Data processing method and device for cooperative movement mechanism control

Abstract

The embodiment of the invention provides a data processing method for cooperative movement mechanism control, and the method comprises the steps: obtaining the initial state data of a cooperative movement mechanism and the target position data of the cooperative movement mechanism, the initial state data of the cooperative movement mechanism being used for representing the pose data of the initial position of a cooperative movement person, and the target position data of the cooperative movement mechanism being used for representing the pose data of the initial position of the cooperative movement person; the target position data of the collaborative movement mechanism is used for representing position data of a target working point position of the tail end of the industrial movement mechanism; according to the initial state data of the collaborative movement mechanism, constructing a kinematics model of the collaborative movement mechanism; and according to the kinematics model of the collaborative movement mechanism, solving processing based on space optimization is carried out on the collaborative movement mechanism, and the tail end of the movement mechanism is adjusted to the target position by preferentially adjusting the position of an external shaft in the collaborative movement mechanism. The problem that it is difficult to adjust the cooperative movement mechanism to the expected working point position in the prior art is solved, and the technical effect of improving the adjustment efficiency of the cooperative movement mechanism is achieved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of industrial motion mechanisms. Specifically, the present disclosure relates to a data processing method and apparatus for collaborative motion mechanism control. Background Art

[0002] With the wide application of industrial motion mechanisms in industrial production, in response to increasingly complex industrial construction environments and requirements, industrial motion mechanisms cooperate with other mechanisms to increase the working range of industrial motion mechanisms. For example, industrial motion mechanisms cooperate with external mechanisms such as guide rails and positioners to improve the use of industrial motion mechanisms in various industrial application scenarios. When an industrial motion mechanism cooperates with an external mechanism, it is necessary to adjust the pose of the industrial motion mechanism and the pose of the external cooperative structure. In the prior art, when the industrial motion mechanism reaches the desired working point, the industrial motion mechanism and other external mechanisms are adjusted separately, lacking a unified adjustment method, resulting in difficulties in adjusting to the target point and low efficiency.

[0003] Therefore, in the prior art, there is a problem that it is relatively difficult to adjust the collaborative motion mechanism to the desired working point. Summary of the Invention

[0004] Embodiments described herein provide a data processing method and apparatus for collaborative motion mechanism control to solve the problem in the prior art that it is relatively difficult to adjust the collaborative motion mechanism to the desired working point, achieving the technical effect of improving the adjustment efficiency of the collaborative motion mechanism.

[0005] According to a first aspect of the present disclosure, there is provided a data processing method for collaborative motion mechanism control. In this method, the collaborative motion mechanism is used to represent an institution formed by the cooperation of an industrial motion mechanism and an external mechanism, and the external mechanism includes a guide rail and a positioner. The data processing method includes:

[0006] Obtain the initial state data of the collaborative motion mechanism and the target position data of the collaborative motion mechanism. Among them, the initial state data of the collaborative motion mechanism is pose data used to represent the pose at the initial position of the collaborative motion person, and the target position data of the collaborative motion mechanism is position data used to represent the target working point at the end of the industrial motion mechanism;

[0007] Construct a kinematic model of the collaborative motion mechanism according to the initial state data of the collaborative motion mechanism;

[0008] Perform a solution process based on spatial optimization on the collaborative motion mechanism according to the kinematic model of the collaborative motion mechanism, so as to move the end of the collaborative motion mechanism to the target position of the collaborative motion mechanism.

[0009] In some embodiments of the present disclosure, performing a solution process based on spatial optimization on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism to move the end of the cooperative motion mechanism to the target position of the cooperative motion mechanism includes:

[0010] Performing an identification process based on axis features on the initial state data of the cooperative motion mechanism to obtain external mechanism axis feature data, where the external mechanism axis feature data is the feature data used to represent the external mechanism axis;

[0011] Matching the solution rules corresponding to the external mechanism axis feature data to obtain motion solution rules, where the motion solution rules are the solution rules corresponding to the external mechanism axis;

[0012] Performing a pose solution process on the cooperative motion mechanism based on the motion solution rules according to the kinematic model of the cooperative motion mechanism to obtain the target pose data of the cooperative motion mechanism, where the target pose data of the cooperative motion mechanism is the pose data of the cooperative motion mechanism when the end of the cooperative motion mechanism is at the target working point.

[0013] In some embodiments of the present disclosure, performing a pose solution process on the cooperative motion mechanism based on the motion solution rules according to the kinematic model of the cooperative motion mechanism to obtain the target pose data of the cooperative motion mechanism includes:

[0014] Identifying the initial state data of the cooperative motion mechanism to obtain the initial state data of the industrial motion mechanism and the initial state data of the external mechanism;

[0015] Performing a pose solution process on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain the target state data of the external mechanism;

[0016] Updating the initial state data of the industrial motion mechanism according to the target state data of the external mechanism to obtain the target state data of the industrial motion mechanism;

[0017] Obtaining the target pose data of the cooperative motion mechanism according to the target state data of the external mechanism and the target state data of the industrial motion mechanism.

