Multi-degree-of-freedom ground rail robot external shaft linkage control method, device, equipment, medium and product

Abstract

The invention relates to the technical field of intelligent equipment, in particular to a multi-degree-of-freedom ground rail robot external shaft linkage control method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps that in response to starting of target equipment, to-be-processed welding track information is obtained; task information to be processed is acquired, and pose parameters of an end effector of the target equipment are determined according to the task information; acquiring a preset initial relative position of the target device and a target object and an initial position of a redundant degree of freedom; and on the basis of the initial relative position, the initial position of the redundant degree of freedom and the pose parameters, joint control information of each welding discrete point is calculated in sequence, and linkage control information of the target equipment is obtained. According to the method, equipment linkage control of the welding machine in the whole process can be achieved, and the overall control efficiency of the equipment can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent device technology, and in particular to a method, device, computer equipment, storage medium and computer program product for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot. Background Art

[0002] A welding robot is an automated device specifically used for welding operations, usually used in industrial manufacturing environments. Its main function is to replace manual welding to improve the efficiency, accuracy and consistency of the welding process. In application, welding robots can work continuously without being affected by fatigue, greatly improving production speed; welding has high accuracy and good consistency, reducing human errors and making the quality of welded joints more stable; the use of robots can reduce dependence on manual labor, thereby reducing labor costs and management overhead caused by workers entering and exiting; the welding process is usually accompanied by high temperatures and harmful fumes. The use of robots can put human workers in a safer working environment and reduce the risk of work-related injuries; modern welding robots can be programmed according to different welding requirements and adapt to a variety of welding processes (such as MIG, TIG, spot welding, etc.). Welding robots also have the advantages of improving production efficiency, improving welding quality, reducing labor costs, increasing safety, flexibility and programmability. With its high efficiency, precision and safety, they are widely used in automobile manufacturing, shipbuilding, electronic equipment and many other industries.

[0003] In the related technology, the welding robot usually includes a robotic arm, welding tools, a control system, a support structure, and a feedback sensor system. Among them, the robotic arm is the core part of the welding robot, which is usually composed of multiple joints and connecting rods to provide a flexible range of motion. The movement of the robotic arm can be linear, rotational, or form a specific trajectory. At present, in the field of welding of steel structures such as bridges and ships, there are usually scenes with large workpiece sizes and long welds. The welding robot needs to be mounted on external axis structures such as ground rails to achieve a larger working range. Based on the existing control logic on the market, the robot's 6 degrees of freedom are usually calculated inversely separately. The external axis of the ground rail needs to be moved to a certain place before the robot performs welding and other operations.

[0004] However, the current welding robot control method has the following technical problems:

[0005] In existing robot control, when it is necessary to control a robot with redundant degrees of freedom, a large number of solutions that can achieve characteristic end-point postures will appear, resulting in complex calculations and reduced device stability. Summary of the invention

[0006] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product for external axis linkage control of a multi-degree-of-freedom rail robot, which can reduce the operation anomalies caused by redundant degrees of freedom and improve the stability of equipment control in response to the above-mentioned technical problems.

[0007] In a first aspect, the present application provides a method for controlling the external axis linkage of a multi-degree-of-freedom ground-rail robot. The method comprises:

[0008] In response to the start-up of the target device, obtaining welding trajectory information to be processed, wherein the welding trajectory information includes welding discrete point information;

[0009] Acquire task information to be processed, and determine the position and posture parameters of the end effector of the target device according to the task information;

[0010] Acquiring a preset initial relative position of the target device and the target object and an initial position of redundant degrees of freedom;

[0011] Based on the initial relative position, the initial position of the redundant degrees of freedom and the posture parameters, the joint control information of each of the welding discrete points is solved in sequence to obtain the linkage control information of the target device.

[0012] In one embodiment, in response to the start-up of the target device, the welding trajectory information to be processed is obtained, and the welding trajectory information includes welding discrete point information including:

[0013] Calling the visual system of the target device to obtain image information of the target object;

[0014] A welding trajectory of the target object is determined based on the image information.

