Method and device for reverse control of a kinematic mechanism

Abstract

This application provides a method and apparatus for reverse control of a motion mechanism. The method includes: acquiring a forward path signal of the motion mechanism; performing a copy operation on the forward path signal according to a preset copy function to determine a corresponding copied forward path signal; acquiring a path order list in the copied forward path signal; performing a reverse sorting operation on the path order list according to a preset reverse function to determine a corresponding reverse path signal; performing a mapping operation on the operation signals in the reverse path signal to determine a corresponding reverse path signal; performing a verification operation on the reverse path signal according to a preset plotting point list verification algorithm and a preset operation instruction parsing rule to determine a corresponding safe reverse path signal; and outputting the safe reverse path signal to a control terminal for reverse control operation of the motion mechanism. This application can improve the automation and efficiency of reverse control of the motion mechanism.

Description

Technical Field

[0001] This application relates to the field of data processing, specifically to a method and apparatus for reverse control of a motion mechanism. Background Technology

[0002] Motion mechanisms refer to complex systems characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. One representative example is the robotic arm, which is widely used in industrial assembly, safety and explosion-proof applications due to its unique operational flexibility. In the industrial sector, it has proven highly effective in handling vehicle parts, processing concrete products, lifting hazardous chemicals, and moving heavy casting drums.

[0003] The control of a motion mechanism robotic arm is mainly achieved through PLC signals. A PLC (Programmable Logic Controller) is an indispensable controller in industrial production, characterized by its high versatility and stability. Therefore, to improve the efficiency of controlling the motion mechanism robotic arm, many methods for controlling PLCs have been developed. One such method involves connecting the PLC to programming software. The path and actions of the motion mechanism robotic arm are manually set in the programming software, which then sends instructions to the PLC. The PLC receives these instructions, converts them into PLC signals, and uses these signals to control the motion mechanism robotic arm to work according to the path and actions defined in the programming software. This method reduces the difficulty of controlling the motion mechanism robotic arm.

[0004] However, the above technical solution faces a problem: in actual use of the motion mechanism robotic arm, when encountering scenarios requiring the robotic arm to be used repeatedly, it is often necessary to define the path and motion twice in the programming software. That is, to move goods from point A to point B, the path and motion need to be defined, and to move goods from point B to point A, even if the same path and motion are used, time is spent defining them again. This wastes a lot of manpower and cannot meet the requirement of high efficiency in reverse control of the robotic arm. Summary of the Invention

[0005] To address the problems in the prior art, this application provides a method and apparatus for reverse control of a motion mechanism, which can improve the automation and efficiency of reverse control of the motion mechanism.

[0006] To solve at least one of the above problems, this application provides the following technical solution:

[0007] In a first aspect, this application provides a method for reverse control of a motion mechanism, comprising:

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

[0009] The forward path signal is copied according to a preset copy function. The copied forward path signal is then verified using a preset hash algorithm to determine the corresponding copied forward path signal. A path order list is obtained from the copied forward path signal. This path order list is then reversed using a preset inversion function to determine the corresponding inverted path signal. The inverted path signal is then sequentially traversed to determine the corresponding operation signal. Finally, the operation signal in the inverted path signal is mapped using a preset operation signal mapping library to 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 to determine the corresponding safe reverse path signal. The safe reverse path signal is then output to the control terminal for reverse control operation of the motion mechanism.

[0011] Further, before acquiring the forward path signal of the motion mechanism, the following steps are included:

[0012] The point-to-point signal is defined according to the working scenario of the motion mechanism, and the corresponding point-to-point signal is determined. The point-to-point signal includes at least one of the origin, safety point, target point and departure point.

[0013] The operation signal is defined according to the working scenario of the motion mechanism, and the corresponding operation signal is determined. The plotting point signal is the triggering condition of the operation signal.

[0014] The corresponding forward path signal of the motion mechanism is determined based on the plotting point signal and the operation signal.

[0015] Further, before performing the mapping operation on the inverted path signal according to the preset operation signal mapping library and preset mapping rules to determine the corresponding reverse path signal, the process includes:

[0016] Acquire historical operation signal information related to the business, train a preset decision tree model based on the historical operation signal information, and determine the operation signal mapping result output by the corresponding decision tree model.

[0017] Based on the operation signal mapping results, a mapping library construction operation is performed to determine the corresponding operation signal mapping library.

[0018] Further, the step of training a preset decision tree model based on the historical operation signal information to determine the corresponding operation signal mapping result output by the decision tree model includes:

[0019] The historical operation signal information is preprocessed according to a preset data preprocessing rule to determine the corresponding operation signal preprocessing data. The preset data preprocessing rule includes at least one of data cleaning, formatting, normalization, and missing value handling.

[0020] The preset decision tree model is trained based on the preprocessed operation signal data to determine the corresponding operation signal mapping result output by the decision tree model.

[0021] Further, the step of training a preset decision tree model based on the preprocessed operation signal data to determine the corresponding operation signal mapping result output by the decision tree model includes:

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

[0023] The preset decision tree model is trained based on the characteristics of the operation signal mapping relationship to determine the operation signal mapping result output by the corresponding decision tree model.

[0024] Further, the step of verifying the reverse path signal according to the preset plotting point list verification algorithm and preset operation instruction parsing rules to determine the corresponding safe reverse path signal includes:

[0025] The verification algorithm of the preset plotting point list is used to verify the plotting point signals in the reverse path signal to determine the corresponding safe plotting point.

