Work trajectory generation method and device and computer equipment

Abstract

The invention relates to an operation track generation method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a motion parameter of the first motion assembly and a motion parameter of the second motion assembly; wherein the motion parameters comprise an initial speed curve and an initial position; according to the motion parameters of the first motion assembly and the motion parameters of the second motion assembly, determining the distance between the first motion assembly and the second motion assembly; according to the distance, the vertical distance between the machining assembly and the first movement assembly and the vertical distance between the machining assembly and the second movement assembly in the movement direction are determined; and the positions of the machining assemblies with the vertical distances meeting the preset value range are screened, and the operation tracks of the machining assemblies are obtained. By adopting the method, the accuracy of operation track generation can be improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a method, device, computer equipment, storage medium and computer program product for generating a work trajectory. Background Art

[0002] Automated operations require machines to move precisely along pre-set operation trajectories. Automated operations are widely used in fields such as precision manufacturing and electronic equipment assembly. Before performing automated operations, simulating the path is a crucial step. By simulating the path, potential interference, collisions, or inefficiencies can be identified and adjusted accordingly. This not only helps optimize the operation process, but also effectively reduces the risks in actual execution and ensures that the automated equipment can complete the task smoothly and efficiently. However, the existing operation trajectory generation methods are not accurate when processing complex paths, which affects the control accuracy of the machine, resulting in low product processing quality. Summary of the invention

[0003] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product for generating a work trajectory in response to the above-mentioned technical problems.

[0004] In a first aspect, the present application provides a method for generating a work trajectory. The method is applied to a control unit, the control unit is electrically connected to at least one processing unit; the processing unit includes a first motion component and a second motion component; the two motion components are respectively movably connected to the processing component through corresponding connecting rods; the method includes:

[0005] Acquire motion parameters of the first motion component and motion parameters of the second motion component; wherein the motion parameters include an initial velocity curve and an initial position;

[0006] determining a distance between the first motion component and the second motion component according to a motion parameter of the first motion component and a motion parameter of the second motion component;

[0007] According to the distance, the vertical distance from the processing component to the first moving component and the second moving component in the moving direction is determined; the positions of the processing components whose vertical distances meet the preset value range are screened to obtain the working trajectory of the processing component.

[0008] In one embodiment, obtaining the motion parameter of the first motion component and the motion parameter of the second motion component includes:

[0009] Acquire a standard operation trajectory of the processing component; wherein the standard operation trajectory includes a plurality of sub-trajectories; the plurality of sub-trajectories are obtained by segmenting the standard operation trajectory;

[0010] Determine the starting position and the ending position of each sub-track from the standard operation track;

[0011] Acquire an initial position of the first motion component and an initial position of the second motion component;

[0012] An initial velocity curve of the first motion component and an initial velocity curve of the second motion component are determined according to the starting position and the ending position of each sub-trajectory, and the initial position of the first motion component and the initial position of the second motion component.

[0013] In one embodiment, determining the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance includes:

[0014] Obtaining a distance threshold between the first moving component and the second moving component;

[0015] The vertical distance from the processing component to the first moving component and the second moving component in the moving direction is determined according to the distance threshold, the distance, and a preset conversion coefficient.

[0016] In one embodiment, the distance threshold includes a maximum threshold, and determining the vertical distance from the processing component to the first motion component and the second motion component in the motion direction according to the distance threshold, the distance, and a preset conversion coefficient includes:

[0017] Obtaining a minimum vertical distance of the processing component;

[0018] According to the preset conversion coefficient, the difference between the maximum threshold and the distance is compensated to the minimum vertical distance, so as to obtain the vertical distance from the processing component to the first moving component and the second moving component in the moving direction.

[0019] In one embodiment, the screening of the positions of the processing components whose vertical distances meet a preset value range to obtain the operation trajectory of the processing components includes:

[0020] Filter out the target time period whose vertical distance meets the preset value range;

[0021] The motion trajectory of the processing component within the target time period is recorded to obtain the operation trajectory of the processing component.

[0022] In one embodiment, after screening the positions of the processing components whose vertical distances meet the preset value range and obtaining the operation trajectory of the processing components, the process further includes:

[0023] According to the difference between the operating trajectory and the standard operating trajectory, the motion parameters of the first motion component and the motion parameters of the second motion component are adjusted until the difference meets the preset requirements, and the operating trajectory that meets the preset requirements is used as the target operating trajectory.

[0024] In the second aspect, the present application also provides a device for generating a work trajectory. Applied to a control unit, the control unit is electrically connected to at least one processing unit; the processing unit includes a first motion component and a second motion component; the two motion components are respectively movably connected to the processing component through corresponding connecting rods; the device includes:

[0025] A parameter acquisition module, used to acquire motion parameters of the first motion component and motion parameters of the second motion component; wherein the motion parameters include an initial velocity curve and an initial position;

[0026] a distance determination module, configured to determine the distance between the first motion component and the second motion component according to the motion parameter of the first motion component and the motion parameter of the second motion component;

[0027] The distance determination module is further used to determine the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance;

[0028] The trajectory generation module is used to screen the positions of the processing components whose vertical distances meet the preset value range to obtain the operation trajectory of the processing components.