[0015] In one embodiment, the step of sequentially solving the joint control information of each of the welding discrete points based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters to obtain the linkage control information of the target device includes:

[0016] The debugging experience parameters of the target device are obtained, and the joint control information of the current welding discrete point is determined according to the debugging experience parameters and the joint control information of the previous welding discrete point, wherein the joint control information includes the moving coordinates of the redundant degrees of freedom, as shown in the following formula:

[0017] V k = KP*(fabs(x k-1 -X k-1 )-Δx)+KD*(0-V k-1 )

[0018] Among them, KP and KD are the debugging experience parameters, x k-1 is the welding starting point of the welding discrete point mentioned above, X k-1 is the ground track coordinate of the above-mentioned discrete welding point, Δx is the relative position of the above-mentioned discrete welding point, V k-1 is the moving speed of the redundant joints of the welding discrete points mentioned above.

[0019] In one embodiment, after successively solving the joint control information of each of the welding discrete points based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters to obtain the linkage control information of the target device, the method further includes:

[0020] Performing simulation verification on the linkage control information;

[0021] In response to the linkage control information simulation verification being passed, the linkage control information is sent to the target device.

[0022] In one embodiment, after successively solving the joint control information of each of the welding discrete points based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters to obtain the linkage control information of the target device, the method further includes:

[0023] Acquiring sensor feedback information of the target device;

[0024] Feedback correction is performed on the linkage control information according to the sensor feedback information.

[0025] In one embodiment, the step of sequentially solving the joint control information of each of the welding discrete points based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters to obtain the linkage control information of the target device includes:

[0026] Based on the joint control information of the continuous welding discrete points, motion planning processing is performed on the robot body joints and redundant degrees of freedom of the target device, and the motion planning processing is implemented based on a preset motion planning algorithm;

[0027] The linkage control information processed by applying motion planning is used to perform linkage control on the target device.

[0028] In a second aspect, the present application also provides a multi-degree-of-freedom ground rail robot external axis linkage control device. The device comprises:

[0029] A welding trajectory module, used for acquiring welding trajectory information to be processed in response to the start-up of the target device, wherein the welding trajectory information includes welding discrete point information;

[0030] A posture parameter module, used to obtain task information to be processed, and determine the posture parameters of the end effector of the target device according to the task information;

[0031] An initial position module, used to obtain a preset initial relative position between the target device and the target object and an initial position of redundant degrees of freedom;

[0032] The linkage control module is used to solve the joint control information of each of the welding discrete points in turn based on the initial relative position, the initial position of the redundant degrees of freedom and the posture parameters to obtain the linkage control information of the target device.

[0033] In one embodiment, the welding trajectory module is further used for:

[0034] Calling the visual system of the target device to obtain image information of the target object;

[0035] A welding trajectory of the target object is determined based on the image information.

[0036] In one embodiment, the linkage control module is further used for:

[0037] The debugging experience parameters of the target device are obtained, and the joint control information of the current welding discrete point is determined according to the debugging experience parameters and the joint control information of the previous welding discrete point, wherein the joint control information includes the moving coordinates of the redundant degrees of freedom, as shown in the following formula:

[0038] V k = KP*(fabs(x k-1 -X k-1 )-Δx)+KD*(0-V k-1 )

[0039] Among them, KP and KD are the debugging experience parameters, x k-1 is the welding starting point of the welding discrete point mentioned above, X k-1 is the ground track coordinate of the above-mentioned discrete welding point, Δx is the relative position of the above-mentioned discrete welding point, V k-1 is the moving speed of the redundant joints of the welding discrete points mentioned above.

[0040] In one embodiment, the linkage control module is further used for:

[0041] Performing simulation verification on the linkage control information;

[0042] In response to the linkage control information simulation verification being passed, the linkage control information is sent to the target device.

[0043] In one embodiment, the linkage control module is further used for:

[0044] Acquiring sensor feedback information of the target device;

[0045] Feedback correction is performed on the linkage control information according to the sensor feedback information.

[0046] In one embodiment, the linkage control module is further used for:

[0047] Based on the joint control information of the continuous welding discrete points, motion planning processing is performed on the robot body joints and redundant degrees of freedom of the target device, and the motion planning processing is implemented based on a preset motion planning algorithm;

[0048] The linkage control information processed by applying motion planning is used to perform linkage control on the target device.