[0018] In some embodiments of the present disclosure, performing a pose solution process on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain the target state data of the external mechanism;

[0019] Performing a pose solution process on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain the process state data of the external mechanism;

[0020] Calculate the end distance data based on the process status data of an external mechanism to obtain the process end distance data, where the process end distance data is the distance data used to represent the distance between the end of the cooperative motion mechanism corresponding to the process status data of the external mechanism and the target position;

[0021] Compare the process end distance data with a preset end threshold to determine whether the process status data of the external mechanism meets the preset iteration rule,

[0022] If the process end distance data is less than or equal to the preset end threshold, obtain the target status data of the external mechanism;

[0023] If the process end distance data is greater than the preset end threshold, perform iterative solution processing on the process status data of the external mechanism until the process status data of the external mechanism meets the preset iteration rule, and obtain the target status data of the external mechanism.

[0024] In some embodiments of the present disclosure, performing pose solution processing on the cooperative motion mechanism based on the motion solution rule according to the kinematic model of the cooperative motion mechanism to obtain the target pose data of the cooperative motion mechanism includes:

[0025] Perform end position solution processing on the initial state of the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism to obtain initial end position data;

[0026] Perform position update processing on the initial end position data to obtain process end position data;

[0027] Perform calculation processing based on the end error on the process end position data and the target position data of the cooperative motion mechanism to obtain process error data, where the process error data is the error data used to represent the error between the current end of the cooperative motion mechanism and the target working point;

[0028] Perform judgment processing on the process error data based on a preset convergence condition,

[0029] If the process error data does not meet the preset convergence condition, perform iterative processing on the process end position data based on a preset iterative algorithm according to the kinematic model of the cooperative motion mechanism until the process error data meets the preset convergence condition, and obtain the target pose data of the cooperative motion mechanism.

[0030] In some embodiments of the present disclosure, constructing the kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism includes:

[0031] Identify the initial state data of the cooperative motion mechanism to obtain the initial state data of the industrial motion mechanism and the initial state data of the external mechanism. The initial state data of the industrial motion mechanism includes the homogeneous matrix of the industrial motion mechanism, and the initial state data of the external mechanism includes the homogeneous matrix of the external mechanism;

[0032] Perform equivalent processing based on the homogeneous matrix on the initial state data of the industrial motion mechanism and the initial state data of the external mechanism to obtain an equivalent homogeneous matrix;

[0033] Construct the kinematic model of the cooperative motion mechanism according to the equivalent homogeneous matrix.

[0034] According to the second aspect of the present disclosure, there is provided a data processing device for controlling a cooperative motion mechanism. The cooperative motion mechanism is a mechanism formed by the cooperation of an industrial motion mechanism and an external mechanism. The external mechanism includes a guide rail and a positioner. The data processing device includes:

[0035] A data acquisition module for acquiring the initial state data of the cooperative motion mechanism and the target position data of the cooperative motion mechanism. Among them, the initial state data of the cooperative motion mechanism is pose data used to represent the initial position of the cooperative motion person, and the target position data of the cooperative motion mechanism is position data used to represent the target working point position at the end of the industrial motion mechanism;

[0036] A model construction module for constructing the kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism;

[0037] A solving module for performing a solving process based on spatial optimization on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism, so as to move the end of the cooperative motion mechanism to the target position of the cooperative motion mechanism.

[0038] In some embodiments of the present disclosure, the solving module includes:

[0039] A feature recognition module for performing an identification process based on axis features on the initial state data of the cooperative motion mechanism to obtain external mechanism axis feature data. Among them, the external mechanism axis feature data is feature data used to represent the axis of the external mechanism;

[0040] A matching module for matching a solving rule corresponding to the external mechanism axis feature data to obtain a motion solving rule. Among them, the motion solving rule is a solving rule corresponding to the axis of the external mechanism;

[0041] A pose solution module is configured to perform pose solution processing on the collaborative motion mechanism based on the motion solution rules according to the kinematic model of the collaborative motion mechanism, so as to obtain target pose data of the collaborative motion mechanism, where the target pose data of the collaborative motion mechanism is the pose data of the collaborative motion mechanism when the end of the collaborative motion mechanism is at the target working point position.

[0042] According to a third aspect of the present disclosure, there is provided a computer-readable storage medium storing computer instructions for causing a computer to execute the above data processing method for collaborative motion mechanism control.

[0043] According to a fourth aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to cause the at least one processor to execute the above data processing method for collaborative motion mechanism control.