[0029] In one embodiment, the parameter acquisition module includes:

[0030] A standard trajectory acquisition submodule, used to acquire a standard operation trajectory of the processing component; wherein the standard operation trajectory includes a plurality of sub-trajectories; the plurality of sub-trajectories are obtained by segmenting the standard operation trajectory;

[0031] A path point determination submodule, used to determine the starting position and the end position of each sub-track from the standard operation track;

[0032] An initial position acquisition submodule, used to acquire an initial position of the first motion component and an initial position of the second motion component;

[0033] The speed curve generating submodule is used to determine the initial speed curve of the first motion component and the initial speed curve of the second motion component according to the starting position and the ending position of each sub-trajectory, and the initial position of the first motion component and the initial position of the second motion component.

[0034] In one embodiment, the distance determination module includes:

[0035] A distance threshold acquisition submodule, used to acquire a distance threshold between the first motion component and the second motion component;

[0036] The vertical distance determination submodule is used to determine the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance threshold, the distance, and a preset conversion coefficient.

[0037] In one embodiment, the distance threshold comprises a maximum threshold, and the vertical distance determination submodule comprises:

[0038] A vertical distance determination unit, used to obtain the minimum vertical distance of the processing component;

[0039] The vertical distance determination unit is further used to compensate the difference between the maximum threshold and the distance to the minimum vertical distance according to the preset conversion coefficient, so as to obtain the vertical distance from the processing component to the first moving component and the second moving component in the moving direction.

[0040] In one embodiment, the trajectory generation component includes:

[0041] A time period screening submodule, used to screen out target time periods whose vertical distances meet a preset value range;

[0042] The trajectory generation submodule is used to record the motion trajectory of the processing component within the target time period to obtain the operation trajectory of the processing component.

[0043] In one embodiment, the device further comprises:

[0044] The target trajectory determination module is used to adjust the motion parameters of the first motion component and the motion parameters of the second motion component according to the difference between the operating trajectory and the standard operating trajectory until the difference meets the preset requirements, and the operating trajectory that meets the preset requirements is used as the target operating trajectory.

[0045] 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 method for generating a work trajectory as described in any one of the embodiments of the present disclosure is implemented.

[0046] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for generating a work trajectory as described in any one of the embodiments of the present disclosure is implemented.

[0047] 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 method for generating a work trajectory as described in any one of the embodiments of the present disclosure is implemented.

[0048] The above-mentioned method, device, computer equipment, storage medium and computer program product for generating the operation trajectory determine the distance between the two motion components and the vertical distance from the processing component to the first motion component and the second motion component in the motion direction through the motion parameters of the motion component, thereby screening out the processing component operation trajectory that meets the preset value range. By acquiring and analyzing the motion parameters of the first motion component and the second motion component, their position information can be accurately confirmed, providing an accurate basis for the generation of the subsequent processing component operation trajectory, and improving the accuracy of trajectory generation. At the same time, the distance between the motion components and their vertical positions to the first motion component and the second motion component in the motion direction are dynamically calculated, ensuring the accurate determination of the distance between the processing component and the processing object, providing a data basis for whether the processing component processes the processing object, and further improving the accuracy of the processing component operation trajectory generation. In addition, by screening the processing component position that meets the preset conditions, the moving path of the processing component on the processing object, that is, the operation trajectory, can be effectively obtained, thereby significantly improving the overall accuracy and precision of the processing component operation trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Schematic diagram of a flow chart of a method for generating a job trajectory in one embodiment;

[0050] Figure 2 A first application environment diagram of a method for generating a job trajectory in an embodiment;

[0051] Figure 3 A second application environment diagram of a method for generating a job trajectory in one embodiment;

[0052] Figure 4 A third application environment diagram of a method for generating a job trajectory in an embodiment;

[0053] Figure 5 A schematic diagram of a process for determining motion parameters in one embodiment;

[0054] Figure 6 A schematic diagram of a first process for determining a vertical distance in one embodiment;

[0055] Figure 7 A second schematic diagram of a process for determining a vertical distance in one embodiment;

[0056] Figure 8 A schematic diagram of a process of screening and obtaining a job track in an embodiment;

[0057] Fig. 9 A schematic diagram of a flow chart of a method for generating a job track in an embodiment;

[0058] Fig.10 is a structural block diagram of a device for generating a work trajectory in one embodiment;

[0059] Fig.11 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0060] 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.

[0061] In one embodiment, Figure 1 As shown, a method for generating a working trajectory is provided, which is applied to a control unit, wherein the control unit is electrically connected to at least one processing unit; the processing unit includes a first motion component and a second motion component; the two motion components are respectively movably connected to the processing component through corresponding connecting rods. In this embodiment, the method includes the following steps:

[0062] Step S100, obtaining motion parameters of the first motion component and motion parameters of the second motion component; wherein the motion parameters include an initial velocity curve and an initial position.