[0049] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps in the external axis linkage control method of a multi-degree-of-freedom ground rail robot as described in any embodiment of the first aspect when executing the computer program.

[0050] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the external axis linkage control method of a multi-degree-of-freedom ground rail robot as described in any one of the embodiments in the first aspect.

[0051] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps in the external axis linkage control method of a multi-degree-of-freedom ground rail robot as described in any one of the embodiments in the first aspect.

[0052] The above-mentioned method, device, computer equipment, storage medium and computer program product for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot can achieve the beneficial effects of the technical problems in the corresponding background technology by deducing the technical features in the exclusive right:

[0053] The present application provides a method for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot, the method comprising: in response to the start of a target device, obtaining welding trajectory information to be processed, the welding trajectory information including welding discrete point information; obtaining task information to be processed, and determining the posture parameters of the end effector of the target device according to the task information; obtaining the preset initial relative position of the target device and the target object and the initial position of the redundant degrees of freedom; based on the initial relative position, the initial position of the redundant degrees of freedom and the posture parameters, solving the joint control information of each welding discrete point in turn to obtain the linkage control information of the target device. In implementation, according to the task information of the welding task, the posture parameters of the end effector are determined, so as to help determine the relative position relationship between the redundant degrees of freedom and the robot body, so that the inverse solution can be performed according to the six degrees of freedom of the robot body to obtain the angles of each joint of the robot, and the corresponding solution steps can be applied to several welding discrete points on the welding trajectory, and finally the equipment linkage control of the whole welding machine can be realized, which helps to improve the overall control efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 This is an application environment diagram of an external axis linkage control method for a multi-degree-of-freedom ground rail robot in one embodiment;

[0056] Figure 2 It is a schematic diagram of a first flow chart of an external axis linkage control method of a multi-degree-of-freedom ground rail robot in one embodiment;

[0057] Figure 3 It is a second flow chart of a method for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot in another embodiment;

[0058] Figure 4 A third flow chart of an external axis linkage control method for a multi-degree-of-freedom ground rail robot in another embodiment;

[0059] Figure 5 A fourth flow chart of a method for controlling external axis linkage of a multi-degree-of-freedom ground rail robot in another embodiment;

[0060] Figure 6A fifth flow chart of an external axis linkage control method for a multi-degree-of-freedom ground rail robot in another embodiment;

[0061] Figure 7 A sixth flow chart of an external axis linkage control method for a multi-degree-of-freedom ground rail robot in another embodiment;

[0062] Figure 8 It is a structural block diagram of an external axis linkage control device of a multi-degree-of-freedom ground rail robot in one embodiment;

[0063] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0065] In the related technology, the welding robot usually includes a robotic arm, welding tools, a control system, a support structure, and a feedback sensor system. Among them, the robotic arm is the core part of the welding robot, which is usually composed of multiple joints and connecting rods to provide a flexible range of motion. The movement of the robotic arm can be linear, rotational, or form a specific trajectory. At present, in the field of welding of steel structures such as bridges and ships, there are usually scenes with large workpiece sizes and long welds. The welding robot needs to be mounted on external axis structures such as ground rails to achieve a larger working range. Based on the existing control logic on the market, the robot's 6 degrees of freedom are usually calculated inversely separately. The external axis of the ground rail needs to be moved to a certain place before the robot performs welding and other operations.

[0066] However, the current welding robot control method has the following technical problems:

[0067] In existing robot control, when it is necessary to control a robot with redundant degrees of freedom, a large number of solutions that can achieve characteristic end-point postures will appear, resulting in complex calculations and reduced device stability.

[0068] Based on this, the embodiment of the present application provides a method for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot. The embodiment of the present application provides a method for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot, which can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server 104 can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0069] In one embodiment, Figure 2 As shown, a method for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot is provided. Figure 1 The terminal in is used as an example to illustrate, including the following steps:

[0070] Step 202: in response to the start-up of the target device, obtaining welding trajectory information to be processed, wherein the welding trajectory information includes welding discrete point information;

[0071] Step 204: Acquire task information to be processed, and determine the position and posture parameters of the end effector of the target device according to the task information;

[0072] Step 206: Acquire the preset initial relative position between the target device and the target object and the initial position of the redundant degrees of freedom;

[0073] Step 208: Based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters, the joint control information of each of the welding discrete points is solved in turn to obtain the linkage control information of the target device.

