Method and system for preventing seven-axis engraving robot from reaching singular point attitude

Abstract

The invention discloses a method and system for preventing a seven-axis engraving robot from reaching a singular point attitude, and relates to the technical field of industrial robots. The method comprises the steps that in a world mode, the distance between the position of the center point of a seven-axis carving robot tool and a singular point is monitored; when the center point of the cutter approaches or enters a singular point preset range, measures for avoiding singular points are automatically triggered, and the robot is prevented from passing through the singular points in a world mode; and when the seven-axis carving robot approaches or enters the singular point, the corresponding singular point icon is displayed so as to intuitively prompt an operator. Through switching between a joint mode and a world mode, the robot is effectively prevented from reaching a singular point in a complex path, and the motion stability and safety are improved; singular point multiplying power is reduced, the robot decelerates when approaching a singular point, and accidental movement is prevented; singular point icons are displayed, visual feedback is provided, operators are helped to recognize and take measures in time, potential safety hazards are reduced, and operation safety is improved.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, and in particular to a method and system for a seven-axis engraving robot to avoid reaching a singularity posture. Background Art

[0002] Singularity is a situation where the robot loses one or more degrees of freedom in a specific position or posture, which usually occurs when the robot's tool center point enters or approaches a singularity. This situation may cause the robot to move abnormally, or even stop moving or move in an unexpected way, posing a potential safety hazard to the robot itself and the working environment.

[0003] In the existing seven-axis engraving robot technology, although robot manufacturers have used programming and algorithms to avoid singularities, there are still some challenges. For example, when the robot moves from one position to another in the world coordinate system, it may inevitably pass through the singularity position. In addition, due to the existence of singularities, the movement speed of the robot in certain postures may become very fast, increasing the control difficulty and safety risks. Summary of the invention

[0004] Based on the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a method and system for a seven-axis engraving robot to avoid reaching a singularity point posture, so as to solve the above-mentioned technical problems.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for a seven-axis engraving robot to avoid reaching a singular point posture, comprising: S1: In world mode, monitor the distance between the position of the tool center point of the seven-axis engraving robot and the singular point; S2: When the tool center point approaches or enters the preset range of the singularity point, the measures to avoid the singularity point are automatically triggered to prevent the robot from passing through the singularity point in world mode; S3: When the seven-axis engraving robot approaches or enters a singular point, the corresponding singular point icon is displayed to intuitively prompt the operator.

[0006] The present invention is further configured to avoid singularity points, including: using G code G100X_Y_Z_...S to switch the seven-axis engraving robot to joint mode, and executing the instructions of the world mode through the running trajectory of the joint mode to avoid the center point of the robot tool passing through the singularity point.

[0007] The present invention is further configured to take measures to avoid singularity points, and also includes: when it is detected that the robot posture is about to reach the singularity point, the singularity point magnification is automatically reduced to gradually reduce the cutting speed. As the robot gets closer to the singularity point, the magnification is reduced more to avoid accidents of the robot at the singularity point.

[0008] The present invention is further configured that the method further comprises: When the robot is running in world mode, take the positions of 50 points in each block of the world mode; Convert the position trajectory of 50 points into the position trajectory of the joint mode and calibrate the world mode position; Set a threshold parameter. When the distance between the position of two points in the world mode converted to the position of the joint mode exceeds the set threshold parameter, it is determined that the robot will reach a singularity point and the magnification is reduced to 0.01 of the original speed. The threshold parameter includes 180 degrees or greater than 180 degrees. When it is determined that the singularity point has been reached, the robot cannot move in the world mode, so it switches to the joint mode and moves away from the singularity point in the joint mode.

[0009] The present invention is further configured such that the singularity point icons include wrist singularity points, elbow singularity points and shoulder singularity points, and each type of singularity point corresponds to a unique icon design. When the robot approaches or enters a preset range of a singularity point, the corresponding singularity point icon will be automatically triggered to display, providing instant visual feedback.

[0010] The present invention is further configured such that the measures for avoiding singularity points can be used alone or in combination to ensure safe and stable operation of the robot in world mode.

[0011] The present invention also provides a seven-axis engraving robot posture system for avoiding reaching a singular point, the system comprising: Monitoring module: In world mode, monitor the distance between the position of the tool center point of the seven-axis engraving robot and the singular point; Trigger module: When the tool center point approaches or enters the preset range of the singularity point, it automatically triggers measures to avoid the singularity point to prevent the robot from passing through the singularity point in world mode; Prompt module: When the seven-axis engraving robot approaches or enters a singularity point, the corresponding singularity point icon is displayed to intuitively prompt the operator.