[0063] In an exemplary embodiment, the speed change curve may include the relationship between time and speed (the speed may change with time, etc.). It is understandable that when the speeds of two moving components are inconsistent, the distance between the two moving components will increase or decrease, thereby changing the distance between the processing component and the processing object, etc. Specifically, the method for generating the operation trajectory can be applied to Figure 2 and Figure 3 In the schematic diagram shown, there are two motion components 1, a processing component 2 and a processing object 3; Figure 2 For example, assuming that motion component 1 moves to the right, when the motion component on the left accelerates or the motion component on the right decelerates, the distance between the two motion components 1 will decrease, causing processing component 2 to rise; when the motion component on the left decelerates or the motion component on the right accelerates, the distance between the two motion components 1 will increase, causing processing component 2 to fall, and so on. Figure 3For example, assuming that the moving component 1 moves downward, when the upper moving component accelerates or the lower moving component decelerates, the distance between the two moving components 1 will become smaller, which will cause the processing component 2 to move to the right, so that the processing component 2 is closer to the processing object 3; when the upper moving component decelerates or the lower moving component accelerates, the distance between the two moving components will increase, which will cause the processing component 2 to move to the left, so that the processing component 2 is away from the processing object 3, and so on.

[0064] In an exemplary embodiment, the motion parameters may include, for example, using a standard operation trajectory to perform automated motion planning on the machine. Specifically, the motion trajectory of the processing component may be correspondingly planned using the standard operation trajectory, and the motion parameters of the motion component may be further planned.

[0065] Step S200: determining the distance between the first motion component and the second motion component according to the motion parameter of the first motion component and the motion parameter of the second motion component.

[0066] In an exemplary embodiment, the distance between the first moving component and the second moving component can be determined by determining the positions of the two moving components at corresponding times based on the initial positions and speed change curves of the first moving component and the second moving component, and then determining the distance between the first moving component and the second moving component.

[0067] Step S300: determining the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance.

[0068] In an exemplary embodiment, the movement direction of the first moving component and the second moving component may include the movement direction of the first moving component and the second moving component, and the moving straight line may be obtained by connecting the first moving component and the second moving component, etc., and determine the vertical distance between the processing component and the movement direction or the moving straight line, etc. In actual use, after determining the movement direction or the moving straight line, a vertical line from the processing component to the movement direction or the moving straight line may be established, and its length may be calculated to obtain the vertical distance from the processing component to the movement direction of the first moving component and the second moving component, etc.

[0069] In an exemplary embodiment, the vertical distance from the processing component to the first moving component and the second moving component in the moving direction can be obtained by the Pythagorean theorem, etc. Specifically, by obtaining the length of the connecting rod between the moving component and the processing component and the general distance between the moving components, the hypotenuse and one right-angled side of the right triangle can be obtained, and the other right-angled side, i.e., the vertical distance from the processing component to the first moving component and the second moving component in the moving direction, can be obtained.

[0070] Step S400, screening the positions of the processing components whose vertical distances meet a preset value range, and obtaining the operation trajectory of the processing components.

[0071] In an exemplary embodiment, the operation trajectory can be applied to Figure 4 The described scenario may specifically include: two moving components 1, a processing component 2, a processing object 3, and a straight line connecting the first moving component and the second moving component (the movement direction of the first moving component and the second moving component) 4; in the case of state 5, the distance between the two moving components is large, so the vertical distance between the straight line and the processing component is small, which does not meet the preset value range, and further makes the distance between the processing component 2 and the processing object 3 large, so the processing object is not processed; in the case of state 6, the distance between the two moving components is small, and the vertical distance between the straight line and the processing component is large, which meets the preset value range. At this time, the processing component is close to the processing object, and at this time, the processing component is processing the processing object, etc.

[0072] In an exemplary embodiment, the value range may include the distance between the processing component and the processing object, etc. Specifically, the distance between the processing object and the first moving component and the second moving component, as well as the vertical distance from the processing component to the first moving component and the second moving component in the moving direction can be used to obtain the difference to obtain the distance between the farthest point of the processing component (the farthest point of the processing component from the processing object) and the processing object; it can be understood that after obtaining the distance, the length of the processing component can also be removed (subtracted), that is, the distance between the closest point of the processing component (the closest point of the processing component from the processing object) and the processing object, etc. can be obtained.

[0073] In an exemplary embodiment, the screening of the positions of the processing components whose vertical distances meet the preset value range to obtain the working trajectory of the processing components may include: analyzing the motion parameters of the motion component to determine the path of the processing component in which the vertical distances from the processing component to the first motion component and the second motion component in the motion direction meet the preset value range when the motion component moves, and recording the trajectory of the processing component in this path, i.e., the working trajectory. In another exemplary embodiment, the vertical distances from the processing component to the first motion component and the second motion component in the motion direction may be ignored, the initial working trajectory of the processing component is recorded, and the motion parameters of the motion component are analyzed to screen out the trajectories that meet the preset value range from the initial working trajectory, thereby obtaining the working trajectory of the processing component, etc.

[0074] In the above-mentioned method for generating the operation trajectory, the distance between the two motion components and the vertical distance from the processing component to the first motion component and the second motion component in the motion direction are determined by the motion parameters of the motion component, so as to screen out the processing component operation trajectory that meets the preset value range. By obtaining and analyzing the motion parameters of the first motion component and the second motion component, their position information can be accurately confirmed, providing an accurate basis for the subsequent generation of the processing component operation trajectory, and improving the accuracy of trajectory generation. At the same time, the distance between the motion components and their vertical positions to the first motion component and the second motion component in the motion direction are dynamically calculated to ensure the accurate determination of the distance between the processing component and the processing object, providing a data basis for whether the processing component processes the processing object, and further improving the accuracy of the processing component operation trajectory generation. In addition, by screening the processing component position that meets the preset conditions, the moving path of the processing component on the processing object, that is, the operation trajectory, can be effectively obtained, thereby significantly improving the overall accuracy and precision of the processing component operation trajectory.