[0026] The operation signals in the reverse path signal are verified according to the preset operation instruction parsing rules to determine the corresponding safe operation.

[0027] The corresponding safe reverse path signal is determined based on the safe mapping point and the safe operation.

[0028] Secondly, this application provides a motion mechanism reverse control device, comprising:

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

[0030] The reverse path signal generation module is used to perform a copy operation on the forward path signal according to a preset copy function, verify the 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 order list in the copied forward path signal, reverse the path order list according to a preset reversal 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, and perform a mapping operation on the operation signal in the reverse path signal according to a preset operation signal mapping library to determine the corresponding reverse path signal.

[0031] The reverse path signal verification module is used to verify the reverse path signal according to the preset plotting 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 terminal for reverse control operation of the motion mechanism.

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

[0033] The safety tracing point confirmation unit is used to verify the tracing point signals in the reverse path signal according to the preset tracing point list verification algorithm, and determine the corresponding safety tracing point.

[0034] The safe operation confirmation unit is used to verify the operation signal in the reverse path signal according to the preset operation instruction parsing rules, and determine the corresponding safe operation.

[0035] A safe reverse path signal confirmation unit is used to determine the corresponding safe reverse path signal based on the safe mapping point and the safe operation.

[0036] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the motion mechanism reverse control method.

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

[0038] Fifthly, this application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the aforementioned motion mechanism reverse control method.

[0039] As can be seen from the above technical solution, this application provides a method and apparatus for reverse control of a motion mechanism. It acquires a forward path signal of the motion mechanism, performs a copy operation on the forward path signal according to a preset copy function to determine the corresponding copied forward path signal; acquires a path order list in the copied forward path signal, performs a reverse sort operation on the path order list according to a preset reverse function to determine the corresponding reverse path signal; performs a mapping operation on the operation signals in the reverse path signal to determine the corresponding reverse path signal; performs a verification operation on the reverse path signal according to a preset plotting 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 terminal for reverse control operation of the motion mechanism, thereby improving the automation and efficiency of reverse control of the motion mechanism. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is one of the flowcharts illustrating the robotic arm reverse control method in the embodiments of this application;

[0042] Figure 2 This is the second flowchart illustrating the robotic arm reverse control method in the embodiments of this application;

[0043] Figure 3 This is the third flowchart illustrating the robotic arm reverse control method in the embodiments of this application;

[0044] Figure 4 This is the fourth flowchart illustrating the robotic arm reverse control method in the embodiments of this application;

[0045] Figure 5 This is the fifth flowchart illustrating the robotic arm reverse control method in the embodiments of this application;

[0046] Figure 6 This is the sixth flowchart illustrating the robotic arm reverse control method in the embodiments of this application;

[0047] Figure 7 This is one of the structural diagrams of the robotic arm reverse control device in the embodiments of this application;

[0048] Figure 8 This is the second structural diagram of the robotic arm reverse control device in the embodiments of this application;

[0049] Figure 9 This is a schematic diagram of the structure of the electronic device in the embodiments of this application.

[0050] Figure label:

[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 storage unit 9144, antenna 9111, speaker 9131, microphone 9132. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

[0054] Considering the problem that in actual use of robotic arms, scenarios requiring repeated use often necessitate defining the robotic arm twice in the programming software, resulting in significant wasted manpower, this application provides a robotic arm reverse control method and apparatus. The method involves acquiring the forward path signal of the robotic arm, copying the forward path signal according to a preset copy function to determine the corresponding copied forward path signal; acquiring a path order list from the copied forward path signal, reversing the path order list according to a preset reverse function to determine the corresponding reverse path signal; mapping the operation signals in the reverse path signal to determine the corresponding reverse path signal; verifying the reverse path signal according to a preset plotting point list verification algorithm and preset operation instruction parsing rules to determine the corresponding safe reverse path signal; and outputting the safe reverse path signal to the control terminal for robotic arm reverse control operations. This improves the automation and efficiency of robotic arm reverse control.

[0055] The following description uses the robotic arm in the motion mechanism as an example to illustrate the embodiments. It is understood that other motion mechanisms can achieve the same effect and will not affect the use of the embodiments of the present invention.

[0056] To improve the automation and efficiency of robotic arm reverse control, this application provides an embodiment of a robotic arm reverse control method, see [link to embodiment]. Figure 1 The robotic arm reverse control method specifically includes the following:

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

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

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

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

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

[0062] Define safety point locations. Safety point locations are specific positions that ensure the safe operation of the robotic arm. The robotic arm moves to a safety point, which is a location where the surrounding environment needs to be ensured to be safe before performing a task.

[0063] Define the target point, which is the specific location the robotic arm needs to reach to execute the operation signal, such as the position where an object needs to be grasped or placed. The operation signal is only triggered when the target point is reached; otherwise, the robotic arm will not perform the operation.

[0064] Define the departure point, which is when the robotic arm moves from its current position to the next predetermined position.

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

[0066] Secondly, after defining the plotting points, define the operations for the target plotting points, that is, the operations that the robotic arm performs when it reaches the target position. The operations can be "grab" or "place".

