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. The method comprises the steps of obtaining initial state data of a cooperative motion mechanism and target state data of the cooperative motion mechanism; according to the initial state data of the collaborative movement mechanism, constructing a kinematics model of the collaborative movement mechanism; performing recognition processing based on a preset feature axis on the target state data of the cooperative movement mechanism to obtain target preset feature axis data; and according to the kinematics model of the cooperative motion mechanism and the target preset feature axis data, carrying out solving processing based on a preset feature axis to obtain motion control data so as to run to target state data of the cooperative motion mechanism. Iterative solution is carried out based on the preset feature axis of the cooperative motion mechanism, the preset feature axis is the feature axis of the trajectory point of the positioner of the cooperative motion mechanism, and the efficiency of adjusting the cooperative motion mechanism to the target working point is improved by carrying out axial coincidence calculation on the preset feature axis.

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, they play an important role in more and more industrial production scenarios. For increasingly complex industrial construction environments and requirements, a single industrial motion mechanism gradually becomes difficult to meet the industrial construction requirements. Industrial motion mechanisms need to cooperate with other external mechanisms, such as guide rails and positioners. The industrial motion mechanism is cooperatively set with the guide rail or positioner to meet the usage of the industrial motion mechanism in various industrial application scenarios.

[0003] 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 cooperation structure. Moreover, for different industrial construction environments, there are requirements for the pose adjustment of the industrial motion mechanism and the external cooperation 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 and being difficult to meet the pose adjustment requirements in the current industrial construction environment, resulting in difficult adjustment to the target point and low efficiency.

[0004] Therefore, in the prior art, there is a problem that it is relatively difficult to adjust a collaborative motion mechanism to a desired working point. Summary of the Invention

[0005] The embodiments described herein provide a data processing method and apparatus for collaborative motion mechanism control, which solve the problem in the prior art that it is relatively difficult to adjust a collaborative motion mechanism to a desired working point, and achieve the improvement of the pose adjustment efficiency of the collaborative motion mechanism to the target working point.

[0006] 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 positioner. The data processing method includes:

[0007] Obtain the initial state data of the collaborative motion mechanism and the target state data of the collaborative motion mechanism. Among them, 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 state data of the collaborative motion mechanism is attitude data used to represent the target working point at the end of the industrial motion mechanism;

[0008] Construct a kinematic model of the collaborative motion mechanism according to the initial state data of the collaborative motion mechanism;

[0009] Perform recognition processing on the target state data of the collaborative motion mechanism based on a preset feature axis to obtain target preset feature axis data, where the target preset feature axis data is data used to represent the preset feature axis of the target working position of the collaborative motion mechanism;

[0010] Perform solution processing based on the preset feature axis according to the kinematic model of the collaborative motion mechanism and the target preset feature axis data to obtain motion control data, so as to run to the target state data of the collaborative motion mechanism according to the motion control data, where the motion control data is pose data used to represent that the preset axis of the working trajectory point of the collaborative motion mechanism satisfies the preset axis feature rule.

[0011] In some alternative embodiments of the present application, performing solution processing based on the preset feature axis according to the kinematic model of the collaborative motion mechanism and the target preset feature axis data to obtain motion control data, so as to run to the target state data of the collaborative motion mechanism according to the motion control data includes:

[0012] Perform recognition processing on the initial state data of the collaborative motion mechanism based on the positioner to obtain initial positioner state data, where the initial positioner state data is pose data used to represent the positioner in the initial state;

[0013] Construct the kinematic model of the positioner according to the initial positioner state data;

[0014] Perform iterative solution processing based on the preset feature axis according to the kinematic model of the positioner and the target preset feature axis data to obtain positioner process control data, where the positioner process control data is pose data used to represent the position of the positioner trajectory point;

[0015] Perform solution processing on the collaborative motion mechanism according to the kinematic model of the collaborative motion mechanism and the positioner process control data to obtain the motion control data.

