Data processing method and device for cooperative movement mechanism control

Abstract

The embodiment of the invention provides a data processing method and device for cooperative motion mechanism control, and the method comprises the steps: obtaining the initial state data of a cooperative motion mechanism and the target state data of the cooperative motion mechanism; the target state data of the collaborative movement mechanism is used for representing pose data at a target working point at 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 attitude priority is carried out on the collaborative movement mechanism, so that the collaborative movement mechanism moves to a target state corresponding to the target state data of the collaborative movement mechanism. According to the method, the kinematics model is constructed for the collaborative movement mechanism, the pose of the tail end of the movement mechanism is adjusted to the pose of the target working point by preferentially considering the pose of the adjusting shaft, and the problem that it is difficult to adjust the collaborative movement mechanism to the expected working point position in the prior art is solved.

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 controlling a cooperative motion mechanism. 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 cooperative motion mechanism to the desired working point. Summary of the Invention

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

[0005] According to a first aspect of the present disclosure, there is provided a data processing method for controlling a cooperative motion mechanism. The cooperative motion mechanism is used to represent 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 method includes:

[0006] Obtain initial state data of the cooperative motion mechanism and target state data of the cooperative motion mechanism. The initial state data of the cooperative motion mechanism is pose data used to represent the pose at the initial position of the cooperative motion mechanism, and the target state data of the cooperative motion mechanism is pose data used to represent the pose at the target working point at the end of the industrial motion mechanism.

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

[0008] Perform pose-priority-based solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism, so as to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism.

[0009] In some embodiments of the present disclosure, performing pose-priority-based solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism to enable the cooperative motion mechanism to move to a target state corresponding to the target state data of the cooperative motion mechanism includes:

[0010] 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;

[0011] Performing pose-based iterative 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;

[0012] 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;

[0013] 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.

[0014] In some embodiments of the present disclosure, performing pose-based iterative 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 includes:

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

[0016] Calculating the end pose error data according to the process state data of the external mechanism to obtain the process end pose error data, where the process end pose error data is the error data used to represent the error between the process state data of the external mechanism corresponding to the end pose of the industrial motion mechanism and the target point pose;

[0017] Comparing the process end pose error data with a preset end error threshold to determine whether the process state data of the external mechanism meets the preset iteration rule,

[0018] If the process end pose error data is less than or equal to the preset end error threshold, obtaining the target state data of the external mechanism;

[0019] If the process end pose error data is greater than the preset end error threshold, performing iterative solution processing on the process state data of the external mechanism until the process state data of the external mechanism meets the preset iteration rule, and obtaining the target state data of the external mechanism.

[0020] In some embodiments of the present disclosure, performing a solution process based on attitude priority on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism to enable the cooperative motion mechanism to move to a target state corresponding to the target state data of the cooperative motion mechanism includes:

[0021] Performing an end - attitude solution process on the initial state of the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism to obtain initial end - attitude data;

[0022] Performing an attitude update process on the initial end - attitude data to obtain process end - attitude data;

[0023] Performing a calculation process based on the end - attitude error on the process end - attitude data and the target attitude data of the cooperative motion mechanism to obtain process error data, where the process error data is error data used to represent the error between the current end - attitude of the industrial motion mechanism and the target point - position attitude;

[0024] Performing a judgment process based on a preset convergence condition on the process error data,

[0025] If the process error data does not meet the preset convergence condition, performing an iterative process based on a preset iterative algorithm on the process end - attitude data according to the kinematic model of the cooperative motion mechanism until the process error data meets the preset convergence condition to obtain the target pose data of the cooperative motion mechanism, so as to enable the cooperative motion mechanism to move to a target state corresponding to the target state data of the cooperative motion mechanism.

[0026] 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:

[0027] 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, where the initial state data of the industrial motion mechanism includes the homogeneous matrix at the end of the industrial motion mechanism in the initial state, and the initial state data of the external mechanism includes the homogeneous matrix of the external mechanism in the initial state;

[0028] Performing an equivalent process of DH parameters on the homogeneous matrix at the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state to obtain equivalent DH parameters;

[0029] Constructing the kinematic model of the cooperative motion mechanism according to the equivalent DH parameters.

