Reverse control method and device for movement mechanism

Abstract

The embodiment of the invention provides a motion mechanism reverse control method and device, and the method comprises the steps: obtaining a forward path signal of a motion mechanism, carrying out the copying operation of the forward path signal according to a preset copying function, and determining a corresponding copied forward path signal; acquiring a path sequence list in the copied forward path signal, and performing a reverse sorting operation on the path sequence list according to a preset inversion function to determine a corresponding inversion path signal; performing mapping operation on an operation signal in the reverse path signal, and determining a corresponding reverse path signal; and performing verification operation on the reverse path signal according to a preset tracing point position list verification algorithm and a preset operation instruction analysis rule, determining a corresponding safe reverse path signal, and outputting the safe reverse path signal to a control end to perform reverse control operation of the motion mechanism. The automation and efficiency of reverse control of the movement mechanism can be improved.

Description

Technical Field

[0001] The present application relates to the field of data processing, and in particular to a method and device for reverse control of a motion mechanism. Background Art

[0002] Motion mechanism refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. One of the representatives is the robotic arm, which is widely used in industrial assembly, safety and explosion-proof fields due to its unique operational flexibility. In the industrial field, it is used to move body parts, handle concrete products, lift hazardous chemicals, and move heavy casting buckets.

[0003] The control of the motion mechanism robot arm is mainly carried out through PLC signals. PLC (Programmable Logic Controller) is one of the indispensable controllers in industrial production. It has the characteristics of high versatility and good stability. Therefore, in order to achieve the efficiency of the motion mechanism robot arm control, many methods of controlling PLC have been generated. Among them, one way to control PLC is to connect the PLC through programming software and the PLC, manually set the path and action of the motion mechanism robot arm in the programming software, and then the programming software will send the instruction to the PLC. The PLC receives the instruction and converts it into a PLC signal for controlling the motion mechanism robot arm to work according to the path and action defined by the programming software. This method reduces the difficulty of controlling the motion mechanism robot arm.

[0004] However, the above technical solution faces a problem. In the actual use of the motion mechanism robot, when encountering a scene where the robot needs to be used in a circular manner, it is often necessary to define it twice in the programming software. That is to say, to move the goods from point A to point B, it is necessary to define its path and action, and to return to move the goods from point B to point A, even if it is the same path and action, it takes time to define it again, which wastes a lot of manpower costs and cannot meet the requirements of high efficiency of reverse control of the robot. Summary of the invention

[0005] In view of the problems in the prior art, the present application provides a motion mechanism reverse control method and device, which can improve the automation and efficiency of the motion mechanism reverse control.

[0006] In order to solve at least one of the above problems, the present application provides the following technical solutions:

[0007] In a first aspect, the present application provides a motion mechanism reverse control method, comprising:

[0008] Acquire a forward path signal of the motion mechanism, wherein the forward path signal includes a point-delineating signal and an operation signal, the point-delineating signal is used to define a travel path of the motion mechanism, and the operation signal is used to define an action of the motion mechanism on the travel path;

[0009] Perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine the corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine the corresponding reverse path signal; perform a sequential traversal operation on the reverse path signal to determine the corresponding operation signal in the reverse path signal, perform a mapping operation on the operation signal in the reverse path signal according to a preset operation signal mapping library, and determine the corresponding reverse path signal;

[0010] The reverse path signal is verified according to the preset point list verification algorithm and the preset operation instruction parsing rules, the corresponding safe reverse path signal is determined, and the safe reverse path signal is output to the control end to perform reverse control operation of the motion mechanism.

[0011] Furthermore, before acquiring the forward path signal of the motion mechanism, the method further comprises:

[0012] Performing a tracing point position signal definition operation according to the working scene of the motion mechanism to determine a corresponding tracing point position signal, wherein the tracing point position signal includes at least one of an origin, a safety point, a target point, and a departure point;

[0013] Performing an operation signal definition operation according to the working scene of the motion mechanism to determine a corresponding operation signal, wherein the tracing point position signal is a trigger condition of the operation signal;

[0014] A corresponding forward path signal of the motion mechanism is determined according to the tracing point position signal and the operation signal.

[0015] Further, before performing a mapping operation on the inversion path signal according to a preset operation signal mapping library and a preset mapping rule to determine a corresponding reverse path signal, the method includes:

[0016] Acquire historical operation signal information related to the business, perform model training on a preset decision tree model according to the historical operation signal information, and determine an operation signal mapping result output by the corresponding decision tree model;

[0017] A mapping library construction operation is performed according to the operation signal mapping result to determine a corresponding operation signal mapping library.

[0018] Furthermore, the performing model training on a preset decision tree model according to the historical operation signal information to determine the operation signal mapping result output by the corresponding decision tree model includes:

[0019] Performing data preprocessing operations on the historical operation signal information according to preset data preprocessing rules to determine corresponding operation signal preprocessing data, wherein the preset data preprocessing rules include at least one of data cleaning, formatting, normalization, and missing value processing;

[0020] Model training is performed on a preset decision tree model according to the operation signal preprocessing data to determine an operation signal mapping result output by the corresponding decision tree model.

[0021] Furthermore, the performing model training on a preset decision tree model according to the operation signal preprocessing data to determine the operation signal mapping result output by the corresponding decision tree model includes:

[0022] Performing feature extraction operation on the operation signal preprocessing data according to preset feature extraction rules to determine corresponding operation signal mapping relationship features;

[0023] Model training is performed on a preset decision tree model according to the operation signal mapping relationship characteristics to determine an operation signal mapping result output by the corresponding decision tree model.

[0024] Further, the verification operation is performed on the reverse path signal according to the preset trace point list verification algorithm and the preset operation instruction parsing rule to determine the corresponding safe reverse path signal, including:

[0025] Performing a verification operation on the trace point signal in the reverse path signal according to a preset trace point list verification algorithm to determine the corresponding safe trace point position;

[0026] Performing a verification operation on the operation signal in the reverse path signal according to a preset operation instruction parsing rule to determine a corresponding safe operation;

[0027] A corresponding safety reverse path signal is determined according to the safety delineation point and the safety operation.