[0016] In some alternative embodiments of the present application, performing iterative solution processing based on the preset feature axis according to the kinematic model of the positioner and the target preset feature axis data to obtain positioner process control data includes:

[0017] Perform update processing on the initial positioner state data to obtain updated positioner state data;

[0018] Perform recognition processing on the updated positioner state data based on the preset feature axis to obtain updated feature axis data;

[0019] Perform feature axis error calculation processing on the updated feature axis data and the target preset feature axis data to obtain process feature axis error data;

[0020] Compare the process feature axis error data with a preset feature axis error threshold to determine whether the process feature axis error data meets the preset feature axis error rule,

[0021] If the process feature axis error data is less than or equal to the preset feature axis error threshold, the process feature axis error data meets the preset feature axis error rule, and the process control data of the positioner is obtained;

[0022] If the process feature axis error data is greater than the preset feature axis error threshold, the process feature axis error data does not meet the preset feature axis error rule, and the updated positioner state data is iteratively updated until the preset feature axis error rule is met, and the process control data of the positioner is obtained.

[0023] In some alternative embodiments of the present application, performing solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism and the process control data of the positioner to obtain the motion control data includes:

[0024] Perform identification processing on the trajectory point features of the process control data of the positioner to obtain trajectory point feature data, where the trajectory point feature data is pose data used to represent a trajectory point;

[0025] Perform solution processing on the trajectory point feature data based on the kinematic model of the cooperative motion mechanism to obtain the motion control data.

[0026] In some alternative embodiments of the present application, constructing the kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism includes:

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

[0028] Perform equivalent processing on the initial state data of the industrial motion mechanism and the initial state data of the external mechanism based on the DH parameters to obtain equivalent DH parameter data;

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

[0030] In some alternative embodiments of the present application, equivalent processing based on DH parameters is performed on the initial state data of the industrial motion mechanism and the initial state data of the external mechanism, and the obtained equivalent DH parameter data includes:

[0031] Perform 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, so as 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;

[0032] Perform solution processing of 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 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 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 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. 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 attitude data used to represent the target working point position at 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 feature axis identification module, configured to perform identification processing based on a preset feature axis on the target state data of the cooperative motion mechanism to obtain target preset feature axis data. Wherein, the target preset feature axis data is data used to represent the preset feature axis of the target working point position of the cooperative motion mechanism;

[0037] A solution module, configured to perform solution processing based on a preset feature axis according to the kinematic model of the cooperative motion mechanism and the target preset feature axis data to obtain motion control data, so as to run to the target state data of the cooperative motion mechanism according to the motion control data. Wherein, the motion control data is pose data used to represent the cooperative motion mechanism when the preset axis of the working trajectory point of the cooperative motion mechanism satisfies the preset axis feature rule;

[0038] In some alternative embodiments of the present application, the solution module includes:

[0039] A first recognition module, configured to perform recognition processing on the initial state data of the cooperative motion mechanism based on a positioner to obtain initial positioner state data, where the initial positioner state data is used to represent the pose data of the positioner in the initial state;

[0040] A kinematic model module, configured to construct a kinematic model of the positioner according to the initial positioner state data;

[0041] A first solution module, configured to perform iterative solution processing based on a preset feature axis according to the kinematic model of the positioner and the target preset feature axis data to obtain positioner process control data, where the positioner process control data is used to represent the pose data of the positioner trajectory points;

[0042] A second solution module, configured to perform a solution process on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism and the positioner process control data to obtain the motion control data.

[0043] 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.

[0044] 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.

[0045] The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

[0046] In this application, the initial state data of the collaborative motion mechanism and the target state 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 motion person, and the target state data of the collaborative motion mechanism is attitude data used to represent the target working point position at 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; the target state data of the collaborative motion mechanism is subjected to identification processing based on a preset feature axis to obtain target preset feature axis data, where the target preset feature axis data is data used to represent the preset feature axis of the target working point position of the collaborative motion mechanism; a solution process based on the preset feature axis is performed according to the kinematic model of the collaborative motion mechanism and the target preset feature axis data to obtain motion control data, so as to run to the target state data of the collaborative motion mechanism according to the motion control data, where the motion control data is pose data used to represent the collaborative motion mechanism when the preset axis of the working trajectory point of the collaborative motion mechanism satisfies the preset axis feature rule. Through iterative solution based on the preset feature axis of the collaborative motion mechanism, where the preset feature axis is the feature axis of the track point of the positioner in the collaborative motion mechanism, by calculating the axial coincidence of the preset feature axis, the solution calculation of the pose of the collaborative motion mechanism is realized, so as to realize the motion control of the collaborative motion mechanism, and the pose adjustment efficiency of the collaborative motion mechanism adjusted to the target working point position is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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:

[0048] Figure 1 is a flowchart of a data processing method for controlling a collaborative motion mechanism provided by this application;

[0049] Figure 2 is a schematic diagram of equivalent transformation provided by this application;

[0050] Figure 3 is a flowchart of a data processing method for controlling a collaborative motion mechanism provided by this application;

[0051] Figure 4 is a schematic diagram of a data processing device for controlling a collaborative motion mechanism provided by this application;

[0052] Figure 5 is a schematic diagram of another data processing device for controlling a collaborative motion mechanism provided by this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] 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 with reference to the accompanying drawings. Apparently, the described embodiments are some but not all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill 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.

[0054] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the subject matter of the present disclosure pertains. 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 shall not be interpreted in an idealized or overly formal manner unless expressly defined otherwise herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are directly joined together or joined through one or more intermediate components.

[0055] 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 of", "above", "positioned on", or "positioned on top of" mean that a first element, such as a first structure, is present on a second element, such as 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, such as a first structure, and a second element, 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 depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device may also be positioned in other different ways, rotated 90 degrees or in other orientations, and corresponding interpretations of the spatial relative descriptions used herein will be made.

[0056] The cooperative motion mechanism is a mechanism formed by the cooperation of an industrial motion mechanism and an external mechanism. Among them, the external mechanism includes a guide rail and a positioner. The cooperative motion mechanism can fix the motion mechanism on the guide rail to perform tasks, and the cooperative motion mechanism and the positioner cooperate to perform tasks. Among them, the cooperative motion mechanism can be a mechanism formed by the motion mechanism and any number of cooperative structures, or a mechanism formed by the motion mechanism and any type of cooperative structure.

[0057] In an alternative embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided. Figure 1 As shown in the flowchart of a data processing method for controlling a cooperative motion mechanism provided by the present application, Figure 1 as shown, the method includes the following steps:

[0058] S101: Obtain the initial state data of the cooperative motion mechanism and the target state data of the cooperative motion mechanism;

[0059] The initial state data of the cooperative motion mechanism is pose data used to represent the initial position of the cooperative motion mechanism. The target state data of the cooperative motion mechanism is attitude data used to represent the target working point position at the end of the industrial motion mechanism. The target state data of the cooperative motion mechanism is the working state condition that the motion mechanism needs to meet during construction. For example, in a fixed attitude, there is liquid during the process construction, and the fixed construction state is a horizontal state to avoid liquid outflow.

[0060] S102: Construct a kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism.

[0061] In an alternative embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided for constructing a kinematic model of the cooperative motion mechanism. The method includes:

[0062] The cooperative motion mechanism includes an industrial motion mechanism and an external structure. The external mechanism includes a guide rail and a positioner. The kinematic model of the industrial motion mechanism is, for example, the kinematic model of a 6-axis industrial motion mechanism is:

[0063]

[0064] Among them, T: represents a homogeneous matrix;

[0065] 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;

[0066] It 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 transformed from its own Base coordinate system to the World coordinate system, where B: Base, R: Robot, W: world;

[0067] The number 1 here represents the first axis of the motion mechanism. Subsequently (where i = 1, 2, …, 6) also represents the ith axis of the motion mechanism. This matrix represents the homogeneous matrix of the motion mechanism transformed from the first-axis coordinate system to the Base coordinate system;

[0068] It represents the rotation matrix corresponding to a certain angle of rotation of the first axis of the motion mechanism. Subsequently (where i = 1, 2, …, 6) represents the rotation matrix corresponding to a certain angle of rotation of the ith axis of the motion mechanism;

[0069] F represents the flange of the motion mechanism, that is, the position where the tool of the motion mechanism is installed;

[0070] T Tcp : Tcp represents a homogeneous matrix from the tool tip to the installation point, and can also be written as

[0071] Based on 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 the cooperative motion mechanism is solved and calculated. By solving and calculating the cooperative motion mechanism, when obtaining the target state data of the cooperative motion mechanism, 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.