[0067] It's important to note that defining operations requires assigning a unique identifier to each operation, such as "GRAB" for a grab operation and "RELEASE" for a release operation. Simultaneously, appropriate parameters should be set for these operations, such as grab force and speed.

[0068] Simultaneously, the input conditions for each operation must be defined, such as the robotic arm must reach a certain path point, or the actuator must be in a specific state. Similarly, the output conditions for the operation must be defined, such as the actuator successfully grasping the object, or the robotic arm moving to the next path point.

[0069] After the above process defines the positive operation signal, the robotic arm can move according to a series of marked points along a travel path and perform corresponding actions at the target marked point according to the operation signal to complete its work purpose.

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

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

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

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

[0074] Grasping operation: The robot uses a robotic arm to grasp parts.

[0075] Departure point: After grabbing, the robot moves to the side of the production line, avoiding other machines.

[0076] Safety point: The robot re-checks the surrounding environment to ensure safety.

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

[0078] Release operation: The robot places the part in the designated location.

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

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

[0081] The plotting point signal and the operation signal in the above operation together constitute the positive operation signal, as follows:

[0082] Origin -> Safe Point -> Target Point A -> Grab Operation -> Leave Point -> Safe Point -> Target Point B -> Release Operation -> Leave Point -> Origin.

[0083] Understandably, when actual work involves not only moving from point A to point B, but also moving back from point B to point A, the point marking signals and operation signals in the above process need to be redefined. Currently, there is no way to automatically implement the reverse control of the robotic arm process. Therefore, for this kind of work scenario, this step obtains the forward operation signal to lay the foundation for automatically generating the reverse operation signal based on the forward operation signal without the need for manual redefinition.

[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 to determine the corresponding copied forward path signal; obtain a path order list in the copied forward path signal; perform a reverse sort operation on the path order list according to a preset reverse function to 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 to determine the corresponding reverse path signal.

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

[0086] Optionally, in this embodiment, the technical means used in this step is to first copy the defined forward path signal into a new data structure so that subsequent reverse operations can be performed based on the forward path signal; secondly, to sort and reverse the copied forward path signal and perform operations 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 according to a preset hash algorithm to determine the corresponding copied forward path signal.

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

[0089] The second method of data replication for non-programming environments involves using data migration tools or ETL (Extract, Transform, Load) tools. These tools typically offer graphical interfaces for ease of use by non-technical personnel. For example, SQL Server Integration Services (SSIS) can be used to replicate data between databases, or Apache NiFi can be used to process data streams.

[0090] After copying the forward path signal, a hash algorithm is used to verify the copied path signal 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] Understandably, for small-scale or important data, manual verification can be used to verify the accuracy and completeness of the data by checking the data content, comparing file sizes, or manually performing certain operations.

[0092] For example:

[0093] Forward path signal:

[0094] Origin -> Safe Point -> Target Point A -> Grab Operation -> Leave Point -> Safe Point -> Target Point B -> Release Operation -> Leave Point -> Origin.

[0095] Copy the forward path signal (operable):

[0096] Origin -> Safe Point -> Target Point A -> Grab Operation -> Leave Point -> Safe Point -> Target Point B -> Release Operation -> Leave Point -> Origin.

[0097] Optionally, in this embodiment, the path order list in the forward path signal is obtained, and the path order list is reversed according to a preset reversal function to determine the corresponding reverse path signal.

[0098] Specifically, extract the path order list of the copied and verified forward path signals.

[0099] One way to reverse the order is to use a reversal function to flip the elements in reverse order.

[0100] Another way to reverse 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 path_points is a list containing plotting points.

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

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

[0105] path_points.reverse()

[0106] #The current path_points are [(5,6),(3,4),(1,2)]

[0107] The final result is:

[0108] Copy the forward path signal (operable):

[0109] Origin -> Safe Point -> Target Point A -> Grab Operation -> Leave Point -> Safe Point -> Target Point B -> Release Operation -> Leave Point -> Origin.

[0110] Reverse path signal (operable):

[0111] Origin -> Departure Point -> Release Operation -> Target Point B -> Safe Point -> Departure Point -> Grab Operation -> Target Point A -> Safe Point -> Origin.

[0112] Optionally, in this embodiment, the reverse path signal is sequentially traversed to determine the corresponding operation signal in the reverse path signal, and the operation signal in the reverse path signal is mapped according to a preset operation signal mapping library to determine the corresponding reverse path signal.

[0113] Specifically, the reverse path signals obtained above are traversed, and each operation signal in the reverse path signals is reversed.

[0114] The reverse operation of operation signals involves the application of an 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 using the mapping relationship according to the order of the reverse path points.

[0115] Typically, a signal mapping library is a dictionary or similar data structure. A set of mapping rules is manually designed, defined, and used to achieve the desired result.

[0116] However, in practice, if there are dependencies between operations (e.g., "grab" must precede "place"), more complex logic may be needed to ensure the correctness of the reverse operation, making manual definition inefficient. Therefore, to address this problem, a decision tree algorithm is used to construct the operation signal mapping library because it offers strong interpretability, with each branch having a corresponding development path.

[0117] First, a large amount of data on operating signals and their mapping relationships needs to be collected. This data comes from actual operation records, simulation experiments, expert knowledge, etc. The collected data undergoes cleaning, formatting, and normalization to ensure its quality and consistency. This includes noise removal, handling missing values, and standardizing the data format.