[0028] In a second aspect, the present application provides a motion mechanism reverse control device, comprising:

[0029] A forward path signal acquisition module, used to acquire a forward path signal of the motion mechanism, wherein the forward path signal includes a point-delineating position signal and an operation signal, the point-delineating position signal is used to define a travel path of the motion mechanism, and the operation signal is used to define an action of the motion mechanism on the travel path;

[0030] A reverse path signal generation module is used to perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine a corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine a corresponding reverse path signal; perform a sequential traversal operation on the reverse path signal to determine a corresponding operation signal in the reverse path signal, perform a mapping operation on the operation signal in the reverse path signal according to a preset operation signal mapping library, and determine a corresponding reverse path signal;

[0031] The reverse path signal verification module is used to verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform reverse control operation of the motion mechanism.

[0032] Furthermore, the reverse path signal verification module includes:

[0033] A safe tracing point confirmation unit, used to verify the tracing point signal in the reverse path signal according to a preset tracing point list verification algorithm to determine the corresponding safe tracing point;

[0034] A safety operation confirmation unit, used to verify the operation signal in the reverse path signal according to a preset operation instruction parsing rule to determine the corresponding safety operation;

[0035] A safety reverse path signal confirmation unit is used to determine a corresponding safety reverse path signal according to the safety trace point position and the safety operation.

[0036] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the motion mechanism reverse control method when executing the program.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the motion mechanism reverse control method.

[0038] In a fifth aspect, the present application provides a computer program product, including a computer program / instruction, which implements the steps of the motion mechanism reverse control method when executed by a processor.

[0039] It can be seen from the above technical scheme that the present application provides a method and device for reverse control of a motion mechanism, which obtains a forward path signal of the motion mechanism, copies the forward path signal according to a preset copy function, and determines the corresponding copied forward path signal; obtains a path sequence list in the copied forward path signal, reversely sorts the path sequence list according to a preset inversion function, and determines the corresponding reverse path signal; maps the operation signal in the reverse path signal to determine the corresponding reverse path signal; verifies the reverse path signal according to a preset point list verification algorithm and a preset operation instruction parsing rule to determine the corresponding safe reverse path signal, and outputs the safe reverse path signal to the control end to perform reverse control operation of the motion mechanism, thereby improving the automation and efficiency of reverse control of the motion mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 This is one of the flow charts of the robot arm reverse control method in the embodiment of the present application;

[0042] Figure 2 The second flowchart of the method for reverse control of a robotic arm in an embodiment of the present application;

[0043] Figure 3 The third flowchart of the method for reverse control of a robotic arm in an embodiment of the present application;

[0044] Figure 4 This is a fourth flow chart of the reverse control method of the robot arm in the embodiment of the present application;

[0045] Figure 5 FIG5 is a flowchart of a reverse control method for a robotic arm in an embodiment of the present application;

[0046] Figure 6 This is a sixth flow chart of the robot arm reverse control method in the embodiment of the present application;

[0047] Figure 7 This is one of the structural diagrams of the robot arm reverse control device in the embodiment of the present application;

[0048] Figure 8 This is the second structural diagram of the robot arm reverse control device in the embodiment of the present application;

[0049] Fig. 9 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application.

[0050] Reference numerals:

[0051] Electronic device 9600, central processing unit 9100, memory 9140, communication module 9110, input unit 9120, audio processor 9130, display 9160, power supply 9170, buffer memory 9141, application / function storage unit 9142, data storage unit 9143, driver program storage unit 9144, antenna 9111, speaker 9131, microphone 9132. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0054] Considering that in the actual use of the robot arm, when encountering a scenario where the robot arm needs to be used in a circuit, it is often necessary to define it twice on the programming software, wasting a lot of manpower costs. The present application provides a robot arm reverse control method and device, by obtaining the robot arm forward path signal, copying the forward path signal according to a preset copy function, and determining the corresponding copied forward path signal; obtaining the path sequence list in the copied forward path signal, and reversely sorting the path sequence list according to a preset inversion function to determine the corresponding reverse path signal; mapping the operation signal in the reverse path signal to determine the corresponding reverse path signal; verifying the reverse path signal according to a preset tracing point list verification algorithm and a preset operation instruction parsing rule to determine the corresponding safe reverse path signal, and outputting the safe reverse path signal to the control end to perform the robot arm reverse control operation, thereby improving the automation and efficiency of the robot arm reverse control.

[0055] The following content illustrates an embodiment based on a robot arm in a motion mechanism. It can be understood that the same effect can be achieved by using other motion mechanisms, which does not affect the use of the embodiment of the present invention.

[0056] In order to improve the automation and efficiency of the reverse control of the robot arm, the present application provides an embodiment of a reverse control method of the robot arm, see Figure 1 , the robot arm reverse control method specifically includes the following contents:

[0057] Step S101: Acquire a forward path signal of the robot arm, wherein the forward path signal includes a point-delineating signal and an operation signal, the point-delineating signal is used to define a travel path of the robot arm, and the operation signal is used to define an action of the robot arm on the travel path;

[0058] Optionally, in this embodiment, the purpose of this step is to obtain a forward operation signal of the robot arm for subsequent automated reverse operation.

[0059] Optionally, in this embodiment, the forward operation signal is the forward path and operation of the robot arm defined by the designer according to actual needs.

[0060] The designer first defines the plotting points, where:

[0061] Define the origin point. The origin point is the initial position or reset point of the robot arm. Usually the coordinates of the origin point are set to (0,0,0). The robot arm starts here or waits here after completing the task.

[0062] Define safety point mapping points. Safety point mapping points are specific locations that ensure the safety of the robot arm's operation. The robot arm moves to the safety point, which is a place where the surrounding environment needs to be ensured to be safe before performing a task.

[0063] Define the target dot plotting point. The target dot plotting point is the specific position that the robot needs to reach when executing the operation signal, such as the position where the object needs to be grasped or placed. The operation signal is triggered only when it reaches the target dot plotting point, otherwise the robot does not perform the operation.

[0064] Define the departure point. The departure point is when the robot moves from the current position to the next predetermined position.

[0065] It is understandable that the above-mentioned points are defined based on business scenarios.

[0066] Secondly, after defining the tracing point positions, define the operation for the target tracing point positions, that is, the operation performed by the robot arm when it reaches the target position. The operation can be "grab" or "place".