[0044] The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

[0045] In the present application, initial state data of the collaborative motion mechanism and target position data of the collaborative motion mechanism are obtained, where the initial state data of the collaborative motion mechanism is pose data representing the initial position of the collaborative motion person, and the target position data of the collaborative motion mechanism is position data representing the target working point position of the end of the industrial motion mechanism; a kinematic model of the collaborative motion mechanism is constructed according to the initial state data of the collaborative motion mechanism; and a solution process based on spatial optimization is performed on the collaborative motion mechanism according to the kinematic model of the collaborative motion mechanism to enable the end of the collaborative motion mechanism to move to the target position of the collaborative motion mechanism. By preferentially adjusting the position of the external axis in the collaborative motion mechanism to move the end of the motion mechanism to the position closest to the target position, and then readjusting the collaborative motion mechanism after determining the closest position, so that the end of the collaborative motion mechanism moves to the target position, the problem in the prior art that it is difficult to adjust the collaborative motion mechanism to the desired working point position is solved, and the technical effect of improving the adjustment efficiency of the collaborative motion mechanism is achieved. Description of the Drawings

[0046] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be understood that the following described drawings only relate to some embodiments of the present disclosure and do not limit the present disclosure, where:

[0047] Figure 1Flowchart of a data processing method for collaborative motion mechanism control provided by this application;

[0048] Figure 2 Flowchart of a data processing method for collaborative motion mechanism control provided by this application;

[0049] Figure 3 Schematic diagram of equivalent transformation provided by this application;

[0050] Figure 4 Flowchart of a data processing method for collaborative motion mechanism control provided by this application;

[0051] Figure 5 Flowchart of a data processing method for collaborative motion mechanism control provided by this application;

[0052] Figure 6 Data processing device for collaborative motion mechanism control provided by this application;

[0053] Figure 7 Another data processing device for collaborative motion mechanism control provided by this application. Detailed implementation

[0054] In order to make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of this disclosure, rather than all of the embodiments. Based on the described embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative efforts also fall within the scope of protection of this disclosure.

[0055] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which the subject matter of this disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless clearly defined otherwise herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that these parts are directly joined together or joined through one or more intermediate components.

[0056] For ease of description, spatial relative terms such as "upper", "lower", "left", "right", "top", "bottom", etc. may be used herein to describe the spatial position relationship of one device or element to other devices or elements as shown in the figures. For example, terms such as "on", "above", "over", "on the upper surface", "above", "positioned on", or "positioned on top of" mean that a first element of a first structure exists on a second element of a second structure, where there may or may not be an intermediate element between the first element and the second element. The term "contact" means connecting a first element of a first structure and a second element of a second structure, and there may or may not be other elements at the interface of the two elements. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation other than the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or configurations will then be positioned "below" or "under" other devices or configurations. Thus, the exemplary term "above" can include both the orientation of "above" and "below". The device can also be positioned or rotated 90 degrees in other different ways or in other orientations, and corresponding interpretations should be made for the spatial relative descriptions used herein.

[0057] The coordinated motion mechanism is used to represent the mechanism formed by the independent motion mechanism and the coordinated structure. The coordinated structure includes a guide rail and a positioner. The coordinated motion mechanism can be that the independent motion mechanism is fixed on the guide rail to perform tasks, and the coordinated motion mechanism and the positioner cooperate to perform tasks. Among them, the coordinated motion mechanism can be the mechanism formed by the independent motion mechanism and any number of coordinated structures, or the mechanism formed by the independent motion mechanism and any type of coordinated structure. The independent motion structure can be an industrial robot.

[0058] In an alternative embodiment of the present application, a data processing method for controlling a coordinated motion mechanism is provided. Figure 1 As shown in the flowchart of a data processing method for controlling a coordinated motion mechanism provided by the present application, Figure 1 The method includes the following steps:

[0059] S101: Obtain the initial state data of the coordinated motion mechanism and the target position data of the coordinated motion mechanism;

[0060] The initial state data of the collaborative motion mechanism is the pose data used to represent the initial position of the collaborative motion person, and the target position data of the collaborative motion mechanism is the position data used to represent the target working point of the end of the industrial motion mechanism. The collaborative motion mechanism includes an industrial motion mechanism and an external collaborative mechanism. The initial state data of the collaborative motion mechanism includes the position and attitude data of the industrial motion mechanism and the external collaborative mechanism in the initial state. The target position data of the collaborative motion mechanism is the position data of the target working point that the end of the collaborative motion mechanism needs to reach.