[0072] Further, constructing the kinematic model of the cooperative motion mechanism includes: 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. The initial state data of the industrial motion mechanism includes the axis data at the end of the industrial motion mechanism in the initial state, the axis angle data of the motion mechanism, and the homogeneous matrix at the end of the industrial motion mechanism in the initial state. The initial state data of the external mechanism includes the axis data of the external mechanism in the initial state, the current axis angle data of the external mechanism, and the homogeneous matrix of the external mechanism in the initial state; performing equivalent processing based on DH parameters on the initial state data of the industrial motion mechanism and the initial state data of the external mechanism to obtain equivalent DH parameter data; constructing the kinematic model of the cooperative motion mechanism according to the equivalent DH parameters. Among them, performing transformation processing 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 based on the preset axis of the homogeneous matrix 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; performing solution processing on the matrix transformation DH parameters 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 with the preset axes coinciding to obtain equivalent DH parameters.

[0073] When performing the solution, due to data calculation requirements, 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 2 This is a schematic diagram of the equivalent transformation provided by this application. The A axis and B axis of the motion mechanism are respectively the homogeneous matrices of the motion mechanism. Obtaining the DH parameters for the transformation from the A axis to the B axis includes: making the common perpendicular line 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, 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, and p1p2 is the common perpendicular line of the two homogeneous matrices A and B. Therefore, 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 Z axis direction 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.

[0074] In another alternative embodiment of the present application, the equivalent DH parameters of the positioner are as follows: for a positioner with a fixed attitude requirement, the corresponding characteristic axis of the positioner does not rotate, and the DH parameters of the two axes of the positioner are combined into one axis to achieve the equivalent DH parameter processing of the positioner.

[0075] According to the above equivalent method to process the DH parameters and homogeneous matrix, the process kinematic model of the cooperative motion mechanism is:

[0076]

[0077] P: positioner;

[0078] G: guide rail;

[0079] R: robot motion mechanism;

[0080] 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;

[0081] 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;

[0082] T θ : represents the rotation matrix after the axis rotates a certain angle.

[0083] Perform transformation processing on the above process kinematic model of the cooperative motion mechanism, and construct the kinematic model of the cooperative motion mechanism according to the equivalent DH parameters.

[0084]

[0085] S103: Perform identification processing on the target state data of the cooperative motion mechanism based on the preset characteristic axis to obtain the target preset characteristic axis data;

[0086] The target preset feature axis data is the data used to represent the preset feature axis of the target working position of the cooperative motion mechanism. Among them, the preset feature axis is the z-axis of the working position, and the target preset feature axis data is the data representing the z-axis of the target working position. After identification, the target preset feature axis data is obtained, so as to control the z-axis direction of the trajectory point of the positioner during the pose adjustment process of the cooperative motion mechanism, and then realize the solution of the pose adjustment of the cooperative motion mechanism. And after the industrial motion mechanism cooperates with the positioner, the working trajectory is on the positioner. By applying the preset error rule to the z-axis direction of the positioner trajectory point and the target preset axis feature data, the solution at the target working position of the cooperative motion mechanism is realized.

[0087] S104: Perform a solution process based on the preset feature axis according to the kinematic model of the cooperative motion mechanism and the target preset feature axis data to obtain motion control data, so as to run to the target state data of the cooperative motion mechanism according to the motion control data.

[0088] Among them, the motion control data is the pose data of the cooperative motion mechanism when the preset axis of the working trajectory point of the cooperative motion mechanism satisfies the preset axis feature rule.

[0089] In another optional embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided. Figure 3 The following is a flowchart of a data processing method for controlling a cooperative motion mechanism provided by the present application. The method includes the following steps:

[0090] S201: Perform an identification process based on the positioner on the initial state data of the cooperative motion mechanism to obtain the initial positioner state data;

[0091] The initial positioner state data is the pose data of the positioner representing the initial state.

[0092] S202: Construct the kinematic model of the positioner according to the initial positioner state data;

[0093] Construct the kinematic model of the positioner according to the initial positioner state data. For example, the kinematic model of a 2-axis positioner is

[0094]

[0095] Because after adding 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, 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.

[0096] T GoalRepresents the posture that the point should reach on the positioner.

[0097] The position of the positioner base in the world coordinate system.

[0098] The homogeneous matrix converted to the Base coordinate system under the coordinate system of the first axis of the positioner.

[0099] The homogeneous matrix of the end of the positioner flange relative to the second axis of the positioner.