[0067] It is worth noting that when defining an operation, a unique identifier needs to be assigned to each operation, such as "GRAB" for grabbing operation and "RELEASE" for releasing operation. At the same time, corresponding parameters are set for these operations, such as grabbing strength, speed, etc.

[0068] At the same time, define the input conditions of each operation, such as the robot must reach a certain waypoint, the actuator must be in a specific state, etc. Similarly, define the output conditions of the operation, such as the actuator successfully grasps the object, the robot moves to the next waypoint, etc.

[0069] The forward operation signal is defined through the above process. After receiving the forward operation signal, the robot arm can move according to the travel path defined by a series of trace points and perform corresponding actions at the target trace points according to the operation signal to complete its working purpose.

[0070] For example, during the transportation process, the goods need to be transported from point A to point B:

[0071] Origin: The robot is waiting at one end of the production line.

[0072] Safety point: The robot moves next to the production line and checks that there are no obstacles around.

[0073] Target point A: The robot moves to the first workstation and grabs the part.

[0074] Grasping operation: The robot uses its mechanical arm to grasp the part.

[0075] Departure point: After grasping, the robot moves to the side of the production line, away from other machines.

[0076] Safety point: The robot checks the surroundings again to ensure safety.

[0077] Target point B: The robot moves to the second station, ready to place the part.

[0078] Release operation: The robot places the part at the specified location.

[0079] Departure point: After placement, the robot moves to a safe position again.

[0080] Origin: After completing the task, the robot returns to the starting position and waits for the next task.

[0081] The trace point position signal and operation signal in the above operation together constitute the forward operation signal, as follows:

[0082] Origin->Safety point->Target point A->Grab operation->Leave point->Safety point->Target point B->Release operation->Leave point->Origin.

[0083] It is understandable that when the actual work involves not only transporting from point A to point B, but also transporting from point B back to point A, the point tracking signal and operation signal in the above process need to be redefined. There is currently no automated way to achieve reverse control of the robot arm process. Therefore, for this work scenario, this step obtains the forward operation signal to lay the foundation for the subsequent automatic generation of the reverse operation signal based on the forward operation signal without the need for manual secondary definition.

[0084] Step S102: perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine the corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine the corresponding inversion path signal; perform a sequential traversal operation on the inversion path signal, determine the corresponding operation signal in the inversion path signal, perform a mapping operation on the operation signal in the inversion path signal according to a preset operation signal mapping library, and determine the corresponding reverse path signal;

[0085] Optionally, in this embodiment, the purpose of this step is to automatically generate a reverse path signal, realize automated robotic arm reverse control, and improve the efficiency of robotic arm reverse control.

[0086] Optionally, in this embodiment, the technical means used in this step is to first copy the defined forward path signal to a new data structure so that reverse operations can be performed subsequently based on the forward path signal, and secondly, sort and operate the copied forward path signal in reverse by defining rules to generate a reverse path signal.

[0087] Optionally, in this embodiment, the forward path signal is copied according to a preset copy function, and the forward path signal after the copy operation is verified and copied according to a preset hash algorithm to determine a corresponding copied forward path signal.

[0088] Specifically, one way to copy is to use a copy function, including but not limited to using Python built-in functions such as copy() (shallow copy) or deepcopy() (deep copy) from the copy module, and directly assigning to a new variable.

[0089] The second way to copy data is for non-programming environments. You can use data migration tools or ETL (Extract, Transform, Load) tools to copy data. These tools usually provide a graphical interface for non-technical personnel to operate. For example, use SQL Server Integration Services (SSIS) to copy data between databases, or use Apache NiFi to process data flows.

[0090] After the forward path signal is copied, the copied path signal is verified by a hash algorithm to ensure that the original data and the newly copied data are completely consistent. This is a key step to ensure the accuracy of the subsequent reverse path signal.

[0091] It is understandable that if the data is small-scale or important, manual verification can be used to verify the accuracy and completeness of the data by checking the data content, comparing the file size or manually performing certain operations.

[0092] For example:

[0093] Forward path signal:

[0094] Origin->Safety point->Target point A->Grab operation->Leave point->Safety point->Target point B->Release operation->Leave point->Origin.

[0095] Copy forward path signal (operational):

[0096] Origin->Safety point->Target point A->Grab operation->Leave point->Safety point->Target point B->Release operation->Leave point->Origin.

[0097] Optionally, in this embodiment, a path sequence list in the copied forward path signal is obtained, and a reverse sorting operation is performed on the path sequence list according to a preset inversion function to determine a corresponding inversion path signal.

[0098] Specifically, a path sequence list of the copied and verified forward path signal is extracted.

[0099] One way to reverse it is to use a reverse function to reverse the order of the elements.

[0100] Another way to reverse the list is to manually write a loop to create a new reversed list.

[0101] Optionally, in this embodiment, the first method of reversing the function is used as an example:

[0102] #Assume that path_points is a list containing trace points

[0103] path_points=[(1,2),(3,4),(5,6)]

[0104] #Use reverse() method to reverse the list

[0105] path_points.reverse()

[0106] #Now path_points is [(5,6),(3,4),(1,2)]

[0107] The final effect is:

[0108] Copy forward path signal (operational):

[0109] Origin->Safety point->Target point A->Grab operation->Leave point->Safety point->Target point B->Release operation->Leave point->Origin.

[0110] Reverse path signal (operational):

[0111] Origin->Departure point->Release operation->Target point B->Safety point->Departure point->Grab operation->Target point A->Safety point->Origin.

[0112] Optionally, in this embodiment, a sequential traversal operation is performed on the inversion path signal to determine a corresponding operation signal in the inversion path signal, and a mapping operation is performed on the operation signal in the inversion path signal according to a preset operation signal mapping library to determine a corresponding reverse path signal.

[0113] Specifically, the acquired inversion path signals are traversed, and each operation signal in the inversion path signals is reversed.

[0114] Among them, reversing the operation signal involves the application of the operation signal mapping library, which defines a set of rules to map each operation to its corresponding reverse operation. With the operation mapping, each operation signal can be replaced by the mapping relationship according to the order of the reverse path points.

[0115] The signal mapping library is usually a dictionary or similar data structure. The purpose can be achieved by manually designing a set of mapping rules to define and use it.