[0061] S102: Construct a kinematic model of the collaborative motion mechanism according to the initial state data of the collaborative motion mechanism;

[0062] In an alternative embodiment of the present application, a data processing method for controlling a collaborative motion mechanism is provided, and a kinematic model based on an equivalent homogeneous matrix is constructed for the collaborative motion mechanism. Figure 2 The flowchart of a data processing method for controlling a collaborative motion mechanism provided by the present application is as Figure 2 shown, and the method includes the following steps:

[0063] When performing inverse kinematics solution for a single motion mechanism, taking a six-axis motion mechanism as an example, the constructed kinematic model is:

[0064]

[0065] Among them, T: represents a homogeneous matrix;

[0066] T E represents the position of the working position that the tool end point mounted on the motion mechanism should reach in the world coordinate system;

[0067] represents the position of the Base (base) of the motion mechanism in the world coordinate system. It can also be said that it represents the homogeneous matrix of the motion mechanism converted from its own Base coordinate system to the World coordinate system, B: Base, R: Robot, W: world;

[0068] The number 1 here represents the first axis of the motion mechanism, and subsequently (i is 1, 2,..., 6) also represents the i-th axis of the motion mechanism. This matrix represents the homogeneous matrix of the motion mechanism converted from the first-axis coordinate system to the Base coordinate system;

[0069] represents the rotation matrix corresponding to a certain angle of rotation of the first axis of the motion mechanism. Subsequently (i is 1, 2,..., 6) represents the rotation matrix corresponding to a certain angle of rotation of the i-th axis of the motion mechanism;

[0070] F represents the flange of the motion mechanism, that is, the position where the motion mechanism tool is installed;

[0071] T Tcp : Tcp represents a homogeneous matrix from the tool tip to the installation point, and can also be written as

[0072] According to the above kinematic model, the inverse kinematics of a single motion mechanism can be solved. It is difficult to solve the inverse kinematics of a cooperative motion mechanism with the above kinematic model. By integrally splicing the cooperative structure and the motion mechanism in the cooperative motion mechanism and regarding it as a new mechanism, that is, the cooperative motion mechanism, a kinematic model of the cooperative motion mechanism is constructed, and inverse solution calculation processing is performed on the cooperative motion mechanism.

[0073] S201: Identify the initial state data of the cooperative motion mechanism to obtain the initial state data of the industrial motion mechanism and the initial state data of the external mechanism;

[0074] The initial state data of the industrial motion mechanism includes the homogeneous matrix of the industrial motion mechanism, and the initial state data of the external mechanism includes the homogeneous matrix of the external mechanism;

[0075] S202: Perform equivalent processing based on the homogeneous matrix on the initial state data of the industrial motion mechanism and the initial state data of the external mechanism to obtain an equivalent homogeneous matrix;

[0076] Perform transformation processing based on the preset axis of the homogeneous matrix on the initial state of the motion mechanism and the initial state data of the cooperative structure so that the preset axes of the homogeneous matrix of the initial state of the motion mechanism and the homogeneous matrix of the initial state of the cooperative structure coincide; solve the DH parameters of the matrix transformation for the homogeneous matrix of the initial state of the motion mechanism and the homogeneous matrix of the initial state of the cooperative structure with the preset axes coinciding to obtain the DH parameters of the matrix transformation; perform matrix transformation processing on the DH parameters of the matrix transformation to obtain an equivalent homogeneous matrix.

[0077] When performing inverse solution, due to data calculation requirements, the constructed motion mechanism can only transmit DH parameters and cannot transmit the homogeneous matrix in the above kinematic model formula. Therefore, an equivalent method is proposed to handle the relationship between DH parameters and the homogeneous matrix. For example, Figure 3This is a schematic diagram of the equivalent transformation provided by this application. The A-axis and B-axis of the motion mechanism are the homogeneous matrices of the motion mechanism respectively. The DH parameters for the transformation from the A-axis to the B-axis are obtained as follows: Construct the common perpendicular P1P2 of the z-axis of the A homogeneous matrix and the z-axis of the B homogeneous matrix. At this time, the value of d is AP1, and the value of θ is the angle between P1P2 and the x-axis of the A homogeneous matrix. At this time, the x-axis of the transformed homogeneous matrix coincides with P1P2. Since P1P2 is the common perpendicular of the two homogeneous matrices A and B, the value of a is the length of P1P2, and the value of α is the angle between the two homogeneous matrices A and B. After the transformation of the above d→θ→a→α parameters, the direction of the Z-axis of the transformed homogeneous matrix completely coincides with the Z-axis of the B homogeneous matrix. At this time, the rotation or translation of this axis can be realized. Further, to reach the specified position, additional parameters need to be superimposed on the DH parameters of the next homogeneous matrix. Δd is BP2 shown in the figure, and Δθ is the angle between the B homogeneous matrix and P1P2 in the figure (both Δd and Δθ consider positive and negative signs). Since Δd and Δθ have been calculated in advance, the above Δd and Δθ are directly superimposed on the DH parameters of the next matrix transformation.