[0075] In one embodiment, Figure 5 As shown, the step of obtaining the motion parameters of the first motion component and the motion parameters of the second motion component includes:

[0076] Step S101, obtaining a standard operation trajectory of the processing component; wherein the standard operation trajectory includes a plurality of sub-trajectories; the plurality of sub-trajectories are obtained by segmenting the standard operation trajectory.

[0077] In an exemplary embodiment, the standard operation trajectory may include the expected operation trajectory of the processing component, etc. Specifically, the automated machine can be used for high-precision electronic equipment manufacturing, semiconductor manufacturing, and surface treatment processes such as spraying, welding and cutting; when using the machine for automated operations, it is necessary to simulate the trajectory of the machine operation in advance. For example, when placing and welding components on a PCB (printed circuit board), it is necessary to move accurately along a pre-set trajectory to ensure that each is properly aligned and fixed with the case, etc.; the pre-set trajectory here is the standard operation trajectory, etc.; when using the machine for automated processes such as lithography, etching and deposition, it is also necessary to move along a precise trajectory to create tiny circuit patterns on silicon wafers, etc.; when using the machine for automated surface treatment processes such as spraying, welding and cutting, high-precision path control is also required to ensure surface quality and process effects, etc.

[0078] In an exemplary embodiment, the processing object may include components that need to be processed by the processing component, such as PCB (printed circuit board), silicon wafer, etc. The sub-track may include welding tracks corresponding to different components when different components are welded on the same PCB; different circuit patterns are lithographically processed during the photolithography process, etc. It is understandable that when multiple sub-tracks are required and the sub-tracks are not connected, after passing through a sub-track, the processing component needs to be moved away from the processing object and further moved to the starting point of the next sub-track, etc.

[0079] Step S102, determining the starting position and the ending position of each sub-track from the standard operation track.

[0080] In an exemplary embodiment, the starting point position and the end point position of the sub-trajectory can be obtained by manual definition, etc.; it can be understood that the starting point of the sub-trajectory may include a path point where the processing component needs to be close to the processing object and processed; the end point of the sub-trajectory may include a path point where the processing component needs to be away from the processing object and moved to the next sub-trajectory, etc.

[0081] In an exemplary embodiment, a high-resolution path point generation algorithm may be used to generate path points and paths, etc. Specifically, a Besch-Alt curve or spline interpolation may be used to create a fine and smooth path, etc.

[0082] Step S103, obtaining an initial position of the first motion component and an initial position of the second motion component.

[0083] Step S104, determining an initial velocity curve of the first motion component and an initial velocity curve of the second motion component according to the starting position and the ending position of each sub-trajectory, and the initial position of the first motion component and the initial position of the second motion component.

[0084] In an exemplary embodiment, the initial speed curves of the first moving component and the second moving component can be determined by the initial positions of the first moving component and the second moving component and each path point (starting position and end position). Specifically, the motion identification of the processing component at the path point (needing to move away from the processing object or approach the processing object) can be determined based on the position information of the path point. When it is not necessary to approach or move away from the processing object, a moving speed can be preset. When it is necessary to move away from the processing object or approach the processing object, the distance between the two moving components can be changed by changing the movement speed of the two moving components, thereby changing the distance between the processing component and the processing object, etc. Figure 2As shown, there are two motion components 1, processing component 2 and processing object 3; assuming that it is currently in a stationary state and the motion component as a whole starts to move to the right, it is necessary to accelerate the left and right motion components at the same time, accelerate to a preset speed threshold and then move smoothly. When the processing component needs to approach the processing object, the motion component on the left is accelerated, accelerated for a distance and then decelerated, and then decelerated to the speed threshold and continued to move smoothly. It can be understood that in the process of accelerating and decelerating the left motion component, the speed of the left motion component is always greater than that of the right motion component, so the distance between the two motion components is reduced, and the processing component is further approached to the processing object. The specific speed change speed (the magnitude of the acceleration) can be determined by the time of approaching the processing object and the distance of approaching; when the processing component needs to be away from the processing object, the motion component on the right is accelerated, decelerated after a distance, and then decelerated to the speed threshold and continued to move smoothly. It can be understood that in the process of accelerating and decelerating the right motion component, the speed of the right motion component is always greater than that of the left motion component, so that the distance between the two motion components becomes larger, and the processing component is further away from the processing object. The specific speed change speed can be determined by the time of approaching the processing object and the safety distance of the distance. Specifically, in the actual planning process, a preset steady moving speed can be used, and the time required to approach and move away from the processing object can be determined. The acceleration can be determined according to the time required to approach and move away from the object, and then the speed of the moving component when the processing component approaches the processing object can be determined, and finally the speed of the moving component can be obtained. In another exemplary embodiment, the distance between the moving components can be increased or decreased by first decelerating the moving component and then accelerating it, so as to achieve the processing component approaching or moving away from the processing object.