[0100] The rotation matrix after the first axis of the positioner rotates by a certain angle. Similarly.

[0101] The homogeneous matrix converted to the coordinate system of the first axis under the coordinate system of the second axis of the positioner.

[0102] Furthermore, for the above-mentioned positioner motion model, By calling the method of obtaining new DH parameters mentioned above for the obtained matrix, a set of new DH parameters can be obtained to realize the equivalent processing of DH parameters for non-rotatable tools or parts, and the equivalent DH parameters can be obtained.

[0103] S203: Perform iterative solution processing based on the preset feature axis according to the kinematic model of the positioner and the target preset feature axis data to obtain the positioner process control data;

[0104] The positioner process control data is pose data used to represent the trajectory points of the positioner.

[0105] In another optional embodiment of the present application, a data processing method for collaborative motion mechanism control is provided, and the method includes:

[0106] Perform update processing on the initial positioner state data to obtain updated positioner state data; perform identification processing based on the preset feature axis on the updated positioner state data to obtain updated feature axis data; perform feature axis error calculation processing on the updated feature axis data and the target preset feature axis data to obtain process feature axis error data; compare the process feature axis error data with the preset feature axis error threshold to determine whether the process feature axis error data meets the preset feature axis error rule. If the process feature axis error data is less than or equal to the preset feature axis error threshold, the process feature axis error data meets the preset feature axis error rule, and the positioner process control data is obtained; if the process feature axis error data is greater than the preset feature axis error threshold, the process feature axis error data does not meet the preset feature axis error rule, and the updated positioner state data is iteratively updated until the preset feature axis error rule is met, and the positioner process control data is obtained.

[0107] S204: Solve the cooperative motion mechanism based on the kinematic model of the cooperative motion mechanism and the process control data of the positioner to obtain motion control data.

[0108] In another alternative embodiment of the present application, a data processing method for controlling a cooperative motion mechanism is provided. The method includes: performing an identification process on the trajectory point features of the positioner process control data to obtain trajectory point feature data, where the trajectory point feature data is pose data for representing the trajectory points; performing a solution process on the trajectory point feature data based on the kinematic model of the cooperative motion mechanism to obtain motion control data, where the motion control data is pose data for representing the cooperative motion mechanism.

[0109] In an alternative embodiment of the present application, after adjusting the trajectory point feature axis of the positioner to meet the axial error with the target preset feature axis through the above processing, determine the positioner process control data representing the position and pose data of the positioner in the cooperative motion mechanism. Based on the position and pose data of the positioner, perform an iterative solution process on other structures of the cooperative motion mechanism, such as industrial motion mechanisms and guide rails, based on the kinematic model of the cooperative motion mechanism to obtain the position and pose data of the cooperative motion mechanism when it runs to the preset working point. Among them, if the cooperative motion mechanism is obtained by the cooperation of the positioner and the industrial motion mechanism, after obtaining the above positioner process control data representing the position and pose data of the positioner, the position and pose solution data of the motion mechanism that meets the target state data is obtained; if the cooperative motion mechanism is obtained by the cooperation of the positioner, the guide rail, and the industrial motion mechanism, after obtaining the above positioner process control data representing the position and pose data of the positioner, perform a solution process according to the positioner process control data of the position and pose data and the kinematic model of the cooperative motion mechanism to obtain the above position and pose solution data of the motion mechanism that meets the target state data.

[0110] In the embodiment of the present application, by adjusting the pose data of the positioner, each point feature axis on the trajectory of the positioner meets the feature axis orientation requirement. According to the obtained adjusted pose data of the positioner, solve the pose of the cooperative motion mechanism, and realize the calculation and solution of the pose data when the cooperative motion mechanism is adjusted to the target state, improving the efficiency of the pose adjustment of the cooperative motion mechanism.

[0111] In another alternative embodiment of the present application, a data processing device for controlling a cooperative motion mechanism is provided. Figure 4 The following is a schematic diagram of a data processing device for controlling a cooperative motion mechanism provided by the present application. The device includes:

[0112] A data acquisition module 31 is configured to acquire the initial state data of the cooperative motion mechanism and the target state data of the cooperative motion mechanism. 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 attitude data used to represent the target working point position at the end of the industrial motion mechanism.

[0113] A model construction module 32 is configured to construct a kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism.