[0116] However, in actual situations, if there are dependencies between operations (for example, you must "grab" before you can "place"), more complex logic may be required to ensure the correctness of the reverse operation, and manual definition is inefficient. Therefore, to address this problem, a decision tree algorithm is used to construct the operation signal mapping library, because the decision tree algorithm is highly interpretable and each branch has a corresponding development path.

[0117] First, a large amount of data on operation signals and their mapping relationships needs to be collected. The data comes from actual operation records, simulation experiments, expert knowledge, etc. The collected data is cleaned, formatted, and normalized to ensure the quality and consistency of the data. This includes removing noise, processing missing values, and unifying data formats.

[0118] It is understandable that data preprocessing is a very important step in model training. The accuracy of model predictions depends largely on the data used for model training. Ensuring that data cleaning does not interfere with the model is an important step to ensure accurate model predictions.

[0119] Secondly, feature extraction is performed on the preprocessed data to extract features that are useful for establishing mapping relationships. These features include the type, intensity, duration, and order of occurrence of the operation signal. The extracted features are divided into training set, validation set, and test set. Among them, the training set is used to train the model to discover the connection between features; the validation set is used to adjust the parameters of the model and to make a preliminary assessment of the model's capabilities. It is used to verify the generalization ability of the current model during iterative model training to decide whether to stop training; the test set is used to evaluate the generalization ability of the final model.

[0120] As mentioned above, the training set is used to train the model, the validation set is used to preliminarily evaluate the model's capabilities, and finally the test set is used to obtain the model parameters with the best performance. The model parameters are then transferred through the back propagation algorithm to determine the final decision tree model.

[0121] It is understandable that through the above model training process, the decision tree model can find the complex mapping relationship between data based on the original data, so that the trained decision tree model can automatically generate the mapping rules between the operation signal and its reverse operation. These rules exist in the form of internal parameters of the model, and specific mapping results can be obtained through model reasoning.

[0122] Finally, the mapping rules generated by the model are organized into a mapping library for subsequent query and use. The mapping library can be a database, a file, or an in-memory data structure.

[0123] It is worth noting that the constructed mapping library will be continuously updated and iterated in the actual application process as the received application data increases to adapt to new operation signals and mapping relationships, including adding new operation types, adjusting mapping rules, etc.

[0124] Finally, in the above example, the operation signal mapping library reverses the operation signal, and the effect achieved is:

[0125] Reverse path signal (operational):

[0126] Origin->Departure point->Release operation->Target point B->Safety point->Departure point->Grab operation->Target point A->Safety point->Origin.

[0127] Reverse path signal:

[0128] Origin->Departure point->Grab operation->Target point B->Safety point->Departure point->Release operation->Target point A->Safety point->Origin.

[0129] Furthermore, in application scenarios with complex dependencies, the decision tree model can not only map the forward operation, but also find the reverse operation by traversing the reverse path of the decision tree.

[0130] For example, if the forward path is from the Idle state to Grasping an object, then the reverse path is from the Grasped state back to the Idle state via the Release operation.

[0131] It can be understood that by replicating the forward operation signal, reversing the path, and reverse mapping the operation, the purpose of automatically generating the reverse operation signal through the forward operation signal is achieved, while laying the foundation for subsequent security verification of the reverse operation signal to ensure the safety of practical applications.

[0132] Step S103: verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform reverse control operation of the robot arm.

[0133] Optionally, in this embodiment, the purpose of this step is to perform security verification on the reverse operation signal obtained in step S102 to ensure that the signal is feasible.

[0134] Optionally, in this embodiment, the technical means of this step is to add an exception handling mechanism.

[0135] Optionally, in this embodiment, a verification operation is performed on the reverse path signal according to a preset trace point list verification algorithm and a preset operation instruction parsing rule to determine a corresponding safe reverse path signal.

[0136] Specifically, the system checks whether the current tracing point is within the reachable range of the robot arm by presetting the tracing point list verification algorithm. It mainly determines whether it is reachable by calculating the distance and angle from the robot arm end effector to the target tracing point. If it is found that the tracing point does not exist or is unreachable, the system should immediately report an error and display the error message and location.

[0137] The system also verifies whether the current tracing point exists in the preset tracing point list, and can process the tracing point according to the preset error handling rules. For example, the system can try to find and move to the nearest alternative tracing point to continue the task.

[0138] Specifically, the system verifies whether each operation instruction is applicable to the current state of the robot arm (such as joint angle, end effector position, etc.) and path points by presetting the operation instruction parsing rules. This involves a state machine or conditional judgment logic to parse the operation instruction to ensure that its syntax is correct, the parameters are reasonable, and it complies with the control protocol of the robot arm.

[0139] If an incorrect operation instruction is found, the system will give a clear error prompt, including the instruction number, error type and possible cause. At the same time, the system can replace the problematic instruction according to the preset safety replacement instruction and ensure the safety of the robot arm.

[0140] It can be understood that the above-mentioned exception handling mechanism can greatly improve the stability and safety of the robot control system, ensuring that potential problems can be discovered and handled in a timely manner during the actual production process.

[0141] This example demonstrates how this embodiment automatically generates a reverse path signal based on the forward path signal of the robot arm without the need for manual redefinition, thereby improving the automation and efficiency of the reverse control of the robot arm.

[0142] From the above description, it can be seen that the robot arm reverse control method provided in the embodiment of the present application can obtain the robot arm forward path signal, copy the forward path signal according to a preset copy function, and determine the corresponding copied forward path signal; obtain the path sequence list in the copied forward path signal, reverse sort the path sequence list according to a preset inversion function, and determine the corresponding reverse path signal; map the operation signal in the reverse path signal to determine the corresponding reverse path signal; verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules to determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform the robot arm reverse control operation, thereby improving the automation and efficiency of the robot arm reverse control.

[0143] In one embodiment of the robot arm reverse control method of the present application, see Figure 2 , and can also include the following:

[0144] Step S201: performing a tracing point position signal definition operation according to the robot arm working scene to determine a corresponding tracing point position signal, wherein the tracing point position signal includes at least one of an origin, a safety point, a target point, and a departure point;

[0145] Step S202: performing an operation signal definition operation according to the robot arm working scene to determine a corresponding operation signal, wherein the trace point position signal is a trigger condition of the operation signal;

[0146] Step S203: determining a corresponding robot arm forward path signal according to the tracing point position signal and the operation signal.