[0078] According to the above equivalent method to process the DH parameters and homogeneous matrices, the process kinematic model for constructing the cooperative motion mechanism is as follows:

[0079]

[0080] P: positioner

[0081] G: guide rail

[0082] R: robot motion mechanism

[0083] T E : Because after adding the positioner, the trajectory will be on the positioner. At this time, T E no longer represents the position that the end of the motion mechanism should reach, because the position of the trajectory on the positioner is relatively fixed. Therefore, T E represents the position of the working point relative to the flange of the positioner;

[0084] represents the homogeneous matrix of the motion mechanism Base relative to the end of the guide rail flange, representing the relative position of the motion mechanism fixed on the guide rail;

[0085] T θ : represents the rotation matrix after the axis rotates a certain angle.

[0086] S203: Construct the kinematic model of the cooperative motion mechanism according to the equivalent homogeneous matrix.

[0087] Perform transformation processing on the above process kinematic model of the cooperative motion mechanism to obtain:

[0088]

[0089] S103: Perform a solution process based on spatial optimization on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism, so as to move the end of the cooperative motion mechanism to the target position of the cooperative motion mechanism.

[0090] Perform a position finite solution process on the cooperative motion mechanism to obtain the target pose data of the cooperative motion mechanism.

[0091] In an alternative embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided. Figure 4 The flowchart of a data processing method for controlling a cooperative motion mechanism provided by the present application is as Figure 4 shown, and the method includes the following steps:

[0092] S301: Perform an identification process based on axis features on the initial state data of the cooperative motion mechanism to obtain external mechanism axis feature data;

[0093] The external mechanism axis feature data is the feature data used to represent the external mechanism axis.

[0094] S302: Match the solution rule corresponding to the external mechanism axis feature data to obtain a motion solution rule;

[0095] The motion solution rule is the solution rule corresponding to the external mechanism axis. Among them, according to the external mechanism axis feature, the corresponding solution rule is matched, and a solution process based on spatial optimization is performed on the cooperative motion mechanism according to the solution rule. An identification process based on axis feature complexity is performed on the external mechanism axis feature data to determine the complexity corresponding to the external mechanism axis feature. According to the complexity corresponding to the external mechanism axis feature, the corresponding solution rule is matched. When the complexity of the external mechanism axis is the first complexity external mechanism axis feature, the solution rule corresponding to the first complexity external mechanism axis feature is matched to obtain the first motion solution rule; when the complexity of the external mechanism axis is the second complexity external mechanism axis feature, the solution rule corresponding to the second complexity external mechanism axis feature is matched to obtain the second motion solution rule.

[0096] For example, the cooperative motion mechanism is set in cooperation with an industrial motion mechanism and a guide rail. The external mechanism is the guide rail. Identify the shaft feature data of the guide rail and perform shaft complexity identification on the shaft feature data of the guide rail. Among them, performing shaft complexity identification on the shaft feature data of the guide rail can determine the shaft complexity corresponding to the shaft feature of the guide rail according to the shaft translation situation, shaft degree of freedom situation, etc. in the guide rail shaft. The shaft complexity can include simple and complex. When the complexity of the external mechanism shaft is simple, the solution rule matched to this cooperative motion mechanism is the first motion solution rule. When the complexity of the external mechanism shaft is complex, the solution rule matched to this cooperative motion mechanism is the second solution rule. Solving the cooperative motion mechanism according to the first motion solution rule is to perform independent solution processing on the external mechanism and the industrial motion mechanism to obtain the target pose data of the cooperative motion mechanism; solving the cooperative motion mechanism according to the second motion solution rule is to perform overall unified iterative solution processing on the external mechanism and the industrial motion mechanism to obtain the target pose data of the cooperative motion mechanism.

[0097] S303: Perform pose solution processing on the cooperative motion mechanism based on the motion solution rule according to the kinematic model of the cooperative motion mechanism to obtain the target pose data of the cooperative motion mechanism.

[0098] The target pose data of the cooperative motion mechanism is the pose data of the cooperative motion mechanism when the end of the cooperative motion mechanism is at the target working point position.

[0099] In an alternative embodiment of the present application, a data processing method for cooperative motion mechanism control is provided. Perform independent solution processing on the external mechanism and the industrial motion mechanism to obtain the target pose data of the cooperative motion mechanism. Figure 5 It is a flowchart of a data processing method for cooperative motion mechanism control provided by the present application, as Figure 5 shown. The method includes the following steps:

[0100] S401: Identify the initial state data of the cooperative motion mechanism to obtain the initial state data of the industrial motion mechanism and the initial state data of the external mechanism;

[0101] S402: Perform pose solution processing on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain the target state data of the external mechanism;

[0102] In an alternative embodiment of the present application, a data processing method for cooperative motion mechanism control is provided, including: performing pose solution processing on an external mechanism according to the kinematic model of the cooperative motion mechanism to obtain the process state data of the external mechanism; calculating the end distance data according to the process state data of the external mechanism to obtain the process end distance data, where the process end distance data is the distance data used to represent the distance between the end of the cooperative motion mechanism corresponding to the process state data of the external mechanism and the target position; comparing the process end distance data with a preset end threshold to determine whether the process state data of the external mechanism meets the preset iteration rule. If the process end distance data is less than or equal to the preset end threshold, the target state data of the external mechanism is obtained; if the process end distance data is greater than the preset end threshold, iterative solution processing is performed on the process state data of the external mechanism until the process state data of the external mechanism meets the preset iteration rule, and the target state data of the external mechanism is obtained.

