Cooperative movement mechanism control method and device based on scene requirements

Abstract

The embodiment of the invention provides a scene demand-based collaborative movement mechanism control method and device, and the method comprises the steps: obtaining collaborative movement mechanism data and scene demand data, and the collaborative movement mechanism data comprises collaborative movement mechanism initial state data and collaborative movement mechanism target state data; according to the initial state data of the collaborative movement mechanism, constructing a kinematics model of the collaborative movement mechanism; feature axis updating processing based on scene demand data is carried out on the initial state data of the collaborative movement mechanism to obtain updated state data of the collaborative movement mechanism; and performing iterative solution processing on the cooperative motion mechanism according to the kinematics model of the cooperative motion mechanism and the update state data of the cooperative motion mechanism to obtain motion control data. According to the method, the feature axis of the cooperative motion mechanism is subjected to initial state updating based on the scene requirement, so that the cooperative motion mechanism works under the posture meeting the scene requirement, and the posture of the cooperative motion mechanism is adjusted under the condition that the scene requirement is met.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of industrial motion mechanisms. Specifically, the present disclosure relates to a collaborative motion mechanism control method and device based on scenario requirements. 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 the 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 the positioner to meet the use of the industrial motion mechanism in various industrial application scenarios.

[0003] When the 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. Moreover, for different industrial construction environments, there are requirements for the pose adjustment of the industrial motion mechanism and the external cooperative structure. In the prior art, when the industrial motion mechanism reaches the desired working point, it is difficult to uniformly adjust the industrial motion mechanism and the external mechanism while meeting the industrial construction requirements, making it difficult to adjust to the target point and resulting in low adjustment efficiency.

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

[0005] The embodiments described herein provide a collaborative motion mechanism control method and device based on scenario requirements, which solve the problem in the prior art that it is relatively difficult to adjust the collaborative motion mechanism to the desired working point, and achieve the technical effect of improving the pose adjustment efficiency of the collaborative motion mechanism.

[0006] According to a first aspect of the present disclosure, there is provided a collaborative motion mechanism control method based on scenario requirements. The collaborative motion mechanism is used to represent a motion 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 collaborative motion mechanism control method includes:

[0007] Obtain collaborative motion mechanism data and scenario requirement data. Among them, the collaborative motion mechanism data includes collaborative motion mechanism initial state data and collaborative motion mechanism target state data, and the scenario requirement data is data used to represent the working scenario requirements of the collaborative motion mechanism;

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

[0009] Perform a feature axis update process on the initial state data of the coordinated motion mechanism based on the scenario requirement data to obtain the updated state data of the coordinated motion mechanism, where the updated state data of the coordinated motion mechanism is the state data of the coordinated motion mechanism after the feature axis corresponding to the scenario requirement data in the initial state data of the coordinated motion mechanism is updated;

[0010] Perform an iterative solution process on the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism and the updated state data of the coordinated motion mechanism to obtain motion control data, so as to control the coordinated motion mechanism to run to the target pose corresponding to the target state data of the coordinated motion mechanism according to the motion control data.

[0011] In some alternative embodiments of the present application, performing a feature axis update process on the initial state data of the coordinated motion mechanism based on the scenario requirement data to obtain the updated state data of the coordinated motion mechanism includes:

[0012] Perform an identification process on the scenario requirement data based on the feature axis to obtain scenario requirement feature axis data, where the scenario requirement feature axis data is data representing the feature axis of the coordinated motion mechanism corresponding to the scenario requirement;

[0013] Perform a state data update process on the initial state data of the coordinated motion mechanism based on the scenario requirement feature axis data to obtain the updated state data of the coordinated motion mechanism, where the updated state data of the coordinated motion mechanism is the state data obtained after the state data of the feature axis of the coordinated motion mechanism in the initial state data of the coordinated motion mechanism is updated.

[0014] In some alternative embodiments of the present application, performing a state data update process on the initial state data of the coordinated motion mechanism based on the scenario requirement feature axis data to obtain the updated state data of the coordinated motion mechanism includes:

[0015] Perform an identification process on the initial state data of the coordinated motion mechanism based on the scenario requirement feature axis data to obtain the initial feature axis data of the coordinated motion mechanism, where the initial feature axis data of the coordinated motion mechanism is data representing the feature axis in the initial state of the coordinated motion mechanism;

[0016] Perform a solution process on the initial feature axis data of the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism and the scenario requirement data to obtain the updated feature axis data of the coordinated motion mechanism;

[0017] Update the updated feature axis data of the coordinated motion mechanism to the initial state data of the coordinated motion mechanism to obtain the updated state data of the coordinated motion mechanism.

[0018] In some alternative embodiments of the present application, iterative solution processing is performed on the coordinated motion mechanism according to the kinematic model of the coordinated motion mechanism and the updated state data of the coordinated motion mechanism, and the obtained motion control data includes:

[0019] Identify the updated state data of the coordinated motion mechanism to obtain the updated state data of the industrial motion mechanism and the updated state data of the external mechanism;

[0020] Perform iterative solution processing on the external mechanism according to the kinematic model of the coordinated motion mechanism to obtain the target state data of the external mechanism;

[0021] Perform iterative update processing on the updated 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;

[0022] Determine the motion control data according to the target state data of the external mechanism and the target state data of the industrial motion mechanism, where the motion control data is pose data used to represent the pose of the coordinated motion mechanism when the end of the industrial motion mechanism runs to the target pose.