[0147] Optionally, in this embodiment, the designer first defines the plotting point positions, where:

[0148] Define the origin point. The origin point is the initial position or reset point of the robot arm. Usually the coordinates of the origin point are set to (0,0,0). The robot arm starts here or waits here after completing the task.

[0149] Define safety point mapping points. Safety point mapping points are specific locations that ensure the safety of the robot arm's operation. The robot arm moves to the safety point, which is a place where the surrounding environment needs to be ensured to be safe before performing a task.

[0150] Define the target dot plotting point. The target dot plotting point is the specific position that the robot needs to reach when executing the operation signal, such as the position where the object needs to be grasped or placed. The operation signal is triggered only when it reaches the target dot plotting point, otherwise the robot does not perform the operation.

[0151] Define the departure point. The departure point is when the robot moves from the current position to the next predetermined position.

[0152] It is understandable that the above-mentioned points are defined based on business scenarios.

[0153] Secondly, after defining the tracing point positions, define the operation for the target tracing point positions, that is, the operation performed by the robot arm when it reaches the target position. The operation can be "grab" or "place".

[0154] It is worth noting that when defining an operation, a unique identifier needs to be assigned to each operation, such as "GRAB" for grabbing operation and "RELEASE" for releasing operation. At the same time, corresponding parameters are set for these operations, such as grabbing strength, speed, etc.

[0155] At the same time, define the input conditions of each operation, such as the robot must reach a certain waypoint, the actuator must be in a specific state, etc. Similarly, define the output conditions of the operation, such as the actuator successfully grasps the object, the robot moves to the next waypoint, etc.

[0156] The forward operation signal is defined through the above process. After receiving the forward operation signal, the robot arm can move according to the travel path defined by a series of trace points and perform corresponding actions at the target trace points according to the operation signal to complete its working purpose.

[0157] For example, during the transportation process, the goods need to be transported from point A to point B:

[0158] Origin: The robot is waiting at one end of the production line.

[0159] Safety point: The robot moves next to the production line and checks that there are no obstacles around.

[0160] Target point A: The robot moves to the first workstation and grabs the part.

[0161] Grasping operation: The robot uses its mechanical arm to grasp the part.

[0162] Departure point: After grasping, the robot moves to the side of the production line, away from other machines.

[0163] Safety point: The robot checks the surroundings again to ensure safety.

[0164] Target point B: The robot moves to the second station, ready to place the part.

[0165] Release operation: The robot places the part at the specified location.

[0166] Departure point: After placement, the robot moves to a safe position again.

[0167] Origin: After completing the task, the robot returns to the starting position and waits for the next task.

[0168] The trace point position signal and operation signal in the above operation together constitute the forward operation signal, as follows:

[0169] Origin->Safety point->Target point A->Grab operation->Leave point->Safety point->Target point B->Release operation->Leave point->Origin.

[0170] It is understandable that when the actual work involves not only transporting from point A to point B, but also transporting from point B back to point A, the point tracking signal and operation signal in the above process need to be redefined. There is currently no automated way to achieve reverse control of the robot arm process. Therefore, for this work scenario, this step obtains the forward operation signal to lay the foundation for the subsequent automatic generation of the reverse operation signal based on the forward operation signal without the need for manual secondary definition.

[0171] Through step S203, the present embodiment obtains a forward path signal, which lays a foundation for automatically generating a reverse path signal according to the forward path signal.

[0172] In one embodiment of the robot arm reverse control method of the present application, see Figure 3 , and can also include the following:

[0173] Step S301: acquiring historical operation signal information related to the service, performing model training on a preset decision tree model according to the historical operation signal information, and determining an operation signal mapping result output by the corresponding decision tree model;

[0174] Step S302: performing a mapping library construction operation according to the operation signal mapping result to determine a corresponding operation signal mapping library.

[0175] Optionally, in this embodiment, the historical operation signal information is a large amount of data about operation signals and their mapping relationships, and the data comes from actual operation records, simulation experiments, expert knowledge, etc.

[0176] Optionally, in this embodiment, through the model training process, the decision tree model can find the complex mapping relationship between data based on the original data, so that the trained decision tree model can automatically generate the mapping rules between the operation signal and its reverse operation. These rules exist in the form of model internal parameters, and specific mapping results can be obtained through model reasoning.

[0177] Optionally, in this embodiment, the mapping rules generated by the model are organized into a mapping library to facilitate subsequent query and use. The mapping library can be a database, a file, or a data structure in memory.

[0178] It is worth noting that the constructed mapping library will be continuously updated and iterated in the actual application process as the received application data increases to adapt to new operation signals and mapping relationships, including adding new operation types, adjusting mapping rules, etc.

[0179] Through step S302, this embodiment obtains a mapping library for reverse operation information, laying a foundation for subsequent generation of reverse path information.

[0180] In one embodiment of the robot arm reverse control method of the present application, see Figure 4 , and can also include the following:

[0181] Step S401: performing data preprocessing operations on the historical operation signal information according to preset data preprocessing rules to determine corresponding operation signal preprocessing data, wherein the preset data preprocessing rules include at least one of data cleaning, formatting, normalization, and missing value processing;

[0182] Step S402: performing model training on a preset decision tree model according to the operation signal preprocessing data, and determining an operation signal mapping result output by the corresponding decision tree model.

[0183] Optionally, in this embodiment, the preset data preprocessing rules refer to cleaning, formatting and normalizing the collected data to ensure the quality and consistency of the data, including removing noise, processing missing values, unifying data formats, etc.

[0184] It is understandable that data preprocessing is a very important step in model training. The accuracy of model predictions depends largely on the data used for model training. Ensuring that data cleaning does not interfere with the model is an important step to ensure accurate model predictions.

[0185] Through step S402, this embodiment successfully performs model training based on the obtained pre-processed clean data, obtains the mapping result output by the model, and lays a foundation for the subsequent establishment of a mapping library.

[0186] In one embodiment of the robot arm reverse control method of the present application, see Figure 5 , and can also include the following:

[0187] Step S501: performing a feature extraction operation on the operation signal preprocessing data according to a preset feature extraction rule to determine a corresponding operation signal mapping relationship feature;

[0188] Step S502: performing model training on a preset decision tree model according to the operation signal mapping relationship characteristics, and determining an operation signal mapping result output by the corresponding decision tree model.