[0118] Understandably, data preprocessing is a crucial step in model training. The accuracy of model predictions largely depends on the data used for training, and ensuring that the data is clean and does not interfere with the model is an important step in guaranteeing accurate predictions.

[0119] Secondly, feature extraction is performed on the preprocessed data to extract features useful for establishing mapping relationships. These features include the type, intensity, duration, and order of occurrence of the operational signals. The extracted features are divided into training, validation, and test sets. The training set is used to train the model to discover the relationships between features; the validation set is used to adjust the model's parameters and to conduct an initial evaluation of the model's capabilities. During iterative model training, the validation set is used to verify the current model's generalization ability to determine whether to stop training; the test set is used to evaluate the final model's generalization ability.

[0120] As described above, the model is trained using the training set, its capabilities are initially evaluated using the validation set, and finally, the optimal model parameters are obtained using the test set. These parameters are then used to pass the parameters through the backpropagation algorithm to determine the final decision tree model.

[0121] Understandably, through the aforementioned model training process, the decision tree model can find complex mapping relationships between data based on the original data. Thus, the trained decision tree model can automatically generate mapping rules between operational signals and their inverse operations. These rules exist in the form of internal model parameters, and specific mapping results can be obtained through model inference.

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

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

[0124] Ultimately, in the above example, the operation signal mapping library inverts the operation signal, achieving the following effect:

[0125] Reverse path signal (operable):

[0126] Origin -> Departure Point -> Release Operation -> Target Point B -> Safe Point -> Departure Point -> Grab Operation -> Target Point A -> Safe Point -> Origin.

[0127] Reverse path signal:

[0128] Origin -> Departure Point -> Grab Operation -> Target Point B -> Safe Point -> Departure Point -> Release Operation -> Target Point A -> Safe Point -> Origin.

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

[0130] For example, if the forward path is from the "idle" state to the "grab" object, then the reverse path is from the "grab" state back to the "idle" state through the "release" operation.

[0131] It is understandable that by copying, reversing the path, and mapping the operation in reverse to the forward operation signal, the goal of automatically generating the reverse operation signal from the forward operation signal is achieved. At the same time, it lays the foundation for subsequent security verification of the reverse operation signal to ensure the security of practical applications.

[0132] Step S103: Verify the reverse path signal according to the preset point list verification algorithm and preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control terminal for the reverse control operation of the robotic arm.

[0133] Optionally, in this embodiment, the purpose of this step is to perform a 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 for this step is to add an exception handling mechanism.

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

[0136] Specifically, the system uses a preset point list verification algorithm to check whether the current point is within the reachable range of the robotic arm. This is mainly achieved by calculating the distance and angle from the robotic arm's end effector to the target point to determine its reachability. If the point is found to be non-existent or unreachable, the system should immediately report an error and display the error message and location.

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

[0138] Specifically, the system pre-defines operation command parsing rules and verifies whether each operation command is applicable to the current state of the robotic arm (such as joint angles, end effector positions, etc.) and path points. This involves state machine or conditional judgment logic to parse the operation commands, ensuring that their syntax is correct, parameters are reasonable, and they conform to the robotic arm's control protocol.

[0139] If an incorrect operation command is detected, the system will provide a clear error message, including the command number, error type, and possible cause. Simultaneously, the system can replace the problematic command with a preset safety alternative command, ensuring the safety of the robotic arm.

[0140] Understandably, the above-mentioned anomaly handling mechanism can greatly improve the stability and safety of the robotic arm control system, ensuring that potential problems can be detected and dealt with in a timely manner during actual production.

[0141] This example demonstrates how this embodiment can automatically generate a reverse path signal based on the forward path signal of the robotic arm without requiring manual redefinition, thus improving the automation and efficiency of the robotic arm's reverse control.

[0142] As described above, the robotic arm reverse control method provided in this application can obtain the robotic arm forward path signal, perform a copy operation on the forward path signal according to a preset copy function to determine the corresponding copied forward path signal; obtain the path order list in the copied forward path signal, perform a reverse sort operation on the path order list according to a preset reverse function to determine the corresponding reverse path signal; perform a mapping operation on the operation signal in the reverse path signal to determine the corresponding reverse path signal; perform a verification operation on the reverse path signal according to a preset plotting point list verification algorithm and a preset operation instruction parsing rule to determine the corresponding safe reverse path signal; and output the safe reverse path signal to the control terminal to perform robotic arm reverse control operation, thereby improving the automation and efficiency of robotic arm reverse control.

[0143] In one embodiment of the robotic arm reverse control method of this application, see [link to relevant documentation]. Figure 2 It can also specifically include the following:

[0144] Step S201: Define the plotting point signal according to the working scenario of the robotic arm, and determine the corresponding plotting point signal, wherein the plotting point signal includes at least one of the origin, safety point, target point and departure point;

[0145] Step S202: Define operation signals according to the working scenario of the robotic arm, and determine the corresponding operation signals, wherein the plotting point signal is the triggering condition of the operation signal;

[0146] Step S203: Determine the corresponding forward path signal of the robotic arm based on the plotting point signal and the operation signal.

[0147] Optionally, in this embodiment, the designer first defines the plotting points, wherein:

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

[0149] Define safety point locations. Safety point locations are specific positions that ensure the safe operation of the robotic arm. The robotic arm moves to a safety point, which is a location where the surrounding environment needs to be ensured to be safe before performing a task.