[0085] It can be understood that the speed change curve of the motion component may include starting from 0, first accelerating to a preset threshold value, and when the processing component needs to approach the processing object, accelerating and then decelerating the rear motion component (in the opposite direction of the motion component's movement) to complete the approach and maintain the speed to the preset threshold value to continue moving; when the processing component needs to move away from the processing object, accelerating and then decelerating the front motion component (in the positive direction of the motion component's movement) to complete the distance and maintain the speed to the preset threshold value to continue moving, etc.

[0086] In this embodiment, by obtaining the standard operation trajectory, determining the starting position and end position of each sub-trajectory in the standard operation trajectory, and using the obtained starting position and end position and the initial position of the motion component, the initial speed curve of the motion component is determined. By analyzing the starting and end points of multiple trajectories, the speed planning is made more precise and the accuracy of the speed curve is improved; by analyzing different sub-trajectories, the motion component and the processing component can adapt to complex processing requirements, improve the flexibility and adaptability of the processing unit, and improve the accuracy of the generated speed curve.

[0087] In one embodiment, Figure 6 As shown, determining the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance includes:

[0088] Step S301, obtaining a distance threshold between the first motion component and the second motion component.

[0089] In an exemplary embodiment, the distance threshold between the first moving component and the second moving component may include a maximum value and a minimum value of the distance between the moving components.

[0090] Step S302: determining the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance threshold, the distance, and a preset conversion coefficient.

[0091] In an exemplary embodiment, the distance between the first moving component and the second moving component can be subtracted from the minimum distance, and the vertical distance from the processing component to the first moving component and the second moving component in the moving direction can be obtained using the conversion coefficient. Specifically, the vertical distance from the processing component to the first moving component and the second moving component in the moving direction can be obtained using the following formula (1):

[0092] (1)

[0093] Among them, htarget represents the vertical distance from the processing component to the first moving component and the second moving component in the moving direction; hmin represents the minimum vertical distance of the processing component (that is, the vertical distance between the first moving component and the second moving component of the processing component in the moving direction when the distance between the two moving components reaches the maximum value); |xM1-xM2| represents the distance between the two moving components; Kh represents the preset conversion coefficient; dmin represents the minimum value of the distance between the first moving component and the second moving component, etc.

[0094] In this embodiment, the vertical distance from the processing component to the first and second moving components in the moving direction is determined by the distance threshold, distance and conversion coefficient between the first and second moving components. The distance between the two components can be converted into the vertical distance from the processing component to the first and second moving components in the moving direction by the conversion threshold, which provides a data basis for the determination of the vertical distance, improves the accuracy of the distance between the processing component and the processing object, and further improves the accuracy of the processing component operation trajectory generation.

[0095] In one embodiment, Figure 7 As shown, the distance threshold includes a maximum threshold, and determining the vertical distance from the processing component to the first motion component and the second motion component in the motion direction according to the distance threshold, the distance, and a preset conversion coefficient includes:

[0096] Step S311, obtaining the minimum vertical distance of the processing component.

[0097] In an exemplary embodiment, the minimum vertical distance may include the vertical distance from the corresponding processing component to the first moving component and the second moving component in the moving direction when the distance between the two moving components is the largest.

[0098] Step S312: Compensate the difference between the maximum threshold and the distance to the minimum vertical distance according to the preset conversion coefficient, and obtain the vertical distance from the processing component to the first moving component and the second moving component in the moving direction.

[0099] In an exemplary embodiment, the vertical distance from the processing component to the first moving component and the second moving component in the moving direction can be obtained by the following formula (2):

[0100] (2)

[0101] Among them, htarget represents the vertical distance from the processing component to the first moving component and the second moving component in the moving direction; hmin represents the minimum vertical distance of the processing component; Kh represents the preset conversion coefficient; dmax represents the maximum distance threshold of the two moving components; |xM1-xM2| represents the distance between the two moving components, etc.

[0102] In this embodiment, by using a preset conversion coefficient, the difference between the maximum threshold and the distance is compensated to the minimum vertical distance, and the vertical distance from the processing component to the first moving component and the second moving component in the moving direction is obtained. The distance between the moving components can be converted into the vertical distance from the processing component to the first moving component and the second moving component in the moving direction through the conversion coefficient, which provides a data basis for the confirmation of the vertical distance, improves the accuracy of the distance between the processing component and the processing object, and improves the accuracy of the processing component operation trajectory.

[0103] In one embodiment, Figure 8 As shown, the screening of the positions of the processing components whose vertical distances meet the preset value range to obtain the operation trajectory of the processing components includes:

[0104] Step S401, screening out target time periods whose vertical distances meet a preset value range.

[0105] In an exemplary embodiment, the distance change curve of the two moving components can be determined based on the speed change curve and the initial position of the two moving components, and the vertical distance change curve from the processing component to the first moving component and the second moving component in the moving direction can be determined based on the distance change curve, and the target time period that meets the preset value range can be further screened out.

[0106] Step S402, recording the motion trajectory of the processing component within the target time period to obtain the operation trajectory of the processing component.