[0189] Optionally, in this embodiment, feature extraction rules are preset to extract features from the preprocessed data to extract features useful for establishing a mapping relationship. These features include the type, intensity, duration, and order of occurrence of the operating signal. The extracted features are divided into a training set, a validation set, and a test set. Among them, the training set is used to train the model to discover the connection between features; the validation set is used to adjust the parameters of the model and to perform a preliminary assessment of the model's capabilities. It is used to verify the generalization ability of the current model during iterative model training to decide whether to stop training; the test set is used to evaluate the generalization ability of the final model.

[0190] As mentioned above, the training set is used to train the model, the validation set is used to preliminarily evaluate the model's capabilities, and finally the test set is used to obtain the model parameters with the best performance. The model parameters are then transferred through the back propagation algorithm to determine the final decision tree model.

[0191] It is understandable that through the above model training process, the decision tree model can find the complex mapping relationship between data based on the original data, so that the trained decision tree model can automatically generate the mapping rules between the operation signal and its reverse operation. These rules exist in the form of internal parameters of the model, and specific mapping results can be obtained through model reasoning.

[0192] Through step S502, this embodiment successfully extracts features from the preprocessed clean data, and uses the feature data set to train the model, obtaining the mapping results predicted by the model, laying the foundation for the subsequent establishment of a mapping database.

[0193] In one embodiment of the robot arm reverse control method of the present application, see Figure 6 , and can also include the following:

[0194] Step S601: verifying the trace point signal in the reverse path signal according to a preset trace point list verification algorithm to determine the corresponding safe trace point position;

[0195] Step S602: verifying the operation signal in the reverse path signal according to a preset operation instruction parsing rule to determine a corresponding safe operation.

[0196] Optionally, in this embodiment, a trace point list verification algorithm is preset, and the system checks whether the current trace point is within the reachable range of the robot arm, mainly by calculating the distance and angle from the end effector of the robot arm to the target trace point to determine whether it is reachable. If it is found that the path point does not exist or is unreachable, the system should immediately report an error and display the error message and location.

[0197] The system also verifies whether the current tracing point exists in the preset tracing point list, and can process the tracing point according to the preset error handling rules. For example, the system can try to find and move to the nearest alternative tracing point to continue the task.

[0198] Specifically, the system verifies whether each operation instruction is applicable to the current state of the robot arm (such as joint angle, end effector position, etc.) and the position of the trace point by presetting the operation instruction parsing rules. This involves the state machine or conditional judgment logic to parse the operation instruction to ensure that its syntax is correct, the parameters are reasonable, and it complies with the control protocol of the robot arm.

[0199] If an incorrect operation instruction is found, the system will give a clear error prompt, including the instruction number, error type and possible cause. At the same time, the system can replace the problematic instruction according to the preset safety replacement instruction and ensure the safety of the robot arm.

[0200] It can be understood that the above-mentioned exception handling mechanism can greatly improve the stability and safety of the robot control system, ensuring that potential problems can be discovered and handled in a timely manner during the actual production process.

[0201] Through step S602, this embodiment successfully performs security verification on the reverse path information, ensuring that the reverse path information is feasible and highly secure in actual production.

[0202] In order to improve the automation and efficiency of the robot arm reverse control, the present application provides an embodiment of a robot arm reverse control device for realizing all or part of the contents of the robot arm reverse control method, see Figure 7 , the robot arm reverse control device specifically includes the following contents:

[0203] A forward path signal acquisition module 10 is used to acquire a forward path signal of the robot arm, wherein the forward path signal includes a point-delineating signal and an operation signal, the point-delineating signal is used to define a travel path of the robot arm, and the operation signal is used to define an action of the robot arm on the travel path;

[0204] The reverse path signal generating module 20 is used to perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine the corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine the corresponding reverse path signal; perform a sequential traversal operation on the reverse path signal to determine the corresponding operation signal in the reverse path signal, perform a mapping operation on the operation signal in the reverse path signal according to a preset operation signal mapping library, and determine the corresponding reverse path signal;

[0205] The reverse path signal verification module 30 is used to verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform reverse control operation of the robot arm.

[0206] From the above description, it can be seen that the robot arm reverse control device provided in the embodiment of the present application can obtain the robot arm forward path signal, copy the forward path signal according to a preset copy function, and determine the corresponding copied forward path signal; obtain the path sequence list in the copied forward path signal, reverse sort the path sequence list according to a preset inversion function, and determine the corresponding reverse path signal; map the operation signal in the reverse path signal to determine the corresponding reverse path signal; verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules to determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform the robot arm reverse control operation, thereby improving the automation and efficiency of the robot arm reverse control.

[0207] In order to verify the safety of the reverse path, in one embodiment of the robot arm reverse control device of the present application, see Figure 8 , the reverse path signal verification module 30 includes:

[0208] A safe tracing point confirmation unit 31 is used to verify the tracing point signal in the reverse path signal according to a preset tracing point list verification algorithm to determine the corresponding safe tracing point;

[0209] A safety operation confirmation unit 32, configured to perform a verification operation on the operation signal in the reverse path signal according to a preset operation instruction parsing rule to determine a corresponding safety operation;

[0210] The safety reverse path signal confirmation unit 33 is used to determine the corresponding safety reverse path signal according to the safety delineation point position and the safety operation.

[0211] From a hardware perspective, in order to improve the automation and efficiency of the reverse control of the robot arm, the present application provides an embodiment of an electronic device for implementing all or part of the contents of the reverse control method of the robot arm, and the electronic device specifically includes the following contents:

[0212] Processor, memory, communication interface and bus; wherein the processor, memory and communication interface communicate with each other through the bus; the communication interface is used to realize information transmission between the robot arm reverse control method and related devices such as the core business system, user terminal and related database; the logic controller can be a desktop computer, a tablet computer and a mobile terminal, etc., but the present embodiment is not limited thereto. In the present embodiment, the logic controller can be implemented with reference to the embodiment of the robot arm reverse control method in the embodiment, and the embodiment of the robot arm reverse control method, and the contents thereof are incorporated herein, and the repeated parts are not repeated.