[0150] Define the target point, which is the specific location the robotic arm needs to reach to execute the operation signal, such as the position where an object needs to be grasped or placed. The operation signal is only triggered when the target point is reached; otherwise, the robotic arm will not perform the operation.

[0151] Define the departure point, which is when the robotic arm moves from its current position to the next predetermined position.

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

[0153] Secondly, after defining the plotting points, define the operations for the target plotting points, that is, the operations that the robotic arm performs when it reaches the target position. The operations can be "grab" or "place".

[0154] It's important to note that defining operations requires assigning a unique identifier to each operation, such as "GRAB" for a grab operation and "RELEASE" for a release operation. Simultaneously, appropriate parameters should be set for these operations, such as grab force and speed.

[0155] Simultaneously, the input conditions for each operation must be defined, such as the robotic arm must reach a certain path point, or the actuator must be in a specific state. Similarly, the output conditions for the operation must be defined, such as the actuator successfully grasping the object, or the robotic arm moving to the next path point.

[0156] After the above process defines the positive operation signal, the robotic arm can move according to a series of marked points along a travel path and perform corresponding actions at the target marked point according to the operation signal to complete its work purpose.

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

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

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

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

[0161] Grasping operation: The robot uses a robotic arm to grasp parts.

[0162] Departure point: After grabbing, the robot moves to the side of the production line, avoiding other machines.

[0163] Safety point: The robot re-checks the surrounding environment to ensure safety.

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

[0165] Release operation: The robot places the part in the designated location.

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

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

[0168] The plotting point signal and the operation signal in the above operation together constitute the positive operation signal, as follows:

[0169] Origin -> Safe Point -> Target Point A -> Grab Operation -> Leave Point -> Safe Point -> Target Point B -> Release Operation -> Leave Point -> Origin.

[0170] Understandably, when actual work involves not only moving from point A to point B, but also moving back from point B to point A, the point marking signals and operation signals in the above process need to be redefined. Currently, there is no way to automatically implement the reverse control of the robotic arm process. Therefore, for this kind of work scenario, this step obtains the forward operation signal to lay the foundation for automatically generating the reverse operation signal based on the forward operation signal without the need for manual redefinition.

[0171] Through step S203, this embodiment obtains the forward path signal, laying the foundation for the subsequent automatic generation of the reverse path signal based on the forward path signal.

[0172] In one embodiment of the robotic arm reverse control method of this application, see [link to relevant documentation]. Figure 3 It can also specifically include the following:

[0173] Step S301: Obtain historical operation signal information related to the business, train the preset decision tree model based on the historical operation signal information, and determine the operation signal mapping result output by the corresponding decision tree model;

[0174] Step S302: Perform a mapping library construction operation based on the operation signal mapping result to determine the 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, which 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 complex mapping relationships between data based on the original data. Thus, the trained decision tree model can automatically generate mapping rules between operational signals and their inverse operations. These rules exist in the form of internal model parameters, and specific mapping results can be obtained through model inference.

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

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

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

[0180] In one embodiment of the robotic arm reverse control method of this application, see [link to relevant documentation]. Figure 4 It can also specifically include the following:

[0181] Step S401: Perform data preprocessing operations on the historical operation signal information according to preset data preprocessing rules to determine the 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: Train the preset decision tree model based on the operation signal preprocessing data, and determine the operation signal mapping result output by the corresponding decision tree model.

[0183] Optionally, in this embodiment, preset data preprocessing rules refer to cleaning, formatting, and normalizing the collected data to ensure data quality and consistency. This includes noise removal, handling missing values, and standardizing data formats.

[0184] Understandably, data preprocessing is a crucial step in model training. The accuracy of model predictions largely depends on the data used for training, and ensuring that the data is clean and does not interfere with the model is an important step in guaranteeing accurate predictions.

[0185] Through step S402, this embodiment successfully trained the model based on the preprocessed clean data and obtained the mapping result output by the model, laying the foundation for the subsequent establishment of a mapping library.

[0186] In one embodiment of the robotic arm reverse control method of this application, see [link to relevant documentation]. Figure 5 It can also specifically include the following:

[0187] Step S501: Perform feature extraction on the preprocessed operation signal data according to the preset feature extraction rules to determine the corresponding operation signal mapping relationship features;

[0188] Step S502: Train the preset decision tree model according to the operation signal mapping relationship features, and determine the operation signal mapping result output by the corresponding decision tree model.

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

[0190] As described above, the model is trained using the training set, its capabilities are initially evaluated using the validation set, and finally, the optimal model parameters are obtained using the test set. These parameters are then used to pass the parameters through the backpropagation algorithm to determine the final decision tree model.

[0191] Understandably, through the aforementioned model training process, the decision tree model can find complex mapping relationships between data based on the original data. Thus, the trained decision tree model can automatically generate mapping rules between operational signals and their inverse operations. These rules exist in the form of internal model parameters, and specific mapping results can be obtained through model inference.

[0192] Through step S502, this embodiment successfully extracted features from the preprocessed clean data and trained the model using the feature dataset, obtaining the model's predicted mapping results, laying the foundation for the subsequent establishment of a mapping database.