[0103] In an alternative embodiment of the application, the attitude of the fixed industrial motion mechanism is fixed, and position iteration is performed on the external mechanism to calculate the distance between the position of the end of the cooperative motion mechanism and the target working point during the iteration process. Among them, performing position iteration on the external mechanism includes, if the external mechanism includes a guide rail and a turntable, performing update iteration on the guide rail and the turntable to enable the end of the cooperative motion mechanism to approach the target working point; in the update iteration of the external mechanism, to enable the end of the cooperative motion mechanism to approach the target working point within a preset number of iterations. If the end of the cooperative motion mechanism can reach the target point within the preset number of iterations, the pose data of the external mechanism at the target point is obtained; if the end of the cooperative motion mechanism cannot reach the target point within the preset number of iterations, the pose data of the external mechanism when the end of the cooperative motion mechanism is closest to the target working point is calculated. In an alternative embodiment of the present application, if the external mechanism includes a guide rail and a turntable, in the update iteration of the external mechanism, the order of the update iteration of the guide rail and the update iteration of the turntable is not limited, and the order of the update iteration of the guide rail and the update iteration of the turntable can be set according to the structural settings of the external mechanism and the industrial motion mechanism in the cooperative motion mechanism.

[0104] S403: Update the initial state data of the industrial motion mechanism according to the target state data of the external mechanism to obtain the target state data of the industrial motion mechanism;

[0105] The process state data of the external mechanism is the state data of the cooperative motion mechanism closest to the target point obtained by iterative solution of the external mechanism. Under the process state data of the external mechanism, the attitude data of the industrial motion mechanism is adjusted to enable the end of the industrial motion mechanism to reach the target point.

[0106] S404: Obtain the target pose data of the collaborative motion mechanism based on the target state data of the external mechanism and the target state data of the industrial motion mechanism.

[0107] The target pose data of the collaborative motion mechanism includes the target state data of the external mechanism and the target state data of the industrial motion mechanism.

[0108] In an alternative embodiment of the present application, a data processing method for controlling a collaborative motion mechanism is provided. Through overall unified iterative solution processing of the external mechanism and the industrial motion mechanism, the target pose data of the collaborative motion mechanism is obtained, including:

[0109] Perform end position solution processing on the initial state of the collaborative motion mechanism according to the kinematic model of the collaborative motion mechanism to obtain initial end position data; perform position update processing on the initial end position data to obtain process end position data; perform calculation processing based on the end error on the process end position data and the target position data of the collaborative motion mechanism to obtain process error data, where the process error data is error data used to represent the current end of the collaborative motion mechanism and the target working point position; perform judgment processing based on a preset convergence condition on the process error data. If the process error data does not meet the preset convergence condition, perform iterative processing based on a preset iterative algorithm on the process end position data according to the kinematic model of the collaborative motion mechanism until the process error data meets the preset convergence condition to obtain the target pose data of the collaborative motion mechanism.

[0110] According to the kinematic model of the collaborative motion mechanism obtained by the above calculation, perform iterative calculation processing based on spatial optimization on the kinematic model of the collaborative motion mechanism. During the process of performing position iterative calculation, fix the angle of the industrial motion mechanism and perform position iterative calculation. If the kinematic model of the collaborative motion mechanism has a solution, the position can be directly calculated. If there is no solution, a position closest to the end of the motion mechanism can be calculated, and the attitude data of the industrial motion mechanism is updated and adjusted according to the position closest to the end of the motion mechanism to obtain the target pose data of the collaborative motion mechanism.

[0111] In an alternative embodiment of the present application, a data processing device for controlling a collaborative motion mechanism is provided. Figure 6 A data processing device for controlling a collaborative motion mechanism provided by the present application, as Figure 6 shown, includes:

[0112] A data acquisition module 51, configured to acquire the initial state data of the collaborative motion mechanism and the target position data of the collaborative motion mechanism, where the initial state data of the collaborative motion mechanism is pose data used to represent the initial position of the collaborative motion person, and the target position data of the collaborative motion mechanism is position data used to represent the target working point position at the end of the industrial motion mechanism.

[0113] A model construction module 52 for constructing a kinematic model of the coordinated motion mechanism according to the initial state data of the coordinated motion mechanism;

[0114] A solution module 53 for performing a solution process based on spatial optimization on the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism, so as to move the end of the coordinated motion mechanism to the target position of the coordinated motion mechanism.