[0012] The present invention provides a method and system for a seven-axis engraving robot to avoid reaching a singular point. The method monitors the distance between the position of the tool center point of the seven-axis engraving robot and the singular point in a world mode; when the tool center point approaches or enters a preset range of the singular point, a measure to avoid the singular point is automatically triggered to prevent the robot from passing through the singular point in the world mode; when the seven-axis engraving robot approaches or enters a singular point, a corresponding singular point icon is displayed to intuitively prompt an operator, and the beneficial effects produced include: By combining the switching of joint mode and world mode, it is possible to ensure that the robot can effectively avoid singular points when running complex paths, and prevent the robot from losing freedom in a specific position or posture. This method of avoiding singular point posture improves the robot's motion stability and safety, and reduces the risk of abnormal robot motion or stoppage caused by singular points; By reducing the singularity magnification, the robot gradually reduces the cutting speed when approaching the singularity, thus avoiding unexpected or unpredictable movements of the robot near the singularity. This speed control strategy not only protects the robot itself, but also ensures the safety of the working environment and reduces potential safety hazards. The way of displaying the singularity point icon provides intuitive and fast feedback to the operator. When the robot approaches or enters the singularity point, the corresponding singularity point icon will be triggered and displayed, allowing the operator to quickly identify and take corresponding measures. This visual prompt method improves the operator's vigilance and reduces the safety risks caused by negligence or misoperation.

[0013] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings: Figure 1 A flowchart of a method for a seven-axis engraving robot to avoid reaching a singular point posture is shown as an exemplary embodiment of the present invention; Figure 2 This is an icon design diagram corresponding to a wrist singularity point shown in an exemplary embodiment of the present invention; Figure 3 A state diagram showing a robot reaching a wrist singularity point position according to an exemplary embodiment of the present invention; Figure 4 An icon design diagram corresponding to a shoulder singular point shown in an exemplary embodiment of the present invention; Figure 5 A state diagram showing a robot reaching a shoulder singularity point position according to an exemplary embodiment of the present invention; Figure 6 An icon design diagram corresponding to an elbow singular point shown in an exemplary embodiment of the present invention; Figure 7 A state diagram showing a robot reaching an elbow singularity point position according to an exemplary embodiment of the present invention; Figure 8 The present invention is a schematic structural diagram of a seven-axis engraving robot posture system for avoiding reaching singularity points, shown as an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0015] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0016] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0017] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0018] Embodiment 1 A method for seven-axis engraving robot to avoid reaching singularity points. Figure 1 As shown, including: S1: In world mode, monitor the distance between the position of the tool center point of the seven-axis engraving robot and the singular point; S2: When the tool center point approaches or enters the preset range of the singularity point, the measures to avoid the singularity point are automatically triggered to prevent the robot from passing through the singularity point in world mode; S3: When the seven-axis engraving robot approaches or enters a singular point, the corresponding singular point icon is displayed to intuitively prompt the operator.

[0019] Specifically, the seven-axis engraving robot has joint mode (G112) and world mode (G111 or G117). In joint mode, the robot will not have restrictions. In world mode, the robot will have a singularity point, which is a specific point when the robot is cutting, which will cause the robot to lose one or more degrees of freedom. When the robot's tool center point enters or approaches the singularity point (5 degrees), the robot will stop moving or move in an unexpected way; The present invention is further configured to take measures to avoid singularity points, including: using G code G100X_Y_Z_...S to switch the seven-axis engraving robot to joint mode, and executing the instructions of the world mode through the running trajectory of the joint mode to avoid the robot tool center point passing through the singularity point. Specifically, 2. When the seven-axis engraving robot is in the world coordinate system, when the robot moves from one position to another, it may pass through the position of the singularity point. At this time, the speed of the robot will become very fast. We can switch to joint mode (S is the mode of the robot) by using G code G100X_Y_Z_...S, and run the world mode code through the running trajectory of the joint mode. Then we can avoid passing through the singularity point in the world mode; The present invention is further configured such that measures to avoid singularity points also include: when it is detected that the robot posture is about to reach the singularity point, the singularity magnification is automatically reduced to gradually reduce the cutting speed. As the robot is closer to the singularity point, the magnification is reduced more to avoid accidents with the robot at the singularity point. Specifically, under normal circumstances, general cutting files will avoid reaching the singularity point, but in order to avoid mistakes or other unexpected situations, for safety, our system will reduce the singularity magnification when it detects that the robot posture is about to reach the singularity point, so that the cutting speed is reduced. The closer to the singularity point, the slower the magnification will be until it almost stops, avoiding unexpected problems and dangers of the robot at the singularity point.

[0020] The present invention is further configured that the method further comprises: When the robot is running in world mode, take the positions of 50 points in each block of the world mode; Convert the position trajectory of 50 points into the position trajectory of the joint mode and calibrate the world mode position; Set a threshold parameter. When the distance between the position of two points in the world mode converted to the position of the joint mode exceeds the set threshold parameter, it is determined that the robot will reach a singularity point and the magnification is reduced to 0.01 of the original speed. The threshold parameter includes 180 degrees or greater than 180 degrees. When it is determined that the singularity point has been reached, the robot cannot move in the world mode, so it switches to the joint mode and moves away from the singularity point in the joint mode.