[0193] In one embodiment of the robotic arm reverse control method of this application, see [link to relevant documentation]. Figure 6 It can also specifically include the following:

[0194] Step S601: Verify the plotting point signals in the reverse path signal according to the preset plotting point list verification algorithm to determine the corresponding safe plotting point.

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

[0196] Optionally, in this embodiment, a preset point list verification algorithm is used. The system checks whether the current point is within the reachable range of the robotic arm, mainly by calculating the distance and angle from the robotic arm's end effector to the target point to determine its reachability. If a path point is found to be non-existent or unreachable, the system should immediately report an error and display the error message and location.

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

[0198] Specifically, the system pre-defines operation command parsing rules and verifies whether each operation command is applicable to the current state of the robotic arm (such as joint angles, end effector positions, etc.) and the plotted point position. This involves state machine or conditional judgment logic to parse the operation commands, ensuring that their syntax is correct, parameters are reasonable, and they conform to the robotic arm's control protocol.

[0199] If an incorrect operation command is detected, the system will provide a clear error message, including the command number, error type, and possible cause. Simultaneously, the system can replace the problematic command with a preset safety alternative command, ensuring the safety of the robotic arm.

[0200] Understandably, the above-mentioned anomaly handling mechanism can greatly improve the stability and safety of the robotic arm control system, ensuring that potential problems can be detected and dealt with in a timely manner during actual production.

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

[0202] To improve the automation and efficiency of robotic arm reverse control, this application provides an embodiment of a robotic arm reverse control device for implementing all or part of the aforementioned robotic arm reverse control method. See [link to embodiment]. Figure 7 The robotic arm reverse control device specifically includes the following components:

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

[0204] The reverse path signal generation module 20 is used to perform a copy operation on the forward path signal according to a preset copy function, verify the 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 order list in the copied forward path signal, reverse the path order list according to a preset reverse 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, and perform a mapping operation on the operation signal in the reverse path signal according to a preset operation signal mapping library to 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 plotting 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 terminal for the reverse control operation of the robotic arm.

[0206] As described above, the robotic arm reverse control device provided in this application can obtain the robotic arm forward path signal, perform a copy operation on the forward path signal according to a preset copy function to determine the corresponding copied forward path signal; obtain the path order list in the copied forward path signal, perform a reverse sorting operation on the path order list according to a preset reverse function to determine the corresponding reverse path signal; perform a mapping operation on the operation signal in the reverse path signal to determine the corresponding reverse path signal; perform a verification operation on the reverse path signal according to a preset plotting point list verification algorithm and a preset operation instruction parsing rule to determine the corresponding safe reverse path signal; and output the safe reverse path signal to the control terminal to perform robotic arm reverse control operation, thereby improving the automation and efficiency of robotic arm reverse control.

[0207] To verify the safety of the reverse path, in one embodiment of the robotic arm reverse control device of this application, see [reference needed]. Figure 8 The reverse path signal verification module 30 includes:

[0208] The safety tracing point confirmation unit 31 is used to perform a verification operation on the tracing point signal in the reverse path signal according to the preset tracing point list verification algorithm to determine the corresponding safety tracing point.

[0209] The safe operation confirmation unit 32 is used to verify the operation signal in the reverse path signal according to the preset operation instruction parsing rules, and determine the corresponding safe operation.

[0210] The safe reverse path signal confirmation unit 33 is used to determine the corresponding safe reverse path signal based on the safe mapping point and the safe operation.

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

[0212] The system comprises a processor, memory, a communications interface, and a bus; wherein the processor, memory, and communications interface communicate with each other via the bus; the communications interface is used to realize information transmission between the robotic arm reverse control method and core business systems, user terminals, and related databases and other related devices; the logic controller can be a desktop computer, tablet computer, or mobile terminal, etc., and this embodiment is not limited to these. In this embodiment, the logic controller can be implemented with reference to the embodiments of the robotic arm reverse control method in the present embodiment, and the contents of the embodiments of the robotic arm reverse control method are incorporated herein, and repeated details will not be described again.

[0213] It is understood that the user terminal may include smartphones, tablet computers, network set-top boxes, portable computers, desktop computers, personal digital assistants (PDAs), in-vehicle devices, smart wearable devices, etc. Among these, the smart wearable devices may include smart glasses, smartwatches, smart bracelets, etc.

[0214] In practical applications, the reverse control method of the robotic arm can be partially executed on the electronic device side as described above, or all operations can be completed in the client device. The choice can be made based on the processing power of the client device and the limitations of the user's usage scenario. This application does not impose any limitations on this. If all operations are completed in the client device, the client device may further include a processor.

[0215] The aforementioned client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission. The server may include a server on the task scheduling center side; in other implementation scenarios, it 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, a server cluster consisting of multiple servers, or a distributed server structure.

[0216] Figure 9 This is a schematic block diagram illustrating the system configuration of the electronic device 9600 according to an embodiment of this application. Figure 9 As shown, the electronic device 9600 may include a central processing unit 9100 and a memory 9140; the memory 9140 is coupled to the central processing unit 9100. It is worth noting that... Figure 9 This is an example; other types of structures can also be used to supplement or replace this structure to achieve telecommunications functions or other functions.