[0115] In an alternative embodiment of the present application, a data processing device for controlling a coordinated motion mechanism is provided. Figure 7 Another data processing device for controlling a coordinated motion mechanism provided by the present application, as Figure 7 shown, includes:

[0116] A feature recognition module 61 for performing an axis feature-based recognition process on the initial state data of the coordinated motion mechanism to obtain external mechanism axis feature data, where the external mechanism axis feature data is feature data for representing an external mechanism axis;

[0117] A matching module 62 for matching a solution rule corresponding to the external mechanism axis feature data to obtain a motion solution rule, where the motion solution rule is a solution rule corresponding to the external mechanism axis;

[0118] A pose solution module 63 for performing a pose solution process based on the motion solution rule on the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism to obtain target pose data of the coordinated motion mechanism, where the target pose data of the coordinated motion mechanism is the pose data of the coordinated motion mechanism when the end of the coordinated motion mechanism is at the target working point.

[0119] The specific manners of the execution operations of the above-mentioned units in the embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0120] In this application, the initial state data of the collaborative motion mechanism and the target position data of the collaborative motion mechanism are obtained, where the initial state data of the collaborative motion mechanism is pose data used to represent the initial position of the collaborative mover, and the target position data of the collaborative motion mechanism is position data used to represent the target working point of the end of the industrial motion mechanism; a kinematic model of the collaborative motion mechanism is constructed according to the initial state data of the collaborative motion mechanism; a solution process based on spatial optimization is performed on the collaborative motion mechanism according to the kinematic model of the collaborative motion mechanism, so as to move the end of the collaborative motion mechanism to the target position of the collaborative motion mechanism. By preferentially adjusting the position of the external axis in the collaborative motion mechanism to move the end of the motion mechanism to the position closest to the target position, and then readjusting the collaborative motion mechanism after determining the closest position, so as to move the end of the collaborative motion mechanism to the target position, the problem that it is difficult to adjust the collaborative motion mechanism to the desired working point in the prior art is solved, and the technical effect of improving the adjustment efficiency of the collaborative motion mechanism is achieved.

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the devices and methods according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of an instruction, and the module, the segment of a program, or the part of an instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0122] Unless otherwise clearly specified in the context, the singular forms of the words used in this application and the appended claims include the plural, and vice versa. Thus, when referring to the singular, the plural of the corresponding term is usually included. Similarly, the terms "comprising" and "including" will be interpreted as inclusive rather than exclusive. Likewise, the term "including" and "or" should be interpreted as inclusive, unless such an interpretation is clearly prohibited in this application. Where the term "example" is used in this application, especially when it is located after a group of terms, the "example" is merely exemplary and explanatory, and should not be considered exclusive or extensive.

[0123] Further aspects and scope of adaptability will become apparent from the description provided herein. It should be understood that various aspects of the present application may be implemented alone or in combination with one or more other aspects. It should also be understood that the description and specific examples herein are for illustrative purposes only and are not intended to limit the scope of the present application.

[0124] The above has described in detail several embodiments of the present disclosure. However, it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the appended claims.

Claims

1. A data processing method for coordinated motion mechanism control, characterized in that: The coordinated motion mechanism is a mechanism used to represent the coordinated formation of an industrial motion mechanism and an external mechanism, the external mechanism includes a guide rail and a positioner, and the data processing method includes: Acquire the initial state data of the cooperative motion mechanism and the target position data of the cooperative motion mechanism, wherein the initial state data of the cooperative motion mechanism is the posture data used to represent the initial position of the cooperative motion person, and the target position data of the cooperative motion mechanism is the position data used to represent the target working point position at the end of the industrial motion mechanism; Constructing a kinematic model of the coordinated motion mechanism according to the initial state data of the coordinated motion mechanism; The cooperative motion mechanism is solved based on space optimization according to the kinematic model of the cooperative motion mechanism, so as to realize the movement of the end of the cooperative motion mechanism to the target position of the cooperative motion mechanism.

2. The data processing method according to claim 1, characterized in that: Performing a spatial optimization-based solution process on the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism to achieve movement of the end of the coordinated motion mechanism to the target position of the coordinated motion mechanism includes: Performing an identification process based on the axis feature on the initial state data of the cooperative motion mechanism to obtain external mechanism axis feature data, wherein the external mechanism axis feature data is feature data used to represent the external mechanism axis; Matching a solution rule corresponding to the characteristic data of the external mechanism axis to obtain a motion solution rule, wherein the motion solution rule is a solution rule corresponding to the external mechanism axis; According to the kinematic model of the collaborative motion mechanism, the collaborative motion mechanism is subjected to posture solving processing based on the motion solving rule to obtain target posture data of the collaborative motion mechanism, wherein the target posture data of the collaborative motion mechanism is the posture data of the collaborative motion mechanism when the end of the collaborative motion mechanism is at the target working point.