[0030] In some embodiments of the present disclosure, an equivalent processing of DH parameters is performed on the homogeneous matrix of the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state, and the obtained equivalent DH parameters include:

[0031] Perform a transformation process based on a preset axis of the homogeneous matrix on the homogeneous matrix of the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state, so as to make the preset axes of the homogeneous matrix of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state coincide;

[0032] Perform a solution process of matrix transformation DH parameters on the homogeneous matrix of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state with coincident preset axes to obtain equivalent DH parameters.

[0033] According to a second aspect of the present application, 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:

[0034] A data acquisition module, configured to acquire the initial state data of the cooperative motion mechanism and the target state data of the cooperative motion mechanism. Among them, the initial state data of the cooperative motion mechanism is pose data used to represent the pose at the initial position of the cooperative motion person, and the target state data of the cooperative motion mechanism is pose data used to represent the pose at the target working point of the end of the industrial motion mechanism;

[0035] A model construction module, configured to construct a kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism;

[0036] A solution module, configured to perform a solution process based on pose priority on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism, so as to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism.

[0037] In some embodiments of the present disclosure, the solution module includes:

[0038] An identification module, configured to 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;

[0039] A first state module, configured to perform an iterative solution process based on pose on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain the target state data of the external mechanism;

[0040] A second state module, configured to update the initial state data of the industrial motion mechanism according to the target state data of the external mechanism, so as to obtain the target state data of the industrial motion mechanism;

[0041] A pose result module, configured to obtain 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.

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

[0043] According to a fourth aspect of the present application, 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 cooperative 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, the initial state data of the cooperative motion mechanism and the target state data of the cooperative motion mechanism are obtained, wherein 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 state data of the cooperative motion mechanism is pose data used to represent the target working point position at the end of the industrial motion mechanism; a kinematic model of the cooperative motion mechanism is constructed according to the initial state data of the cooperative motion mechanism; a solution process based on pose priority is performed on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism, so as to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism. By constructing a kinematic model for the cooperative motion mechanism and performing a solution based on pose priority, the problem that it is relatively difficult to adjust the cooperative motion mechanism to the desired working point position in the prior art is solved, and the technical effect of improving the adjustment efficiency of the cooperative motion mechanism is achieved. Description of the Drawings

[0046] In order 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 Schematic diagram of a data processing device for collaborative motion mechanism control provided by this application;

[0052] Figure 6 Schematic diagram of another data processing device for collaborative motion mechanism control provided by this application.

[0053] In the drawings, reference numerals with the same last two digits correspond to the same elements. It should be noted that the elements in the drawings are schematic and not drawn to scale. Detailed implementation manners

[0054] In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of the present disclosure without creative efforts shall also fall within the scope of protection of the present 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 the present disclosure belongs. Further, it will be understood that terms such as those defined in commonly used dictionaries shall 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 expressly defined herein otherwise. As used herein, the statement of joining or coupling two or more parts 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 positional 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", "upper", "positioned on", or "positioned on top of" mean that a first element of a first structure, such as a first structure, exists on a second element of a second structure, such as a second structure, where there may or may not be intermediate elements between the first element and the second element. The term "contact" means connecting a first element of a first structure, such as a first structure, and a second element of a second structure, such as 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 in addition to the orientation described in the figures of the device. For example, if the device in the figure is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned or rotated in other different ways by 90 degrees or in other orientations, and corresponding interpretations are made for the spatial relative descriptions used herein.

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

[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 Figure 1 is a flowchart of a data processing method for controlling a coordinated motion mechanism provided by the present application. The method includes the following steps:

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

[0060] The initial state data of the coordinated motion mechanism is pose data used to represent the initial position of the coordinated motion person, and the target state data of the coordinated motion mechanism is pose data used to represent the target working point position at the end of the industrial motion mechanism.

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

[0062] In an alternative embodiment of the present application, a data processing method for collaborative motion mechanism control is provided, including:

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

[0064] The kinematic model is:

[0065]

[0066] Wherein, T represents a homogeneous matrix;

[0067] 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;

[0068] represents the position of the 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;

[0069] The number 1 here represents the first axis of the motion mechanism. 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;

[0070] 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;

[0071] F represents the flange of the motion mechanism, that is, the position where the tool of the motion mechanism is installed;

[0072] T Tcp : Tcp represents a homogeneous matrix from the tool end to the installation point, and can also be written as

[0073] According to the above kinematic model, the inverse kinematics of a single motion mechanism can be solved. However, it is difficult to solve the inverse kinematics of a cooperative motion mechanism. 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 the cooperative motion mechanism is solved and calculated. By solving and calculating the cooperative motion mechanism, when the target state data of the cooperative motion mechanism is obtained, the solution result data of the position and attitude of the cooperative motion mechanism is obtained, and the motion to the target state is realized according to the solution result data.