[0213] It is understandable that the user terminal may include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a personal digital assistant (PDA), a vehicle-mounted device, a smart wearable device, etc. Among them, the smart wearable device may include smart glasses, a smart watch, a smart bracelet, etc.

[0214] In practical applications, part of the robot arm reverse control method can be executed on the electronic device side as described above, or all operations can be completed in the client device. The specific selection can be based on the processing capability of the client device and the limitations of the user's usage scenario. This application does not limit this. If all operations are completed in the client device, the client device may also include a processor.

[0215] The client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side, and other implementation scenarios may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, or a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0216] Fig. 9 FIG. 9 is a schematic block diagram of the system structure of the electronic device 9600 according to an embodiment of the present application. Fig. 9 As shown, the electronic device 9600 may include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. It is worth noting that Fig. 9 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0217] In one embodiment, the function of the robot arm reverse control method can be integrated into the central processing unit 9100. The central processing unit 9100 can be configured to perform the following control:

[0218] Step S101: Acquire a forward path signal of the robot arm, wherein the forward path signal includes a point-delineating signal and an operation signal, the point-delineating signal is used to define a travel path of the robot arm, and the operation signal is used to define an action of the robot arm on the travel path;

[0219] Step S102: perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine the corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine the corresponding inversion path signal; perform a sequential traversal operation on the inversion path signal, determine the corresponding operation signal in the inversion path signal, perform a mapping operation on the operation signal in the inversion path signal according to a preset operation signal mapping library, and determine the corresponding reverse path signal;

[0220] Step S103: verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform reverse control operation of the robot arm.

[0221] From the above description, it can be seen that the electronic device provided in the embodiment of the present application obtains a forward path signal of the robot arm, copies the forward path signal according to a preset copy function, and determines the corresponding copied forward path signal; obtains a path sequence list in the copied forward path signal, reversely sorts the path sequence list according to a preset inversion function, and determines the corresponding reverse path signal; maps the operation signal in the reverse path signal to determine the corresponding reverse path signal; verifies the reverse path signal according to a preset point list verification algorithm and a preset operation instruction parsing rule to determine the corresponding safe reverse path signal, and outputs the safe reverse path signal to the control end to perform a reverse control operation of the robot arm, thereby improving the automation and efficiency of the reverse control of the robot arm.

[0222] In another embodiment, the robot arm reverse control method can be configured separately from the central processing unit 9100. For example, the robot arm reverse control method can be configured as a chip connected to the central processing unit 9100, and the function of the robot arm reverse control method is realized through the control of the central processing unit.

[0223] like Fig. 9As shown, the electronic device 9600 may also include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily have to include Fig. 9 In addition, the electronic device 9600 may also include Fig. 9 For components not shown, reference may be made to the prior art.

[0224] like Fig. 9 As shown, the central processing unit 9100 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor device and / or logic device. The central processing unit 9100 receives input and controls the operation of various components of the electronic device 9600.

[0225] The memory 9140 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. The above-mentioned information related to the failure may be stored, and a program for executing the relevant information may also be stored. The CPU 9100 may execute the program stored in the memory 9140 to implement information storage or processing, etc.

[0226] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 is, for example, a key or a touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display display objects such as images and texts. The display may be, for example, an LCD display, but is not limited thereto.

[0227] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), a SIM card, etc. It may also be a memory that saves information even when the power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROMs, etc. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142, which is used to store application programs and function programs or processes for executing the operation of the electronic device 9600 through the central processor 9100.

[0228] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0229] The communication module 9110 is a transmitter / receiver that sends and receives signals via the antenna 9111. The communication module 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

[0230] Based on different communication technologies, multiple communication modules 9110 may be provided in the same electronic device, such as a cellular network module, a Bluetooth module and / or a wireless local area network module, etc. The communication module 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide an audio output via the speaker 9131 and receive an audio input from the microphone 9132, thereby realizing a common telecommunication function. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 9130 is also coupled to the central processor 9100, so that recording can be performed on the machine through the microphone 9132, and the sound stored on the machine can be played through the speaker 9131.

[0231] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all the steps of the method for reverse control of a robotic arm in the above embodiment, where the execution subject is a server or a client. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, all the steps of the method for reverse control of a robotic arm in the above embodiment, where the execution subject is a server or a client, are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0232] Step S101: Acquire a forward path signal of the robot arm, wherein the forward path signal includes a point-delineating signal and an operation signal, the point-delineating signal is used to define a travel path of the robot arm, and the operation signal is used to define an action of the robot arm on the travel path;

[0233] Step S102: perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine the corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine the corresponding inversion path signal; perform a sequential traversal operation on the inversion path signal, determine the corresponding operation signal in the inversion path signal, perform a mapping operation on the operation signal in the inversion path signal according to a preset operation signal mapping library, and determine the corresponding reverse path signal;

[0234] Step S103: verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform reverse control operation of the robot arm.

[0235] From the above description, it can be seen that the computer-readable storage medium provided in the embodiment of the present application obtains a forward path signal of the robot arm, and copies the forward path signal according to a preset copy function to determine the corresponding copied forward path signal; obtains a path sequence list in the copied forward path signal, and reversely sorts the path sequence list according to a preset inversion function to determine the corresponding reverse path signal; maps the operation signal in the reverse path signal to determine the corresponding reverse path signal; verifies the reverse path signal according to a preset point list verification algorithm and a preset operation instruction parsing rule to determine the corresponding safe reverse path signal, and outputs the safe reverse path signal to the control end to perform a reverse control operation of the robot arm, thereby improving the automation and efficiency of the reverse control of the robot arm.

[0236] The embodiments of the present application also provide a computer program product capable of implementing all the steps of the robot arm reverse control method in the above embodiments, where the execution subject is a server or a client. When the computer program / instruction is executed by a processor, the steps of the robot arm reverse control method are implemented. For example, the computer program / instruction implements the following steps:

[0237] Step S101: Acquire a forward path signal of the robot arm, wherein the forward path signal includes a point-delineating signal and an operation signal, the point-delineating signal is used to define a travel path of the robot arm, and the operation signal is used to define an action of the robot arm on the travel path;

[0238] Step S102: perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine the corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine the corresponding inversion path signal; perform a sequential traversal operation on the inversion path signal, determine the corresponding operation signal in the inversion path signal, perform a mapping operation on the operation signal in the inversion path signal according to a preset operation signal mapping library, and determine the corresponding reverse path signal;

[0239] Step S103: verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform reverse control operation of the robot arm.

