walking trajectory.

[0164] In one embodiment, the walking trajectory determination submodule includes:

[0165] A track segmentation unit, used for segmenting the operation track to obtain a plurality of sub-operation tracks;

[0166] An initial trajectory determination unit, configured to determine an initial walking trajectory of the operation component according to the plurality of sub-operation trajectories;

[0167] A walking trajectory determining unit is used to determine the walking trajectory of the working component according to the initial position of the working component and the initial walking trajectory.

[0168] In one embodiment, the target parameter determination module includes:

[0169] a correction parameter determination submodule, used to determine, according to the relative position, a correction motion parameter of the first motion component in the second coordinate direction and a correction motion parameter of the second motion component in the second coordinate direction;

[0170] The parameter fusion submodule is used to fuse the initial motion parameters and the corrected motion parameters of the first motion component respectively to obtain the target motion parameters of the first motion component, and to fuse the initial motion parameters and the corrected motion parameters of the second motion component to obtain the target motion parameters of the second motion component.

[0171] In one embodiment, the parameter fusion submodule includes:

[0172] a parameter fusion unit, configured to fuse the initial motion parameters and the modified motion parameters of the first motion component to obtain first intermediate motion parameters of the first motion component, and to fuse the initial motion parameters and the modified motion parameters of the second motion component to obtain second intermediate motion parameters of the second motion component;

[0173] a simulated trajectory determining unit, configured to determine a simulated operation trajectory of the operation component according to the first intermediate motion parameter and the second intermediate motion parameter;

[0174] A target parameter determination unit is used to adjust the first intermediate motion parameter and the second intermediate motion parameter according to the difference between the simulated working trajectory of the working component and the working trajectory corresponding to the teaching content, until the difference meets the preset requirements, and use the motion parameters that meet the preset requirements as target motion parameters.

[0175] In one embodiment, the simulation trajectory determination unit includes:

[0176] a relative position determination subunit, configured to determine a simulated relative position of the first motion component and the second motion component according to an intermediate motion parameter of the first motion component and an intermediate motion parameter of the second motion component;

[0177] A simulated trajectory determination subunit, used to determine a simulated motion trajectory of the working component in a second coordinate direction according to the simulated relative position;

[0178] The simulated trajectory determination subunit is further used to determine the simulated motion trajectory of the working component in the first coordinate direction according to the intermediate motion parameters of the first motion component and the intermediate motion parameters of the second motion component;

[0179] The simulated trajectory determination subunit is further used to merge the simulated motion trajectory of the operating component in the first coordinate direction and the simulated motion trajectory in the second coordinate direction to obtain the simulated motion trajectory of the operating component.

[0180] Each module in the control device of the above-mentioned motion component can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0181] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store motion parameters and operation trajectories. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for a motion component is implemented.

[0182] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0183] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0184] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0185] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0186] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling a motion component, characterized in that: Applied to a control unit, the control unit is electrically connected to a teaching unit, the teaching unit includes a first motion component and a second motion component, the two motion components are movably connected to the working component through corresponding connecting rods, and the method includes: Obtain the operation trajectory corresponding to the preset teaching content; Determine a position trajectory of the working component in a first coordinate direction from the working trajectory, and determine initial motion parameters of the first motion component and initial motion parameters of the second motion component according to the position trajectory in the first coordinate direction; Determine a position trajectory of the working component in a second coordinate direction from the working trajectory, and determine the relative position of the first motion component and the second motion component according to the position trajectory in the second coordinate direction; Determining, according to the relative position, a corrected motion parameter of the first motion component in the first coordinate direction and a corrected motion parameter of the second motion component in the first coordinate direction; fusing the initial motion parameters and the modified motion parameters of the first motion component to obtain first target motion parameters of the first motion component, and fusing the initial motion parameters and the modified motion parameters of the second motion component to obtain second target motion parameters of the second motion component; The first motion component is controlled to move according to the first target motion parameter, and the second motion component is controlled to move according to the second target motion parameter.

2. The method according to claim 1, characterized in that Determining the position trajectory of the operating component in the first coordinate direction from the operating trajectory includes: Obtaining the initial position of the operation component; Determine the walking trajectory of the working component according to the initial position of the working component and the working trajectory; wherein the walking trajectory includes the working trajectory and the moving trajectory from the initial position to the working trajectory; The position trajectory of the working component in the first coordinate direction is determined from the walking trajectory.

3. The method according to claim 2, characterized in that The step of determining the walking trajectory of the operating component according to the initial position of the operating component and the operating trajectory comprises: Segmenting the operation trajectory to obtain multiple sub-operation trajectories; Determining an initial walking trajectory of the operating component according to the multiple sub-operation trajectories; The walking trajectory of the working component is determined according to the initial position of the working component and the initial walking trajectory.

4. The method according to claim 1, characterized in that: The steps of fusing the initial motion parameters and the modified motion parameters of the first motion component to obtain the target motion parameters of the first motion component, and fusing the initial motion parameters and the modified motion parameters of the second motion component to obtain the target motion parameters of the second motion component include: The initial motion parameters and the modified motion parameters of the first motion component are fused to obtain first intermediate motion parameters of the first motion component, and the initial motion parameters and the modified motion parameters of the second motion component are fused to obtain second intermediate motion parameters of the second motion component; determining a simulated operation trajectory of the operation component according to the first intermediate motion parameter and the second intermediate motion parameter; According to the difference between the simulated working trajectory of the working component and the working trajectory corresponding to the teaching content, the first intermediate motion parameter and the second intermediate motion parameter are adjusted until the difference meets the preset requirements, and the motion parameters that meet the preset requirements are used as target motion parameters.

5. The method according to claim 4, characterized in that The step of determining the simulated operation trajectory of the operation component according to the first intermediate motion parameter and the second intermediate motion parameter includes: Determining a simulated relative position of the first motion component and the second motion component according to an intermediate motion parameter of the first motion component and an intermediate motion parameter of the second motion component; Determining a simulated motion trajectory of the operating component in a second coordinate direction according to the simulated relative position; Determining a simulated motion trajectory of the working component in a first coordinate direction according to an intermediate motion parameter of the first motion component and an intermediate motion parameter of the second motion component; The simulated motion trajectory of the operating component in the first coordinate direction and the simulated motion trajectory in the second coordinate direction are combined to obtain the simulated motion trajectory of the operating component.

6. A control device for a motion component, characterized in that: Applied to a control unit, the control unit is electrically connected to a teaching unit, the teaching unit includes a first motion component and a second motion component, the two motion components are movably connected to the working component through corresponding connecting rods, and the device includes: A trajectory acquisition module is used to obtain the operation trajectory corresponding to the preset teaching content; An initial parameter determination module, used to determine a position trajectory of the working component in a first coordinate direction from the working trajectory, and determine an initial motion parameter of the first motion component and an initial motion parameter of the second motion component according to the position trajectory in the first coordinate direction; A relative position determination module, used to determine a position trajectory of the working component in a second coordinate direction from the working trajectory, and determine the relative position of the first motion component and the second motion component according to the position trajectory in the second coordinate direction; a target parameter determination module, configured to determine, according to the relative position, a corrected motion parameter of the first motion component in the first coordinate direction and a corrected motion parameter of the second motion component in the first coordinate direction; respectively fuse the initial motion parameter and the corrected motion parameter of the first motion component to obtain a first target motion parameter of the first motion component, and fuse the initial motion parameter and the corrected motion parameter of the second motion component to obtain a second target motion parameter of the second motion component; The component motion module is used to control the first motion component to move according to the first target motion parameter, and to control the second motion component to move according to the second target motion parameter.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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