[0217] In one embodiment, the robotic arm reverse control method function 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: Obtain the forward path signal of the robotic arm, wherein the forward path signal includes a plotting point signal and an operation signal, the plotting point signal is used to define the travel path of the robotic arm, and the operation signal is used to define the action of the robotic 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 to determine the corresponding copied forward path signal; obtain a path order list in the copied forward path signal; perform a reverse sort operation on the path order list according to a preset reverse function to 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 to determine the corresponding reverse path signal.

[0220] Step S103: Verify the reverse path signal according to the preset point list verification algorithm and preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control terminal for the reverse control operation of the robotic arm.

[0221] As described above, the electronic device provided in this application embodiment obtains the forward path signal of the robotic arm, performs a copy operation on the forward path signal according to a preset copy function to determine the corresponding copied forward path signal; obtains the path order list in the copied forward path signal, performs a reverse sorting operation on the path order list according to a preset reverse function to determine the corresponding reverse path signal; performs a mapping operation on the operation signal in the reverse path signal to determine the corresponding reverse path signal; performs a verification operation on the reverse path signal according to a preset plotting 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 terminal to perform the reverse control operation of the robotic arm, thereby improving the automation and efficiency of the reverse control of the robotic arm.

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

[0223] like Figure 9As shown, the electronic device 9600 may further 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 need to include these components. Figure 9 All components shown; in addition, the electronic device 9600 may also include Figure 9 For components not shown, please refer to existing technologies.

[0224] like Figure 9 As shown, the central processing unit 9100, sometimes also referred to as a controller or operating control, may include a microprocessor or other processor device and / or logic device, which receives inputs 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, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It may store the aforementioned failure-related information, and also store a program for executing that information. The central processing unit 9100 may execute the program stored in the memory 9140 to perform information storage or processing, etc.

[0226] Input unit 9120 provides input to central processing unit 9100. Input unit 9120 may be, for example, a keypad or touch input device. Power supply 9170 provides power to electronic device 9600. Display 9160 displays images and text. Display may be, for example, an LCD display, but is not limited thereto.

[0227] The memory 9140 can be a solid-state memory, such as a read-only memory (ROM), random access memory (RAM), a SIM card, etc. It can also be a memory that retains information even when power is off, can be selectively erased, and contains more data; examples of this type of memory are sometimes referred to as EPROMs. The memory 9140 can 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 for storing application programs and function programs or processes for executing the operation of the electronic device 9600 via the central processing unit 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 the electronic device's communication functions and / or for performing 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 processing unit 9100 to provide input signals and receive output signals, which is the same as in a conventional mobile communication terminal.

[0230] Based on different communication technologies, multiple communication modules 9110 can be configured in the same electronic device, such as cellular network modules, Bluetooth modules, and / or wireless LAN modules. The communication module 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby realizing typical telecommunications functions. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. Furthermore, the audio processor 9130 is also coupled to a central processing unit 9100, enabling on-device recording via the microphone 9132 and on-device playback of stored sound via the speaker 9131.

[0231] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the robotic arm reverse control method with a server or client as the execution subject in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the robotic arm reverse control method with a server or client as the execution subject in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0232] Step S101: Obtain the forward path signal of the robotic arm, wherein the forward path signal includes a plotting point signal and an operation signal, the plotting point signal is used to define the travel path of the robotic arm, and the operation signal is used to define the action of the robotic 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 to determine the corresponding copied forward path signal; obtain a path order list in the copied forward path signal; perform a reverse sort operation on the path order list according to a preset reverse function to 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 to determine the corresponding reverse path signal.

[0234] Step S103: Verify the reverse path signal according to the preset point list verification algorithm and preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control terminal for the reverse control operation of the robotic arm.

[0235] As described above, the computer-readable storage medium provided in this application embodiment acquires the forward path signal of the robotic arm, performs a copy operation on the forward path signal according to a preset copy function to determine the corresponding copied forward path signal; acquires the path order list in the copied forward path signal, performs a reverse sorting operation on the path order list according to a preset reverse function to determine the corresponding reverse path signal; performs a mapping operation on the operation signals in the reverse path signal to determine the corresponding reverse path signal; performs a verification operation on the reverse path signal according to a preset plotting 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 terminal for the reverse control operation of the robotic arm, thereby improving the automation and efficiency of the reverse control of the robotic arm.

[0236] Embodiments of this application also provide a computer program product capable of implementing all steps in the robotic arm reverse control method with the execution subject being a server or client in the above embodiments. When this computer program / instruction is executed by a processor, it implements the steps of the robotic arm reverse control method. For example, the computer program / instruction implements the following steps:

[0237] Step S101: Obtain the forward path signal of the robotic arm, wherein the forward path signal includes a plotting point signal and an operation signal, the plotting point signal is used to define the travel path of the robotic arm, and the operation signal is used to define the action of the robotic 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 to determine the corresponding copied forward path signal; obtain a path order list in the copied forward path signal; perform a reverse sort operation on the path order list according to a preset reverse function to 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 to determine the corresponding reverse path signal.

[0239] Step S103: Verify the reverse path signal according to the preset point list verification algorithm and preset operation instruction parsing rules, determine the corresponding safe reverse path signal, and output the safe reverse path signal to the control terminal for the reverse control operation of the robotic arm.