[0074] In the above-mentioned external axis linkage control method of a multi-degree-of-freedom ground rail robot, reasonable deduction is performed in combination with the technical features in the embodiment to achieve the beneficial effect of solving the technical problems raised in the background technology:

[0075] The present application provides a method for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot, the method comprising: in response to the start of a target device, obtaining welding trajectory information to be processed, the welding trajectory information including welding discrete point information; obtaining task information to be processed, and determining the posture parameters of the end effector of the target device according to the task information; obtaining the preset initial relative position of the target device and the target object and the initial position of the redundant degrees of freedom; based on the initial relative position, the initial position of the redundant degrees of freedom and the posture parameters, solving the joint control information of each welding discrete point in turn to obtain the linkage control information of the target device. In implementation, according to the task information of the welding task, the posture parameters of the end effector are determined, so as to help determine the relative position relationship between the redundant degrees of freedom and the robot body, so that the inverse solution can be performed according to the six degrees of freedom of the robot body to obtain the angles of each joint of the robot, and the corresponding solution steps can be applied to several welding discrete points on the welding trajectory, and finally the equipment linkage control of the whole welding machine can be realized, which helps to improve the overall control efficiency of the equipment.

[0076] In one embodiment, the Figure 3 As shown, step 202 includes:

[0077] Step 302: calling the visual system of the target device to obtain image information of the target object;

[0078] Step 304: Determine a welding trajectory of the target object based on the image information.

[0079] In this embodiment, the image information of the target object can be acquired through the visual system, so that the welding trajectory of the target object can be determined according to the image information, which helps to improve the processing efficiency of the welding task.

[0080] In one embodiment, the Figure 4 As shown, step 208 includes:

[0081] Step 402: Obtain debugging experience parameters of the target device, and determine the joint control information of the current welding discrete point according to the debugging experience parameters and the joint control information of the previous welding discrete point, wherein the joint control information includes the moving coordinates of the redundant degrees of freedom, as shown in the following formula:

[0082] V k = KP*(fabs(x k-1 -X k-1 )-Δx)+KD*(0-V k-1 )

[0083] Among them, KP and KD are the debugging experience parameters, x k-1is the welding starting point of the welding discrete point mentioned above, X k-1 is the ground track coordinate of the above-mentioned discrete welding point, Δx is the relative position of the above-mentioned discrete welding point, V k-1 is the moving speed of the redundant joints of the welding discrete points mentioned above.

[0084] In this embodiment, debugging experience parameters are introduced in determining linkage control information. The debugging experience parameters can introduce factors such as equipment field experience, historical data and experimental results into the generation of linkage control information, thereby improving the accuracy of linkage control information.

[0085] In one embodiment, the Figure 5 As shown, after step 208, the following further includes:

[0086] Step 502: Perform simulation verification on the linkage control information;

[0087] Step 504: In response to the linkage control information simulation verification being passed, the linkage control information is sent to the target device.

[0088] In this embodiment, after the linkage control information is acquired, simulation verification is performed on the linkage control information, which helps to improve the application stability of the linkage control information.

[0089] In one embodiment, the Figure 6 As shown, after step 208, the following further includes:

[0090] Step 602: Acquire sensor feedback information of the target device;

[0091] Step 604: performing feedback correction on the linkage control information according to the sensor feedback information.

[0092] In this embodiment, feedback correction is performed on the linkage control information according to the sensor feedback information of the target device, which helps to improve the control stability of the linkage information.

[0093] In one embodiment, the Figure 7 As shown, step 208 includes:

[0094] Step 702: Based on the joint control information of the continuous welding discrete points, motion planning processing is performed on the robot body joints and redundant degrees of freedom of the target device, and the motion planning processing is implemented based on a preset motion planning algorithm;

[0095] Step 704: Apply the linkage control information processed by motion planning to perform linkage control on the target device.

[0096] In this embodiment, according to the linkage control information of each discrete point, the joint position of each discrete point is subjected to motion planning simulation, which helps to improve the smoothness of the joint transition between each discrete point.