[0114] A feature axis identification module 33 is configured to perform identification processing on the target state data of the cooperative motion mechanism based on a preset feature axis to obtain target preset feature axis data. The target preset feature axis data is data used to represent the preset feature axis of the target working point position of the cooperative motion mechanism.

[0115] A solution module 34 is configured to perform solution processing based on the preset feature axis according to the kinematic model of the cooperative motion mechanism and the target preset feature axis data to obtain motion control data, so as to run to the target state data of the cooperative motion mechanism according to the motion control data. The motion control data is pose data used to represent the cooperative motion mechanism when the preset axis of the working trajectory point of the cooperative motion mechanism satisfies the preset axis feature rule.

[0116] In another alternative embodiment of the present application, a data processing device for controlling a cooperative motion mechanism is provided. Figure 5 The schematic diagram of another data processing device for controlling a cooperative motion mechanism provided by the present application. The device includes:

[0117] A first identification module 41 is configured to perform identification processing on the initial state data of the cooperative motion mechanism based on a positioner to obtain initial positioner state data. The initial positioner state data is pose data used to represent the positioner pose in the initial state.

[0118] A kinematic model module 42 is configured to construct a kinematic model of the positioner according to the initial positioner state data.

[0119] A first solution module 43 is configured to perform iterative solution processing based on the preset feature axis according to the kinematic model of the positioner and the target preset feature axis data to obtain positioner process control data. The positioner process control data is pose data used to represent the positioner trajectory point.

[0120] A second solution module 44 is configured to perform solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism and the positioner process control data to obtain motion control data.

[0121] 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 initial position of the cooperative motion person, and the target state data of the cooperative motion mechanism is attitude 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; the target state data of the cooperative motion mechanism is subjected to identification processing based on a preset feature axis to obtain target preset feature axis data, where the target preset feature axis data is data used to represent the preset feature axis of the target working point position of the cooperative motion mechanism; a solution processing based on the preset feature axis is performed according to the kinematic model of the cooperative motion mechanism and the target preset feature axis data to obtain motion control data, so as to run to the target state data of the cooperative motion mechanism according to the motion control data, where the motion control data is pose data used to represent the cooperative motion mechanism when the preset axis of the working trajectory point of the cooperative motion mechanism satisfies the preset axis feature rule. Through iterative solution based on the preset feature axis of the cooperative motion mechanism, where the preset feature axis is the feature axis of the trajectory point of the turntable in the cooperative motion mechanism, by calculating the axial coincidence of the preset feature axis, the solution calculation of the pose of the cooperative motion mechanism is realized, so as to realize the motion control of the cooperative motion mechanism, and the pose adjustment efficiency of the cooperative motion mechanism adjusted to the target working point position is improved.

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of devices and methods according to multiple 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 marked in the block may occur in a different order from that marked 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 combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0123] Unless the context clearly indicates otherwise, the singular forms of words used in this specification and the appended claims include the plural, and vice versa. Thus, when referring to the singular, the corresponding plural is generally included. Similarly, the phrases "comprising" and "including" will be interpreted as inclusive rather than exclusive. Likewise, the terms "including" and "or" should be interpreted as inclusive, unless such an interpretation is expressly prohibited herein. Where the term "exemplary" is used herein, particularly when it is followed by a list of terms, the "exemplary" is merely illustrative and explanatory and should not be considered exclusive or exhaustive.

[0124] 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 individually or in combination with one or more other aspects. It should also be understood that the description herein and the specific examples are for illustrative purposes only and are not intended to limit the scope of the present application.

[0125] 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 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; Performing recognition processing based on preset characteristic axes on the target state data of the cooperative motion mechanism to obtain target preset characteristic axis data, wherein the target preset characteristic axis data is data for representing preset characteristic axes of target working points of the cooperative motion mechanism; According to the kinematic model of the collaborative motion mechanism and the target preset characteristic axis data, a solution processing based on the preset characteristic axis is performed to obtain motion control data, so as to run to the target state data of the collaborative motion mechanism according to the motion control data, wherein the motion control data is used to represent the posture data of the collaborative motion mechanism when the preset axis of the working trajectory point of the collaborative motion mechanism satisfies the preset axis characteristic rule.