[0240] As described above, the computer program product provided in this application embodiment obtains the forward path signal of the robotic arm, performs a copy operation on the forward path signal according to a preset copy function to determine the corresponding copied forward path signal; obtains the path order list in the copied forward path signal, performs a reverse sorting operation on the path order list according to a preset reverse function to determine the corresponding reverse path signal; performs a mapping operation on the operation signals in the reverse path signal to determine the corresponding reverse path signal; performs a verification operation on the reverse path signal according to a preset plotting 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 terminal to perform the reverse control operation of the robotic arm, thereby improving the automation and efficiency of the reverse control of the robotic arm.

[0241] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0243] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0244] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0245] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A method for reverse control of a motion mechanism, characterized in that, A processor applied to a motion mechanism, the processor being electrically connected to a control terminal of the motion mechanism, the method comprising: Acquire the forward path signal of the motion mechanism, wherein the forward path signal includes a plotting point signal and an operation signal, the plotting point signal is used to define the travel path of the motion mechanism, and the operation signal is used to define the action of the motion mechanism on the travel path; The forward path signal is copied according to a preset copy function. The copied forward path signal is then verified using a preset hash algorithm to determine the corresponding copied forward path signal. A path order list is obtained from the copied forward path signal. This path order list is then reversed using a preset inversion function to determine the corresponding inverted path signal. The inverted path signal is then sequentially traversed to determine the corresponding operation signal. Finally, the operation signal in the inverted path signal is mapped using a preset operation signal mapping library to 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 to determine the corresponding safe reverse path signal. The safe reverse path signal is then output to the control terminal for reverse control operation of the motion mechanism.

2. The reverse control method for a motion mechanism according to claim 1, characterized in that, Before acquiring the forward path signal of the motion mechanism, the following steps are included: The point-to-point signal is defined according to the working scenario of the motion mechanism, and the corresponding point-to-point signal is determined. The point-to-point signal includes at least one of the origin, safety point, target point and departure point. The operation signal is defined according to the working scenario of the motion mechanism, and the corresponding operation signal is determined. The plotting point signal is the triggering condition of the operation signal. The corresponding forward path signal of the motion mechanism is determined based on the plotting point signal and the operation signal.

3. The reverse control method for a motion mechanism according to claim 1, characterized in that, Before performing the mapping operation on the inverted path signal according to the preset operation signal mapping library and preset mapping rules to determine the corresponding reverse path signal, the process includes: Acquire historical operation signal information related to the business, train a preset decision tree model based on the historical operation signal information, and determine the operation signal mapping result output by the corresponding decision tree model. Based on the operation signal mapping results, a mapping library construction operation is performed to determine the corresponding operation signal mapping library.

4. The reverse control method for a motion mechanism according to claim 3, characterized in that, The step of training a preset decision tree model based on the historical operation signal information and determining the corresponding operation signal mapping result output by the decision tree model includes: The historical operation signal information is preprocessed according to a preset data preprocessing rule to determine the corresponding operation signal preprocessing data. The preset data preprocessing rule includes at least one of data cleaning, formatting, normalization, and missing value processing. The preset decision tree model is trained based on the preprocessed operation signal data to determine the corresponding operation signal mapping result output by the decision tree model.

5. The reverse control method for a motion mechanism according to claim 4, characterized in that, The step of training a preset decision tree model based on the preprocessed operation signal data and determining the corresponding operation signal mapping result output by the decision tree model includes: The operation signal preprocessing data is subjected to feature extraction operation according to the preset feature extraction rules to determine the corresponding operation signal mapping relationship features; The preset decision tree model is trained based on the characteristics of the operation signal mapping relationship to determine the operation signal mapping result output by the corresponding decision tree model.

6. The reverse control method for a motion mechanism according to claim 1, characterized in that, The step of verifying the reverse path signal according to the preset point list verification algorithm and preset operation instruction parsing rules to determine the corresponding safe reverse path signal includes: The verification algorithm of the preset plotting point list is used to verify the plotting point signals in the reverse path signal to determine the corresponding safe plotting point. The operation signals in the reverse path signal are verified according to the preset operation instruction parsing rules to determine the corresponding safe operation. The corresponding safe reverse path signal is determined based on the safe mapping point and the safe operation.

7. A reverse control device for a motion mechanism, characterized in that, The device includes: A forward path signal acquisition module is used to acquire forward path signals of a motion mechanism, wherein the forward path signal includes a plotting point signal and an operation signal, the plotting point signal is used to define the travel path of the motion mechanism, and the operation signal is used to define the action of the motion mechanism on the travel path; The reverse path signal generation module is used to perform a copy operation on the forward path signal according to a preset copy function, verify the 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 order list in the copied forward path signal, reverse the path order list according to a preset reversal 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, and perform a mapping operation on the operation signal in the reverse path signal according to a preset operation signal mapping library to determine the corresponding reverse path signal. The reverse path signal verification module is used to verify the reverse path signal according to the preset plotting 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 terminal for 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 includes: The safety tracing point confirmation unit is used to verify the tracing point signals in the reverse path signal according to the preset tracing point list verification algorithm, and determine the corresponding safety tracing point. The safe operation confirmation unit is used to verify the operation signal in the reverse path signal according to the preset operation instruction parsing rules, and determine the corresponding safe operation. A safe reverse path signal confirmation unit is used to determine the corresponding safe reverse path signal based on the safe mapping point and the safe 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, it implements the steps of the motion mechanism reverse control method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the motion mechanism reverse control method according to any one of claims 1 to 6.

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