[0021] like Figure 3-7As shown, the present invention is further configured such that the singularity point icons include wrist singularity points, elbow singularity points and shoulder singularity points, each type of singularity point corresponds to a unique icon design, and when the robot approaches or enters a preset range of a singularity point, the corresponding singularity point icon will be automatically triggered to display, providing instant visual feedback.

[0022] The present invention is further configured such that the measures for avoiding singular points can be used alone or in combination to ensure the safe and stable operation of the robot in the world mode. Specifically, the measures for avoiding singular points can be used alone or in combination according to actual application requirements. By flexibly selecting and applying these measures, the safe and stable operation of the robot in the world mode can be ensured to the greatest extent, while improving the execution efficiency and quality of the engraving task.

[0023] Embodiment 2 See also Figure 8 , the exemplary seven-axis engraving robot avoiding reaching singularity posture system comprises: Monitoring module: In world mode, monitor the distance between the position of the tool center point of the seven-axis engraving robot and the singular point; Trigger module: When the tool center point approaches or enters the preset range of the singularity point, it automatically triggers measures to avoid the singularity point to prevent the robot from passing through the singularity point in world mode; Prompt module: When the seven-axis engraving robot approaches or enters a singularity point, the corresponding singularity point icon is displayed to intuitively prompt the operator.

[0024] It should be noted that the seven-axis engraving robot posture system for avoiding reaching a singular point provided in the above embodiment and the seven-axis engraving robot posture method for avoiding reaching a singular point provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the seven-axis engraving robot posture system for avoiding reaching a singular point provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0025] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0026] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0027] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0028] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0029] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0030] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0031] In the several embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0032] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0033] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0034] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0035] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for a seven-axis engraving robot to avoid reaching a singular point posture, characterized in that: include: S1: In world mode, monitor the distance between the position of the tool center point of the seven-axis engraving robot and the singular point; S2: When the tool center point approaches or enters the preset range of the singularity point, the measures to avoid the singularity point are automatically triggered to prevent the robot from passing through the singularity point in world mode; S3: When the seven-axis engraving robot approaches or enters a singular point, the corresponding singular point icon is displayed to intuitively prompt the operator.

2. A method for avoiding reaching singularity points of a seven-axis engraving robot according to claim 1, characterized in that: Measures to avoid singularity points include: using G code G100X_Y_Z_...S to switch the seven-axis engraving robot to joint mode, and executing the world mode instructions through the running trajectory of the joint mode to avoid the robot tool center point passing through the singularity point.

3. A method for avoiding reaching singularity points of a seven-axis engraving robot according to claim 1, characterized in that: Measures to avoid singularity points also include: when it is detected that the robot posture is about to reach the singularity point, the singularity point magnification is automatically reduced to gradually reduce the cutting speed. As the robot gets closer to the singularity point, the magnification is reduced more to avoid accidents at the singularity point.

4. A method for avoiding reaching singularity points of a seven-axis engraving robot according to claim 2 or 3, characterized in that: The method further comprises: When the robot is running in world mode, take the positions of 50 points in each block of the world mode; Convert the position trajectory of 50 points into the position trajectory of the joint mode and calibrate the world mode position; Set a threshold parameter. When the distance between the position of two points in the world mode converted to the position of the joint mode exceeds the set threshold parameter, it is determined that the robot will reach a singularity point and the magnification is reduced to 0.01 of the original speed. The threshold parameter includes 180 degrees or greater than 180 degrees. When it is determined that the singularity point has been reached, the robot cannot move in the world mode, so it switches to the joint mode and moves away from the singularity point in the joint mode.

5. A method for avoiding reaching singularity points of a seven-axis engraving robot according to claim 1, characterized in that: The singularity point icons include wrist singularity points, elbow singularity points and shoulder singularity points. Each type of singularity point corresponds to a unique icon design. When the robot approaches or enters the preset range of the singularity point, the corresponding singularity point icon will be automatically triggered to provide instant visual feedback.

6. A method for avoiding reaching singularity points of a seven-axis engraving robot according to claim 2 or 3, characterized in that: The measures for avoiding singularity points can be used individually or in combination to ensure the safe and stable operation of the robot in the world mode.

7. A seven-axis engraving robot posture system for avoiding reaching singularity points, characterized in that: include: Monitoring module: In world mode, monitor the distance between the position of the tool center point of the seven-axis engraving robot and the singular point; Trigger module: When the tool center point approaches or enters the preset range of the singularity point, it automatically triggers measures to avoid the singularity point to prevent the robot from passing through the singularity point in world mode; Prompt module: When the seven-axis engraving robot approaches or enters a singularity point, the corresponding singularity point icon is displayed to intuitively prompt the operator.

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