[0074] In another optional embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided. Figure 2 As shown in the flowchart of a data processing method for controlling a cooperative motion mechanism provided by the present application, Figure 2 as shown, the method includes the following steps:

[0075] 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;

[0076] The initial state data of the industrial motion mechanism includes the homogeneous matrix at the end of the industrial motion mechanism in the initial state, and the initial state data of the external mechanism includes the homogeneous matrix of the external mechanism in the initial state;

[0077] S202: Perform equivalent processing of the DH parameters on the homogeneous matrix at the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state to obtain equivalent DH parameters;

[0078] In an optional embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided, which is used to perform equivalent processing of the DH parameters on the homogeneous matrix at the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state to obtain equivalent DH parameters, including: performing transformation processing based on the preset axis of the homogeneous matrix on the homogeneous matrix at the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state to make the preset axes of the homogeneous matrix of the initial state of the industrial motion mechanism and the homogeneous matrix of the initial state of the external mechanism coincide; performing solution processing of the matrix transformation DH parameters on the homogeneous matrix of the initial state of the industrial motion mechanism and the homogeneous matrix of the initial state of the external mechanism with the preset axes coinciding to obtain equivalent DH parameters.

[0079] When performing the solution, due to the requirements of data calculation, the constructed motion mechanism can only transfer DH parameters and cannot transfer 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 3Schematic diagram of equivalent transformation provided for this application. The A-axis and B-axis of the motion mechanism are respectively the homogeneous matrices of the motion mechanism. 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 of 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 of A and B. After the transformation of the parameters d→θ→a→α, 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, rotation or translation of this axis can be achieved. 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.

[0080] Processing the DH parameters and homogeneous matrices according to the above equivalent method, the process kinematic model for constructing the cooperative motion mechanism is:

[0081]

[0082] P: positioner

[0083] G: guide rail

[0084] R: robot motion mechanism

[0085] T E : Because after having a 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. Since the position of the trajectory on the positioner is relatively fixed, so T E represents the position of the working point relative to the flange of the positioner;

[0086] 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;

[0087] T θ : Represents the rotation matrix after the axis rotates a certain angle.

[0088] S203: Construct the kinematic model of the cooperative motion mechanism according to the equivalent DH parameters.

[0089] Performing transformation processing on the above process kinematic model of the cooperative motion mechanism, we get:

[0090]

[0091] S103: Perform pose - priority - based solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism, so as to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism.

[0092] In another alternative embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided, including:

[0093] Perform axis - feature - based recognition processing on the initial state data of the cooperative motion mechanism to obtain the axis - feature data of the cooperative motion mechanism, where the axis - feature data of the cooperative motion mechanism is the feature data used to represent the axis of the cooperative motion mechanism; match the solution rule corresponding to the axis - feature data of the cooperative motion mechanism to obtain the motion solution rule, and the motion solution rule is the solution rule corresponding to the axis of the cooperative motion mechanism. Perform iterative 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, so as to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism.

[0094] Specifically, perform axis - complexity recognition processing on the axis - feature data of the cooperative motion mechanism. Among them, performing axis - complexity recognition on the axis - feature data of the cooperative motion mechanism is to determine the complexity corresponding to the axis - feature data of the cooperative motion mechanism according to the number of axes, the situation of rotating axes, etc. According to the complexity corresponding to the axis of the cooperative motion mechanism, match the corresponding solution rule. When the complexity of the axis of the cooperative motion mechanism is the first - complexity axis feature, match the solution rule corresponding to the first - complexity axis feature to obtain the first motion solution rule; when the complexity of the axis of the cooperative motion mechanism is the second - complexity axis feature, match the solution rule corresponding to the second - complexity axis feature to obtain the second motion solution rule.