[0097] In a specific embodiment, for a welding robot workstation with the ground rail in the X direction, first set a relative position Δp=[Δx,Δy,Δz] between the robot origin and the welding point. Generally, in this state, the angles of each joint of the robot are far away from the limit and can satisfy a large range of welding operations in the Cartesian space. According to the robot welding starting point P0=[x0,y0,z0], the ground rail moves to the position X0=x0-Δx, and the initial speed of the ground rail is set to V0=0. The position of the welding starting point in the robot base coordinate system is P0'=[Δx,y0,z0]. According to the welding posture requirements of the process, the posture of the welding gun at the welding starting point in the robot base coordinate system can be calculated as T0'. According to the inverse solution of the robot's 6 degrees of freedom, the angles of each joint of the robot q0=RobIK(T0') can be calculated, and the robot is moved to the arc starting point;

[0098] According to each discrete point, when the robot is at the kth discrete point, the ground track movement coordinates are first calculated:

[0099] Vk= KP*(fabs(xk-1-Xk-1)-Δx)+KD*(0-Vk-1)

[0100] Xk=Xk-1+Vk

[0101] Among them, KP and KD are debugging experience parameters.

[0102] The position of the welding point Pk in the robot base coordinate system is Pk'=[xk-Xk, yk, zk]. Tk' is calculated according to the welding posture requirements of the process. The joint angles of the robot qk=RobIK(Tk') can be calculated according to the inverse solution of the robot's 6 degrees of freedom.

[0103] The calculation steps are repeated until all discrete points of the entire weld are calculated;

[0104] Perform motion planning simulation of the entire welding robot with external axes of the ground rail to ensure the continuity of each joint angle, and send it to the robot controller to execute the action.

[0105] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0106] Based on the same inventive concept, the embodiment of the present application also provides a multi-degree-of-freedom ground rail robot external axis linkage control device for implementing the above-mentioned multi-degree-of-freedom ground rail robot external axis linkage control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the multi-degree-of-freedom ground rail robot external axis linkage control device provided below can refer to the above-mentioned limitations on the multi-degree-of-freedom ground rail robot external axis linkage control method, and will not be repeated here.

[0107] In one embodiment, Figure 8 As shown, a multi-degree-of-freedom ground rail robot external axis linkage control device is provided, including: a welding trajectory module, a posture parameter module, an initial position module and a linkage control module, wherein:

[0108] A welding trajectory module, used for acquiring welding trajectory information to be processed in response to the start-up of the target device, wherein the welding trajectory information includes welding discrete point information;

[0109] A posture parameter module, used to obtain task information to be processed, and determine the posture parameters of the end effector of the target device according to the task information;

[0110] An initial position module, used to obtain a preset initial relative position between the target device and the target object and an initial position of redundant degrees of freedom;

[0111] The linkage control module is used to solve the joint control information of each of the welding discrete points in turn based on the initial relative position, the initial position of the redundant degrees of freedom and the posture parameters to obtain the linkage control information of the target device.

[0112] In one embodiment, the welding trajectory module is further used for:

[0113] Calling the visual system of the target device to obtain image information of the target object;

[0114] A welding trajectory of the target object is determined based on the image information.

[0115] In one embodiment, the linkage control module is further used for:

[0116] The debugging experience parameters of the target device are obtained, and the joint control information of the current welding discrete point is determined according to the debugging experience parameters and the joint control information of the previous welding discrete point, wherein the joint control information includes the moving coordinates of the redundant degrees of freedom, as shown in the following formula:

[0117] V k = KP*(fabs(x k-1 -X k-1 )-Δx)+KD*(0-V k-1 )

[0118] Among them, KP and KD are the debugging experience parameters, x k-1 is the welding starting point of the welding discrete point mentioned above, X k-1 is the ground track coordinate of the above-mentioned discrete welding point, Δx is the relative position of the above-mentioned discrete welding point, V k-1 is the moving speed of the redundant joints of the welding discrete points mentioned above.

[0119] In one embodiment, the linkage control module is further used for:

[0120] Performing simulation verification on the linkage control information;

[0121] In response to the linkage control information simulation verification being passed, the linkage control information is sent to the target device.