3. The data processing method according to claim 2, characterized in that: According to the kinematic model of the cooperative motion mechanism, the posture solving process of the cooperative motion mechanism based on the motion solving rule is performed to obtain the target posture data of the cooperative motion mechanism, including: Identifying the initial state data of the coordinated motion mechanism to obtain the initial state data of the industrial motion mechanism and the initial state data of the external mechanism; Performing posture solving processing on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain target state data of the external mechanism; updating the initial state data of the industrial motion mechanism according to the target state data of the external mechanism to obtain the target state data of the industrial motion mechanism; The target position data of the cooperative motion mechanism is obtained according to the target state data of the external mechanism and the target state data of the industrial motion mechanism.

4. The data processing method according to claim 3, characterized in that: Performing posture solving processing on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain target state data of the external mechanism; Performing posture solving processing on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain process state data of the external mechanism; Calculating the terminal distance data according to the process status data of the external mechanism to obtain the process terminal distance data, wherein the process terminal distance data is used to represent the distance data between the terminal of the cooperative motion mechanism and the target position corresponding to the process status data of the external mechanism; Compare the process end distance data with a preset end threshold to determine whether the process status data of the external mechanism meets the preset iteration rule, If the process end distance data is less than or equal to the preset end threshold, obtaining the target state data of the external mechanism; If the process end distance data is greater than the preset end threshold, the process status data of the external mechanism is iteratively solved until the process status data of the external mechanism meets the preset iteration rule to obtain the target status data of the external mechanism.

5. The data processing method according to claim 2, characterized in that: According to the kinematic model of the cooperative motion mechanism, the posture solving process of the cooperative motion mechanism based on the motion solving rule is performed to obtain the target posture data of the cooperative motion mechanism, including: Performing end position solution processing on the initial state of the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism to obtain initial end position data; Performing position update processing on the initial terminal position data to obtain process terminal position data; Performing terminal error-based calculation processing on the process terminal position data and the target position data of the coordinated motion mechanism to obtain process error data, wherein the process error data is error data for indicating the current terminal of the coordinated motion mechanism and the target working point; The process error data is judged based on a preset convergence condition. If the process error data does not meet the preset convergence conditions, the process end position data is iteratively processed based on a preset iterative algorithm according to the kinematic model of the collaborative motion mechanism until the process error data meets the preset convergence conditions, thereby obtaining the target posture data of the collaborative motion mechanism.

6. The data processing method according to claim 1, characterized in that: Constructing a kinematic model of the coordinated motion mechanism according to the initial state data of the coordinated motion mechanism includes: Identifying the initial state data of the coordinated motion mechanism to obtain the initial state data of the industrial motion mechanism and the initial state data of the external mechanism, wherein the initial state data of the industrial motion mechanism includes the homogeneous matrix of the industrial motion mechanism, and the initial state data of the external mechanism includes the homogeneous matrix of the external mechanism; Performing equivalent processing on the initial state data of the industrial motion mechanism and the initial state data of the external mechanism based on a homogeneous matrix to obtain an equivalent homogeneous matrix; A kinematic model of the cooperative motion mechanism is constructed according to the equivalent homogeneous matrix.

7. A data processing device for coordinated motion mechanism control, characterized in that: The coordinated motion mechanism is a mechanism used to represent the coordinated formation of an industrial motion mechanism and an external mechanism, the external mechanism includes a guide rail and a positioner, and the data processing device includes: A data acquisition module, used to acquire the initial state data of the collaborative motion mechanism and the target position data of the collaborative motion mechanism, wherein the initial state data of the collaborative motion mechanism is the posture data used to represent the initial position of the collaborative motion person, and the target position data of the collaborative motion mechanism is the position data used to represent the target working point position at the end of the industrial motion mechanism; A model building module, used for building a kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism; A solution module is used to perform a solution process based on space optimization on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism, so as to realize the movement of the end of the cooperative motion mechanism to the target position of the cooperative motion mechanism.

8. The data processing device according to claim 7, characterized in that: The solution modules include: A feature recognition module, used for performing an identification process based on the axis feature on the initial state data of the cooperative motion mechanism to obtain the external mechanism axis feature data, wherein the external mechanism axis feature data is feature data used to represent the external mechanism axis; A matching module, used for matching a solution rule corresponding to the characteristic data of the external mechanism axis to obtain a motion solution rule, wherein the motion solution rule is a solution rule corresponding to the external mechanism axis; A posture solving module is used to perform posture solving processing on the collaborative motion mechanism based on the motion solving rules according to the kinematic model of the collaborative motion mechanism to obtain target posture data of the collaborative motion mechanism, wherein the target posture data of the collaborative motion mechanism is the posture data of the collaborative motion mechanism when the end of the collaborative motion mechanism is at the target working point.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the data processing method for coordinated motion mechanism control described in any one of claims 1-6.

10. An electronic device, characterized in that: include: at least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the data processing method for collaborative motion mechanism control as described in any one of claims 1-6.

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