[0240] From the above description, it can be seen that the computer program product provided in the embodiment of the present application obtains the forward path signal of the robot arm, copies the forward path signal according to a preset copy function, and determines the corresponding copied forward path signal; obtains the path sequence list in the copied forward path signal, reversely sorts the path sequence list according to a preset inversion function, and determines the corresponding reverse path signal; maps the operation signal in the reverse path signal to determine the corresponding reverse path signal; verifies the reverse path signal according to a preset point list verification algorithm and preset operation instruction parsing rules to determine the corresponding safe reverse path signal, and outputs the safe reverse path signal to the control end to perform reverse control operation of the robot arm, thereby improving the automation and efficiency of reverse control of the robot arm.

[0241] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0242] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0243] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0244] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0245] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A motion mechanism reverse control method, characterized in that: A processor applied to a motion mechanism, the processor being electrically connected to a control end of the motion mechanism, the method comprising: Acquire a forward path signal of the motion mechanism, wherein the forward path signal includes a point-delineating signal and an operation signal, the point-delineating signal is used to define a travel path of the motion mechanism, and the operation signal is used to define an action of the motion mechanism on the travel path; Perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine the corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine the corresponding reverse path signal; perform a sequential traversal operation on the reverse path signal to determine the corresponding operation signal in the reverse path signal, perform a mapping operation on the operation signal in the reverse path signal according to a preset operation signal mapping library, and determine the corresponding reverse path signal; The reverse path signal is verified according to the preset point list verification algorithm and the preset operation instruction parsing rules, the corresponding safe reverse path signal is determined, and the safe reverse path signal is output to the control end to perform reverse control operation of the motion mechanism.

2. The motion mechanism reverse control method according to claim 1, characterized in that: Before obtaining the forward path signal of the motion mechanism, the method includes: Performing a tracing point position signal definition operation according to the working scene of the motion mechanism to determine a corresponding tracing point position signal, wherein the tracing point position signal includes at least one of an origin, a safety point, a target point, and a departure point; Performing an operation signal definition operation according to the working scene of the motion mechanism to determine a corresponding operation signal, wherein the tracing point position signal is a trigger condition of the operation signal; A corresponding forward path signal of the motion mechanism is determined according to the tracing point position signal and the operation signal.

3. The motion mechanism reverse control method according to claim 1, characterized in that: Before performing a mapping operation on the inversion path signal according to a preset operation signal mapping library and a preset mapping rule to determine a corresponding reverse path signal, the method includes: Acquire historical operation signal information related to the business, perform model training on a preset decision tree model according to the historical operation signal information, and determine an operation signal mapping result output by the corresponding decision tree model; A mapping library construction operation is performed according to the operation signal mapping result to determine a corresponding operation signal mapping library.

4. The motion mechanism reverse control method according to claim 3, characterized in that: The performing model training on a preset decision tree model according to the historical operation signal information to determine an operation signal mapping result output by the corresponding decision tree model includes: Performing data preprocessing operations on the historical operation signal information according to preset data preprocessing rules to determine corresponding operation signal preprocessing data, wherein the preset data preprocessing rules include at least one of data cleaning, formatting, normalization, and missing value processing; Model training is performed on a preset decision tree model according to the operation signal preprocessing data to determine an operation signal mapping result output by the corresponding decision tree model.

5. The motion mechanism reverse control method according to claim 4, characterized in that: The performing model training on a preset decision tree model according to the operation signal preprocessing data to determine the operation signal mapping result output by the corresponding decision tree model includes: Performing feature extraction operation on the operation signal preprocessing data according to preset feature extraction rules to determine corresponding operation signal mapping relationship features; Model training is performed on a preset decision tree model according to the operation signal mapping relationship characteristics to determine an operation signal mapping result output by the corresponding decision tree model.

6. The motion mechanism reverse control method according to claim 1, characterized in that: The verifying operation on the reverse path signal according to the preset trace point list verification algorithm and the preset operation instruction parsing rule to determine the corresponding safe reverse path signal includes: Performing a verification operation on the trace point signal in the reverse path signal according to a preset trace point list verification algorithm to determine the corresponding safe trace point position; Performing a verification operation on the operation signal in the reverse path signal according to a preset operation instruction parsing rule to determine a corresponding safe operation; A corresponding safety reverse path signal is determined according to the safety delineation point and the safety operation.

7. A motion mechanism reverse control device, characterized in that: The device comprises: A forward path signal acquisition module, used to acquire a forward path signal of the motion mechanism, wherein the forward path signal includes a point-delineating position signal and an operation signal, the point-delineating position signal is used to define a travel path of the motion mechanism, and the operation signal is used to define an action of the motion mechanism on the travel path; A reverse path signal generation module is used to perform a copy operation on the forward path signal according to a preset copy function, perform a verification copy operation on the forward path signal after the copy operation according to a preset hash algorithm, and determine a corresponding copied forward path signal; obtain a path sequence list in the copied forward path signal, perform a reverse sort operation on the path sequence list according to a preset inversion function, and determine a corresponding reverse path signal; perform a sequential traversal operation on the reverse path signal to determine a corresponding operation signal in the reverse path signal, perform a mapping operation on the operation signal in the reverse path signal according to a preset operation signal mapping library, and determine a corresponding reverse path signal; The reverse path signal verification module is used to verify the reverse path signal according to the preset point list verification algorithm and the preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control end to perform reverse control operation of the motion mechanism.

8. The motion mechanism reverse control device according to claim 7, characterized in that: The reverse path signal verification module comprises: A safe tracing point confirmation unit, used to verify the tracing point signal in the reverse path signal according to a preset tracing point list verification algorithm to determine the corresponding safe tracing point; A safety operation confirmation unit, used to verify the operation signal in the reverse path signal according to a preset operation instruction parsing rule to determine the corresponding safety operation; A safety reverse path signal confirmation unit is used to determine a corresponding safety reverse path signal according to the safety trace point position and the safety operation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the motion mechanism reverse control method according to any one of claims 1 to 7 are implemented.

10. 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 motion mechanism reverse control method described in any one of claims 1 to 7 are implemented.

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