[0107] In an exemplary embodiment, after determining the target time period, it is only necessary to record the motion trajectory of the processing component within the target time period to obtain the operation trajectory of the processing component. The target time period may include a time period when the processing component is close to the processing object. It can be understood that the processing component is close to the processing object, that is, the processing component processes the processing object, and the path taken is the operation trajectory.

[0108] In this embodiment, by screening out the target time period whose vertical distance meets the preset value range, the motion trajectory of the processing component in the target time period is recorded, which is the trajectory of the processing component. By determining the operation time period of the processing component, a data basis is provided for the generation of the operation trajectory of the processing component. By recording the motion path of the processing component in the operation time period, the operation trajectory of the processing component is obtained, which avoids the recording of all the motion trajectories of the processing component, reduces the pressure of the operation trajectory generation system, and improves the accuracy of the operation trajectory generation.

[0109] In one embodiment, after screening the positions of the processing components whose vertical distances meet the preset value range and obtaining the operation trajectory of the processing components, the method further includes:

[0110] According to the difference between the operating trajectory and the standard operating trajectory, the motion parameters of the first motion component and the motion parameters of the second motion component are adjusted until the difference meets the preset requirements, and the operating trajectory that meets the preset requirements is used as the target operating trajectory.

[0111] In an exemplary embodiment, the difference between the initial operating trajectory and the standard operating trajectory may include the difference in operating trajectories, the difference in operating depths, etc.; wherein, the difference in the target operating trajectory may include the difference in trajectory paths between the initial operating trajectory and the standard operating trajectory, etc.; the difference in the target operating depth may include the depth of the target operating trajectory not reaching the target depth, for example, when cutting an element, the element is not cut completely because the depth does not reach the target depth, etc.

[0112] In an exemplary embodiment, adjusting the motion parameters may include adjusting the motion parameters so that the working trajectory is the same as the estimated path of the standard working trajectory, adjusting the distance between the two motion components by adjusting the motion parameters, and further controlling the distance between the processing component and the processing object so that the processing depth meets the target depth, etc.

[0113] In an exemplary embodiment, the preset requirements may include that the similarity between the operation trajectory and the standard operation trajectory reaches a preset threshold, etc.; for example, when cutting some components, 99% of the work is completed and no machine is required for cutting, and non-destructive cutting can be completed manually, then it is determined that the operation trajectory meets the preset requirements, etc.

[0114] In an exemplary embodiment, according to the difference between the working trajectory and the standard working trajectory, adjusting the motion parameters may include: position and speed error calculation, synchronization error calculation, control machine design, control of the vertical distance from the processing component to the first motion component and the second motion component in the motion direction, and control signal calculation. Specifically, the position and speed error calculation may be obtained as follows:

[0115] (3)

[0116] (4)

[0117] Wherein, eM1 represents the position error of the first moving component; xtarget represents the target position of the processing component; xM1 represents the current position of the first moving component; evM1 represents the speed error of the first moving component; vtarget represents the target speed of the processing component; vM1 represents the current speed of the first moving component; eM2 represents the position error of the second moving component; xM2 represents the current position of the second moving component; evM2 represents the speed error of the second moving component; vM2 represents the current speed of the second moving component;

[0118] The synchronization error can be calculated by the following equations (5) and (6):

[0119] (5)

[0120] (6)

[0121] Among them, esync represents the position synchronization error of the two moving components; xM1 represents the current position of the first moving component; xM2 represents the current position of the second moving component; evsync represents the speed synchronization error of the two moving components; vM1 represents the current speed of the first moving component; vM2 represents the current speed of the second moving component;

[0122] The controller design can be obtained by the following equations (7) and (8):

[0123] (7)

[0124] (8)

[0125] Among them, uM1 represents the control signal of the first motion component; eM1 represents the position error of the first motion component; evM1 represents the speed error of the first motion component; esync represents the position synchronization error of the two motion components; evync represents the speed synchronization error of the two motion components; uM2 represents the control signal of the second motion component; eM2 represents the position error of the second motion component; evM2 represents the speed error of the second motion component; Kp1, Kd1, Ksync1, Kvsync1 are the control gains of the first motion component; Kp2, Kd2, Ksync2, Kvsync2 are the control gains of the second motion component;

[0126] The control of the vertical distance from the machining component to the first moving component and the second moving component in the moving direction can be obtained by the following formula (9):

[0127] (9)

[0128] Wherein, htarget represents the vertical distance from the processing component to the first moving component and the second moving component in the moving direction; hmin represents the minimum vertical distance of the processing component; Kh represents the height gain coefficient; dmax represents the maximum allowable distance between the two moving components; |xM1-xm2| represents the distance between the two moving components;

[0129] The control signal calculation can be obtained by the following equations (10) and (11):

[0130] (10)

[0131] (11)

[0132] Among them, uM1 represents the control signal of the first motion component; xtarget represents the target position of the processing component; xM1 represents the current position of the first motion component; vtarget represents the target speed of the processing component; vM1 represents the current speed of the first motion component; uM2 represents the control signal of the second motion component; xM2 represents the current position of the second motion component; vM2 represents the current speed of the second motion component; Kp1, Kd1, Ksync1, Kvsync1 are the control gains of the first motion component; Kp2, Kd2, Ksync2, Kvsync2 are the control gains of the second motion component; specifically, the first motion component and the second motion component adjust the movement according to the control signals uM1 and uM2 respectively; specifically, it can be understood that the error between the current position and the target position, as well as the error between the actual speed and the target speed can be calculated in real time, and the compensation control signal can be generated by the controller, so that the controller parameters, Kp1, Kd1, Kp2, Kd2, etc. can be dynamically adjusted, and the controller parameters Kp1, Kd1, Kp2, Kd2, etc. can be updated according to the real-time error.