2. The data processing method according to claim 1, characterized in that: According to the kinematic model of the cooperative motion mechanism and the target preset characteristic axis data, a solution process based on the preset characteristic axis is performed to obtain motion control data, and the target state data of the cooperative motion mechanism is run according to the motion control data, including: Performing positioner-based identification processing on the initial state data of the coordinated motion mechanism to obtain initial positioner state data, wherein the initial positioner state data is used to represent the positioner posture data in the initial state; Constructing a kinematic model of the positioner according to the initial positioner state data; Performing an iterative solution process based on the preset characteristic axis according to the kinematic model of the positioner and the target preset characteristic axis data to obtain positioner process control data, wherein the positioner process control data is the posture data used to represent the trajectory points of the positioner; The coordinated motion mechanism is solved according to the kinematic model of the coordinated motion mechanism and the positioner process control data to obtain the motion control data.

3. The data processing method according to claim 2, characterized in that: According to the kinematic model of the positioner and the target preset characteristic axis data, an iterative solution process based on the preset characteristic axis is performed to obtain the positioner process control data including: Performing an updating process on the initial positioner state data to obtain updated positioner state data; Performing identification processing based on preset characteristic axes on the updated positioner state data to obtain updated characteristic axis data; Performing characteristic axis error calculation processing on the updated characteristic axis data and the target preset characteristic axis data to obtain process characteristic axis error data; Compare the process characteristic axis error data with a preset characteristic axis error threshold to determine whether the process characteristic axis error data satisfies a preset characteristic axis error rule, If the process characteristic axis error data is less than or equal to a preset characteristic axis error threshold, the process characteristic axis error data satisfies the preset characteristic axis error rule, and the positioner process control data is obtained; If the process characteristic axis error data is greater than the preset characteristic axis error threshold, the process characteristic axis error data does not satisfy the preset characteristic axis error rule, and the updated positioner state data is iteratively updated until the preset characteristic axis error rule is satisfied to obtain the positioner process control data.

4. The data processing method according to claim 2, characterized in that: The coordinated motion mechanism is solved according to the kinematic model of the coordinated motion mechanism and the positioner process control data to obtain the motion control data including: Performing trajectory point feature recognition processing on the positioner process control data to obtain trajectory point feature data, wherein the trajectory point feature data is posture data used to represent the trajectory point; The trajectory point feature data is processed by solving the kinematic model of the cooperative motion mechanism to obtain the motion control data.

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: 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, wherein the initial state data of the industrial motion mechanism includes the axis data of the end of the industrial motion mechanism in the initial state, and the initial state data of the external mechanism includes the axis data of the external mechanism in the initial state; Performing equivalent processing on the initial state data of the industrial motion mechanism and the initial state data of the external mechanism based on DH parameters to obtain equivalent DH parameter data; 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 initial state data of the industrial motion mechanism and the initial state data of the external mechanism are subjected to equivalent processing based on DH parameters, and the equivalent DH parameter data obtained includes: 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 characteristic axis recognition module is used to perform recognition processing on the target state data of the cooperative motion mechanism based on a preset characteristic axis to obtain target preset characteristic axis data, wherein the target preset characteristic axis data is data for representing the preset characteristic axis of the target working point of the cooperative motion mechanism; A solution module is used to perform solution processing based on preset characteristic axes according to the kinematic model of the collaborative motion mechanism and the target preset characteristic axis data to obtain motion control data, so as to run to the target state data of the collaborative motion mechanism according to the motion control data, wherein the motion control data is used to represent the posture data of the collaborative motion mechanism when the preset axis of the working trajectory point of the collaborative motion mechanism satisfies the preset axis characteristic rule.

8. The data processing device according to claim 7, characterized in that: The solution modules include: A first recognition module is used to perform positioner-based recognition processing on the initial state data of the cooperative motion mechanism to obtain initial positioner state data, wherein the initial positioner state data is used to represent the positioner posture data in the initial state; A kinematic model module, used for constructing a kinematic model of the positioner according to the initial positioner state data; A first solving module is used to perform iterative solving processing based on preset characteristic axes according to the kinematic model of the positioner and the target preset characteristic axis data to obtain positioner process control data, wherein the positioner process control data is posture data for representing trajectory points of the positioner; The second solution module is used to solve the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism and the positioner process control data to obtain the motion control data.

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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