[0095] Further, determine the complexity corresponding to the axis feature data of the cooperative motion mechanism based on the number of axes and the situation of the rotating axes. For a motion mechanism to have a complete solution in three-dimensional space, at least 6 axes are required, and at least 3 of them are rotating axes. Identify the axis data volume and the situation of the rotating axes of the cooperative motion mechanism, and determine whether the motion mechanism satisfies the rule of having a complete solution in three-dimensional space according to the number of axes and the situation of the rotating axes of the cooperative motion mechanism. If it satisfies the rule of having a complete solution, determine that the complexity of the axes of the cooperative motion mechanism is the first complexity feature; if it does not satisfy the rule of having a complete solution, determine that the complexity of the axes of the cooperative motion mechanism is the second complexity. If the complexity of the axes of the cooperative motion mechanism is the first complexity feature, match the first motion solution rule corresponding to the first complexity feature, and perform independent iterative solution processing on the external mechanism and the industrial motion mechanism of the cooperative motion mechanism according to the first motion solution rule, and obtain the target pose data of the cooperative motion mechanism according to the independent iterative results of the external mechanism and the industrial motion mechanism; if the complexity of the axes of the cooperative motion mechanism is the second complexity feature, match the second motion solution rule corresponding to the second complexity feature, and perform overall unified iterative solution processing on the cooperative motion mechanism according to the second motion solution rule, and obtain the target pose data of the cooperative motion mechanism.

[0096] In another alternative embodiment of the present application, a data processing method for cooperative motion mechanism control is provided. Figure 4 It is a flowchart of a data processing method for cooperative motion mechanism control provided by the present application, as Figure 4 shown, and the method includes the following steps:

[0097] S301: 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;

[0098] S302: Perform attitude-based iterative 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;

[0099] In another alternative embodiment of the present application, a data processing method for cooperative motion mechanism control is provided to implement attitude-based iterative solution processing on the external mechanism by the kinematic model of the cooperative motion mechanism. The method includes:

[0100] Iteratively solve the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain the process state data of the external mechanism; calculate the end pose error data based on the process state data of the external mechanism to obtain the process end pose error data, where the process end pose error data is the error data used to represent the error between the end pose of the industrial motion mechanism corresponding to the process state data of the external mechanism and the target point pose; compare the process end pose error data with a preset end error threshold to determine whether the process state data of the external mechanism meets the preset iteration rule. If the process end pose error data is less than or equal to the preset end error threshold, obtain the target state data of the external mechanism; if the process end pose error data is greater than the preset end error threshold, iteratively solve the process state data of the external mechanism until the process state data of the external mechanism meets the preset iteration rule, and obtain the target state data of the external mechanism.

[0101] S303: 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;

[0102] S304: Obtain the target pose data of the cooperative motion mechanism based on the target state data of the external mechanism and the target state data of the industrial motion mechanism.

[0103] In the embodiment of the present application, by determining whether to adopt an overall iteration scheme or an independent iteration scheme for solving the cooperative motion mechanism according to the axis characteristics of the cooperative motion mechanism, an efficient solution scheme can be matched according to the axis situation of the cooperative motion mechanism, improving the adjustment efficiency and accuracy of the cooperative motion mechanism.

[0104] In another alternative embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided, which realizes the kinematic model of the cooperative motion mechanism to perform a solution process based on pose priority for the cooperative motion mechanism. The method includes:

[0105] Based on the kinematic model of the cooperative motion mechanism, the end attitude of the initial state of the cooperative motion mechanism is solved to obtain the initial end attitude data; the initial end attitude data is subjected to attitude update processing to obtain the process end attitude data; the process end attitude data and the target attitude data of the cooperative motion mechanism are subjected to calculation processing based on the end attitude error to obtain the process error data, where the process error data is the error data used to represent the current end attitude of the industrial motion mechanism and the target point position attitude; the process error data is subjected to judgment processing based on a preset convergence condition. If the process error data does not meet the preset convergence condition, the process end attitude data is iteratively processed 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 the target pose data of the cooperative motion mechanism is obtained to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism.

[0106] In another alternative embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided to implement iterative solution processing based on attitude for an external mechanism by the kinematic model of the cooperative motion mechanism. The method includes:

[0107] Perform identification processing based on the characteristic axis on the initial state data of the cooperative motion mechanism to obtain characteristic axis data, where the characteristic axis data includes first characteristic axis data and second characteristic axis data. The first characteristic axis data is the initial state data used to represent the characteristic axis of the industrial motion mechanism, and the second characteristic axis data is the initial state data used to represent the characteristic axis of the external mechanism;

[0108] Obtaining the target state data of the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism by performing iterative solution data based on attitude on the cooperative motion mechanism includes:

[0109] Perform attitude iterative solution processing on the first characteristic axis data according to the kinematic model of the cooperative motion mechanism to obtain the target state data;

[0110] Perform attitude iterative solution processing on the second characteristic axis data according to the kinematic model of the cooperative motion mechanism to obtain the target state data.