[0133] In this embodiment, the motion parameters are adjusted according to the difference between the operation trajectory and the standard operation trajectory to obtain a target operation trajectory that meets the preset requirements. By adjusting the motion parameters, the operation trajectory is made more consistent with the preset requirements, thereby improving the accuracy of the operation trajectory.

[0134] In an exemplary embodiment, the method for generating the operation trajectory can be as follows: Fig. 9 The flowchart shown is implemented, specifically including:

[0135] Step S901, path point planning; specifically, it may include obtaining a standard operation trajectory, and defining path points (starting point and end point of a sub-trajectory) and their corresponding actions (may include processing or movement, specifically, it can be understood that the starting point of a sub-trajectory is processing, and the end point is movement, etc.) for the standard operation trajectory. A high-resolution path point generation algorithm (such as Bezier curve or spline interpolation, etc.) may be used to create a fine and smooth path, etc.;

[0136] Step S902, velocity planning of the motion component: obtaining the current position of the motion component and the obtained path points, and confirming the initial velocity curve of the motion component. Specifically, it may include using the initial position of the motion component, the path points, the preset steady velocity (i.e., the velocity when not approaching or not far from the moving object), and the time required for the processing component to approach or far from the processing object, to determine the initial velocity change curve of the motion component, etc.;

[0137] Step S903, calculating the distance between the processing component and the processing object; according to the initial position and speed change curve of the motion component, the position change curve of the motion component can be determined, according to the position change curve of the motion component, the distance change curve between the two motion components can be determined, according to the distance change curve, the distance between the processing component and the processing object can be determined, etc.;

[0138] Step S904, confirming the operation status of the processing component; determining the operation status of the processing component according to the distance between the processing component and the processing object; specifically, the operation status may include processing or moving, etc.; specifically, the processing distance and the safety distance may be set, and when the distance between the processing component and the processing object reaches the processing distance, it is determined that the processing component and the processing object are close, and at this time, the processing component processes the processing object; when the distance between the processing component and the processing object is greater than the safety distance, it is determined that the processing component and the processing object are at a safety distance, and at this time, the processing component does not process the processing object, and the processing component may be moved, and the safety distance may not be equal to the processing distance, for example, when welding, the distance during welding is not the same as the safety distance, etc.;

[0139] Step S905, simulate motion execution; determine the operation trajectory of the processing component by using the operation status and motion path of the processing component; specifically, the time period when the processing component is operating can be determined by the operation status, and the motion path of the processing component in the time period can be recorded, that is, the operation trajectory, etc.;

[0140] Step S906, feedback control and error correction; the monitored operation trajectory is compared with the standard operation trajectory, and the speed change curve of the motion component is corrected according to the difference between the operation trajectory and the standard operation trajectory to ensure that the processing component maintains the accuracy and stability of the processing trajectory during the processing.

[0141] 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.

[0142] Based on the same inventive concept, the embodiment of the present application also provides a device for generating a work trajectory for implementing the method for generating a work trajectory 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 embodiments of one or more work trajectory generation devices provided below can refer to the limitations of the work trajectory generation method above, and will not be repeated here.

[0143] In one embodiment, Fig.10 As shown, a device 100 for generating a working trajectory is provided, which is applied to a control unit, wherein the control unit is electrically connected to at least one processing unit; the processing unit includes a first motion component and a second motion component; the two motion components are movably connected to the processing component through corresponding connecting rods; the device includes: a parameter acquisition module 101, a distance determination module 102 and a trajectory generation module 103, wherein:

[0144] A parameter acquisition module, used to acquire motion parameters of the first motion component and motion parameters of the second motion component; wherein the motion parameters include an initial velocity curve and an initial position;

[0145] a distance determination module, configured to determine the distance between the first motion component and the second motion component according to the motion parameter of the first motion component and the motion parameter of the second motion component;

[0146] The distance determination module is further used to determine the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance;

[0147] The trajectory generation module is used to screen the positions of the processing components whose vertical distances meet the preset value range to obtain the operation trajectory of the processing components.

[0148] In one embodiment, the parameter acquisition module includes:

[0149] A standard trajectory acquisition submodule, used to acquire a standard operation trajectory of the processing component; wherein the standard operation trajectory includes a plurality of sub-trajectories; the plurality of sub-trajectories are obtained by segmenting the standard operation trajectory;

[0150] A path point determination submodule, used to determine the starting position and the end position of each sub-track from the standard operation track;

[0151] An initial position acquisition submodule, used to acquire an initial position of the first motion component and an initial position of the second motion component;

[0152] The speed curve generating submodule is used to determine the initial speed curve of the first motion component and the initial speed curve of the second motion component according to the starting position and the ending position of each sub-trajectory, and the initial position of the first motion component and the initial position of the second motion component.