[0122] In one embodiment, the linkage control module is further used for:

[0123] Acquiring sensor feedback information of the target device;

[0124] Feedback correction is performed on the linkage control information according to the sensor feedback information.

[0125] In one embodiment, the linkage control module is further used for:

[0126] Based on the joint control information of the continuous welding discrete points, motion planning processing is performed on the robot body joints and redundant degrees of freedom of the target device, and the motion planning processing is implemented based on a preset motion planning algorithm;

[0127] The linkage control information processed by applying motion planning is used to perform linkage control on the target device.

[0128] Each module in the above-mentioned multi-degree-of-freedom ground rail robot external axis linkage control device can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

[0129] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for controlling the external axis linkage of a multi-degree-of-freedom ground rail robot is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0130] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0131] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0132] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0133] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0134] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0135] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0136] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling the external axis linkage of a multi-degree-of-freedom ground-rail robot, characterized in that: The method comprises: In response to the start-up of the target device, obtaining welding trajectory information to be processed, wherein the welding trajectory information includes welding discrete point information; Acquire task information to be processed, and determine the position and posture parameters of the end effector of the target device according to the task information; Acquiring a preset initial relative position of the target device and the target object and an initial position of redundant degrees of freedom; Based on the initial relative position, the initial position of the redundant degrees of freedom and the posture parameters, the joint control information of each of the welding discrete points is solved in sequence to obtain the linkage control information of the target device.

2. The method according to claim 1, characterized in that: In response to the start-up of the target device, the welding trajectory information to be processed is obtained, and the welding trajectory information includes welding discrete point information including: Calling the visual system of the target device to obtain image information of the target object; A welding trajectory of the target object is determined based on the image information.

3. The method according to claim 1, characterized in that The step of sequentially solving the joint control information of each of the welding discrete points based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters to obtain the linkage control information of the target device includes: The debugging experience parameters of the target device are obtained, and the joint control information of the current welding discrete point is determined according to the debugging experience parameters and the joint control information of the previous welding discrete point, wherein the joint control information includes the moving coordinates of the redundant degrees of freedom, as shown in the following formula: V k = KP*(fabs(x k-1 -X k-1 )-Δx)+KD*(0-V k-1 ) Among them, KP and KD are the debugging experience parameters, x k-1 is the welding starting point of the welding discrete point mentioned above, X k-1 is the ground track coordinate of the above-mentioned discrete welding point, Δx is the relative position of the above-mentioned discrete welding point, V k-1 is the moving speed of the redundant joints of the welding discrete points mentioned above.

4. The method according to claim 1, characterized in that After successively solving the joint control information of each of the welding discrete points based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters to obtain the linkage control information of the target device, the method further includes: Performing simulation verification on the linkage control information; In response to the linkage control information simulation verification being passed, the linkage control information is sent to the target device.

5. The method according to any one of claims 1 to 4, characterized in that: After successively solving the joint control information of each of the welding discrete points based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters to obtain the linkage control information of the target device, the method further includes: Acquiring sensor feedback information of the target device; Feedback correction is performed on the linkage control information according to the sensor feedback information.

6. The method according to claim 1, characterized in that The step of sequentially solving the joint control information of each of the welding discrete points based on the initial relative position, the initial position of the redundant degrees of freedom, and the posture parameters to obtain the linkage control information of the target device includes: Based on the joint control information of the continuous welding discrete points, motion planning processing is performed on the robot body joints and redundant degrees of freedom of the target device, and the motion planning processing is implemented based on a preset motion planning algorithm; The linkage control information processed by applying motion planning is used to perform linkage control on the target device.

7. A multi-degree-of-freedom ground rail robot external axis linkage control device, characterized in that: The device comprises: A welding trajectory module, used for acquiring welding trajectory information to be processed in response to the start-up of the target device, wherein the welding trajectory information includes welding discrete point information; A posture parameter module, used to obtain task information to be processed, and determine the posture parameters of the end effector of the target device according to the task information; An initial position module, used to obtain a preset initial relative position between the target device and the target object and an initial position of redundant degrees of freedom; The linkage control module is used to solve the joint control information of each of the welding discrete points in turn based on the initial relative position, the initial position of the redundant degrees of freedom and the posture parameters to obtain the linkage control information of the target device.

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

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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