[0111] In some alternative embodiments of the present application, attitude iterative solution processing is performed on the first feature axis data according to the kinematic model of the cooperative motion mechanism to obtain target state data. Attitude iterative solution is performed on the feature axis of the external mechanism through the kinematic model of the cooperative motion mechanism to minimize the pose error between the end of the motion mechanism and the pose at the target working point. If the pose error between the end of the motion mechanism and the pose at the target working point is 0, the cooperative motion mechanism moves to the target state corresponding to the target state data of the cooperative motion mechanism. If the pose error between the end of the motion mechanism and the pose at the target working point is not 0, the minimum pose error corresponds to the process motion state of the cooperative motion mechanism. Based on this process motion state of the cooperative motion mechanism, solution is performed according to the kinematic model of the cooperative motion mechanism to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism. Among them, the solution according to the process motion state of the cooperative motion mechanism based on the kinematic model of the cooperative motion mechanism can be an analytical solution or a numerical solution.

[0112] In some alternative embodiments of the present application, attitude iterative solution processing is performed on the second feature axis data according to the kinematic model of the cooperative motion mechanism to obtain target state data. Attitude iterative solution is performed on the feature axis of the industrial motion mechanism through the kinematic model of the cooperative motion mechanism. The feature axis of the industrial motion mechanism is the rotation axis of the industrial motion mechanism to minimize the attitude error between the end of the industrial motion mechanism and the attitude at the target working point. The minimum attitude error between the end of the industrial motion mechanism and the attitude at the target working point corresponds to the target state data of the industrial motion mechanism. The kinematic model of the cooperative motion mechanism performs solution processing on the external mechanism according to the determined target state data of the industrial motion mechanism, and adjusts the position of the end of the industrial motion mechanism to make the pose of the end of the motion mechanism the same as the pose at the target working point, so as to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism.

[0113] In another alternative embodiment of the present application, a data processing device for cooperative motion mechanism control is provided. Figure 5 As shown in the schematic diagram of a data processing device for cooperative motion mechanism control provided by the present application, Figure 5 shown, including:

[0114] A data acquisition module 41, configured to acquire the initial state data of the cooperative motion mechanism and the target state 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 state data of the cooperative motion mechanism is pose data used to represent the target working point position at the end of the industrial motion mechanism.

[0115] The model construction module 42 is configured to construct a kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism;

[0116] The solution module 43 is configured to perform pose-priority-based solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism, so as to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism.

[0117] In another alternative embodiment of the present application, a data processing device for controlling a cooperative motion mechanism is provided. Figure 6 As shown in Figure 6 a schematic diagram of another data processing device for controlling a cooperative motion mechanism provided by the present application, it includes:

[0118] The recognition module 51 is configured to recognize 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;

[0119] The first state module 52 is configured to perform pose-based iterative 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;

[0120] The second state module 53 is configured to 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;

[0121] The pose result module 54 is configured to obtain 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.

[0122] 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.

[0123] In summary, in the present application, the initial state data of the cooperative motion mechanism and the target state data of the cooperative motion mechanism are obtained, where the initial state data of the cooperative motion mechanism is pose data used to represent the pose at the initial position of the cooperative motion person, and the target state data of the cooperative motion mechanism is pose data used to represent the pose at the target working point position of the end of the industrial motion mechanism; a kinematic model of the cooperative motion mechanism is constructed according to the initial state data of the cooperative motion mechanism; the cooperative motion mechanism is subjected to a solution process based on pose priority according to the kinematic model of the cooperative motion mechanism, so as to enable the cooperative motion mechanism to move to the target state corresponding to the target state data of the cooperative motion mechanism. By constructing a kinematic model for the cooperative motion mechanism and performing a solution based on pose priority, the problem in the prior art that it is relatively difficult to adjust the cooperative motion mechanism to the desired working point position is solved, and the technical effect of improving the adjustment efficiency of the cooperative motion mechanism is achieved.

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of 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 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.

[0125] Unless the context clearly indicates otherwise, the singular forms of the words used in this specification and the appended claims include the plural, and vice versa. Thus, when referring to the singular, it generally includes the plural of the corresponding term. 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 explicitly prohibited in this application. Where the term "example" is used in this application, particularly when it is placed after a list of terms, the "example" is merely illustrative and explanatory and should not be considered exclusive or extensive.