[0153] In one embodiment, the distance determination module includes:

[0154] A distance threshold acquisition submodule, used to acquire a distance threshold between the first motion component and the second motion component;

[0155] The vertical distance determination submodule is used to determine the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance threshold, the distance, and a preset conversion coefficient.

[0156] In one embodiment, the distance threshold comprises a maximum threshold, and the vertical distance determination submodule comprises:

[0157] A vertical distance determination unit, used to obtain the minimum vertical distance of the processing component;

[0158] The vertical distance determination unit is further used to compensate the difference between the maximum threshold and the distance to the minimum vertical distance according to the preset conversion coefficient, so as to obtain the vertical distance from the processing component to the first moving component and the second moving component in the moving direction.

[0159] In one embodiment, the trajectory generation component includes:

[0160] A time period screening submodule, used to screen out target time periods whose vertical distances meet a preset value range;

[0161] The trajectory generation submodule is used to record the motion trajectory of the processing component within the target time period to obtain the operation trajectory of the processing component.

[0162] In one embodiment, the device further comprises:

[0163] The target trajectory determination module is used to adjust the motion parameters of the first motion component and the motion parameters of the second motion component according to the difference between the operating trajectory and the standard operating trajectory until the difference meets the preset requirements, and the operating trajectory that meets the preset requirements is used as the target operating trajectory.

[0164] Each module in the above-mentioned operation trajectory generation device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0165] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.11 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are 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 and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for generating a job trajectory is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0166] Those skilled in the art will understand that Fig.11 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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 generating a work trajectory, characterized in that: Applied to a control unit, the control unit is electrically connected to at least one processing unit; the processing unit includes a first motion component and a second motion component; the two motion components are movably connected to the processing component through corresponding connecting rods respectively; the method includes: Acquire motion parameters of the first motion component and motion parameters of the second motion component; wherein the motion parameters include an initial velocity curve and an initial position; determining a distance between the first motion component and the second motion component according to a motion parameter of the first motion component and a motion parameter of the second motion component; Determine, based on the distance, a vertical distance from the processing assembly to the first moving assembly and the second moving assembly in a moving direction; The positions of the processing components whose vertical distances meet a preset value range are screened to obtain the operation trajectory of the processing components.

2. The method according to claim 1, characterized in that The acquiring the motion parameter of the first motion component and the motion parameter of the second motion component includes: Acquire a standard operation trajectory of the processing component; wherein the standard operation trajectory includes a plurality of sub-trajectories; the plurality of sub-trajectories are obtained by segmenting the standard operation trajectory; Determine the starting position and the ending position of each sub-track from the standard operation track; Acquire an initial position of the first motion component and an initial position of the second motion component; An initial velocity curve of the first motion component and an initial velocity curve of the second motion component are determined according to the starting position and the ending position of each sub-trajectory, and the initial position of the first motion component and the initial position of the second motion component.

3. The method according to claim 1, characterized in that Determining the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance includes: Obtaining a distance threshold between the first moving component and the second moving component; The vertical distance from the processing component to the first moving component and the second moving component in the moving direction is determined according to the distance threshold, the distance, and a preset conversion coefficient.

4. The method according to claim 3, characterized in that The distance threshold includes a maximum threshold, and determining the vertical distance from the processing component to the first motion component and the second motion component in the motion direction according to the distance threshold, the distance, and a preset conversion coefficient includes: Obtaining a minimum vertical distance of the processing component; According to the preset conversion coefficient, the difference between the maximum threshold and the distance is compensated to the minimum vertical distance, so as to obtain the vertical distance from the processing component to the first moving component and the second moving component in the moving direction.

5. The method according to claim 1, characterized in that The screening of the positions of the processing components whose vertical distances meet the preset value range to obtain the operation trajectory of the processing components includes: Filter out the target time period whose vertical distance meets the preset value range; The motion trajectory of the processing component within the target time period is recorded to obtain the operation trajectory of the processing component.

6. The method according to claim 1, characterized in that After screening the positions of the processing components whose vertical distances meet the preset value range and obtaining the operation trajectory of the processing components, the method further includes: According to the difference between the operating trajectory and the standard operating trajectory, the motion parameters of the first motion component and the motion parameters of the second motion component are adjusted until the difference meets the preset requirements, and the operating trajectory that meets the preset requirements is used as the target operating trajectory.

7. A device for generating an operation trajectory, characterized in that: Applied to a control unit, the control unit is electrically connected to at least one processing unit; the processing unit includes a first motion component and a second motion component; the two motion components are movably connected to the processing component through corresponding connecting rods; the device includes: A parameter acquisition module, used to acquire motion parameters of the first motion component and motion parameters of the second motion component; wherein the motion parameters include an initial velocity curve and an initial position; a distance determination module, configured to determine the distance between the first motion component and the second motion component according to the motion parameter of the first motion component and the motion parameter of the second motion component; The distance determination module is further used to determine the vertical distance from the processing component to the first moving component and the second moving component in the moving direction according to the distance; The trajectory generation module is used to screen the positions of the processing components whose vertical distances meet the preset value range to obtain the operation trajectory of the processing components.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. 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 6 are implemented.

10. 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 6 are implemented.

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