[0126] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that the various aspects of the present application can be implemented alone or in combination with one or more other aspects. It should also be understood that the description herein and the specific embodiments are for illustrative purposes only and are not intended to limit the scope of the present application.

[0127] The above has described several embodiments of the present disclosure in detail. 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 state data of the cooperative motion mechanism, wherein the initial state data of the cooperative motion mechanism is used to represent the posture data at the initial position of the cooperative motion person, and the target state data of the cooperative motion mechanism is used to represent the posture data at the target working point position of 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 coordinated motion mechanism is solved based on posture priority according to the kinematic model of the coordinated motion mechanism, so as to achieve the movement of the coordinated motion mechanism to a target state corresponding to the target state data of the coordinated motion mechanism.

2. The data processing method according to claim 1, characterized in that: Performing posture-prioritized solution processing on the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism to achieve movement of the coordinated motion mechanism to a target state corresponding to the target 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; Performing posture solving processing on the external mechanism based on 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.

3. The data processing method according to claim 2, characterized in that: The external mechanism is subjected to posture-based posture solving processing according to the kinematic model of the cooperative motion mechanism, and the target state data of the external mechanism is obtained, including: Iteratively solving 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 posture error data according to the process state data of the external mechanism to obtain the process terminal posture error data, wherein the process terminal posture error data is used to represent the error data between the terminal posture of the industrial motion mechanism and the target point posture corresponding to the process state data of the external mechanism; Compare the process end posture error data with a preset end error threshold to determine whether the process state data of the external mechanism meets the preset iteration rule, If the process end posture error data is less than or equal to the preset end error threshold, obtaining the target state data of the external mechanism; If the process terminal posture error data is greater than the preset terminal error threshold, the process state data of the external mechanism is iteratively solved until the process state data of the external mechanism meets the preset iteration rule to obtain the target state data of the external mechanism.

4. The data processing method according to claim 1, characterized in that: Performing posture-prioritized solution processing on the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism to achieve movement of the coordinated motion mechanism to a target state corresponding to the target state data of the coordinated motion mechanism includes: Performing terminal posture solving processing on the initial state of the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism to obtain initial terminal posture data; Performing posture updating processing on the initial terminal posture data to obtain process terminal posture data; The process end posture data and the target posture data of the cooperative motion mechanism are subjected to calculation processing based on the end posture error to obtain process error data, wherein the process error data is error data for representing the current end posture of the industrial motion mechanism and the target point posture; 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 posture 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, and the target posture data of the collaborative motion mechanism is obtained to achieve the movement of the collaborative motion mechanism to the target state corresponding to the target state data of the collaborative motion mechanism.

5. 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 end of the industrial motion mechanism in the initial state, and the initial state data of the external mechanism includes the homogeneous matrix of the external mechanism in the initial state; Performing equivalent processing of DH parameters on the homogeneous matrix of the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state to obtain equivalent DH parameters; A kinematic model of the cooperative motion mechanism is constructed according to the equivalent DH parameters.

6. The data processing method according to claim 5, characterized in that: The homogeneous matrix of the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state are subjected to equivalent processing of DH parameters, and the equivalent DH parameters obtained include: Performing transformation processing on the homogeneous matrix of the end of the industrial motion mechanism in the initial state and the homogeneous matrix of the external mechanism in the initial state based on the preset axis of the homogeneous matrix, so as to achieve the coincidence of the preset axis of the homogeneous matrix of the initial state of the industrial motion mechanism and the homogeneous matrix of the initial state of the external mechanism; The matrix transformation DH parameters of the initial state homogeneous matrix of the industrial motion mechanism with preset axis overlap and the initial state homogeneous matrix of the external mechanism are solved to obtain equivalent DH parameters.

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 state data of the collaborative motion mechanism, wherein the initial state data of the collaborative motion mechanism is used to represent the posture data at the initial position of the collaborative motion person, and the target state data of the collaborative motion mechanism is used to represent the posture data at the target working point position of 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 posture-first solution processing on the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism, so as to realize the coordinated motion mechanism moving to a target state corresponding to the target state data of the coordinated motion mechanism.

8. The data processing device according to claim 7, characterized in that: The solution modules include: An identification module, used to identify the initial state data of the cooperative motion mechanism, and obtain the initial state data of the industrial motion mechanism and the initial state data of the external mechanism; A first state module, used for performing posture-based iterative solution processing on the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain target state data of the external mechanism; A second state module is used to 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; The posture result module is used to obtain the target posture 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.

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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