[0023] In some alternative embodiments of the present application, performing iterative solution processing on the external mechanism according to the kinematic model of the coordinated motion mechanism to obtain the target state data of the external mechanism includes:

[0024] Perform iterative solution processing on the external mechanism according to the kinematic model of the coordinated motion mechanism to obtain the process state data of the external mechanism;

[0025] Calculate the end distance data according to the process state data of the external mechanism to obtain the process end distance data, where the process end distance data is distance data used to represent the distance between the end of the industrial motion mechanism corresponding to the process state data of the external mechanism and the target position;

[0026] Compare the process end distance data with a preset end threshold to determine whether the process state data of the external mechanism meets the preset iteration rule,

[0027] If the process end distance data is less than or equal to the preset end threshold, obtain the target state data of the external mechanism;

[0028] If the process end distance data is greater than the preset end threshold, perform 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 obtain the target state data of the external mechanism.

[0029] In some alternative embodiments of the present application, iterative solution processing is performed on the external mechanism according to the kinematic model of the cooperative motion mechanism, and the obtained target state data of the external mechanism includes:

[0030] 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;

[0031] Calculating the end attitude error data based on the process state data of the external mechanism to obtain the process end attitude error data, where the process end attitude error data is the error data used to represent the error between the end attitude of the industrial motion mechanism corresponding to the process state data of the external mechanism and the target point position attitude;

[0032] Comparing the process end attitude error data with a preset end attitude error threshold to determine whether the process state data of the external mechanism meets the preset iteration rule,

[0033] If the process end attitude error data is less than or equal to the preset end attitude error threshold, the target state data of the external mechanism is obtained;

[0034] If the process end attitude error data is greater than the preset end attitude error threshold, iterative solution processing is performed on the process state data of the external mechanism until the process state data of the external mechanism meets the preset iteration rule, and the target state data of the external mechanism is obtained.

[0035] According to the second aspect of the present application, a cooperative motion mechanism control device based on scenario requirements is proposed. The cooperative motion mechanism is a motion mechanism formed by the cooperation of an industrial motion mechanism and an external mechanism. The external mechanism includes a guide rail and a turntable. The cooperative motion mechanism control device includes:

[0036] A data acquisition module for acquiring cooperative motion mechanism data and scenario requirement data, where the cooperative motion mechanism data includes cooperative motion mechanism initial state data and cooperative motion mechanism target state data, and the scenario requirement data is data used to represent the working scenario requirements of the cooperative motion mechanism;

[0037] A model construction module for constructing a kinematic model of the cooperative motion mechanism according to the cooperative motion mechanism initial state data;

[0038] An initial state update module for performing feature axis update processing on the cooperative motion mechanism initial state data based on the scenario requirement data to obtain cooperative motion mechanism updated state data, where the cooperative motion mechanism updated state data is the cooperative motion mechanism state data after the feature axis corresponding to the scenario requirement data in the cooperative motion mechanism initial state data is updated;

[0039] A solution module, configured to perform iterative solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism and the updated state data of the cooperative motion mechanism, so as to obtain motion control data, and control the cooperative motion mechanism to run to the target pose corresponding to the target state data of the cooperative motion mechanism according to the motion control data.

[0040] In some alternative embodiments of the present application, the initial state update module includes:

[0041] A feature axis recognition module, configured to perform feature axis-based recognition processing on the scenario requirement data to obtain scenario requirement feature axis data, where the scenario requirement feature axis data is data used to represent the feature axis of the cooperative motion mechanism corresponding to the scenario requirement;

[0042] A feature axis data update module, configured to perform state data update processing on the initial state data of the cooperative motion mechanism based on the scenario requirement feature axis data to obtain the updated state data of the cooperative motion mechanism, where the updated state data of the cooperative motion mechanism is data obtained after the state data of the feature axis of the cooperative motion mechanism in the initial state data of the cooperative motion mechanism is updated.

[0043] According to a third aspect of the present application, a computer-readable storage medium is provided, where the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the above-mentioned cooperative motion mechanism control method based on scenario requirements.

[0044] According to a fourth aspect of the present application, an electronic device is provided, 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-mentioned cooperative motion mechanism control method based on scenario requirements.

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

[0046] In this application, co - motion mechanism data and scenario requirement data are obtained. Among them, the co - motion mechanism data includes co - motion mechanism initial state data and co - motion mechanism target state data, and the scenario requirement data is data used to represent the working scenario requirements of the co - motion mechanism; a kinematic model of the co - motion mechanism is constructed based on the co - motion mechanism initial state data; the co - motion mechanism initial state data is subjected to feature axis update processing based on the scenario requirement data to obtain co - motion mechanism updated state data, where the co - motion mechanism updated state data is the co - motion mechanism state data after the feature axis corresponding to the scenario requirement data in the co - motion mechanism initial state data is updated; iterative solution processing is performed on the co - motion mechanism according to the kinematic model of the co - motion mechanism and the co - motion mechanism updated state data to obtain motion control data, so as to control the co - motion mechanism to run to the target pose corresponding to the co - motion mechanism target state data according to the motion control data. By performing initial state update of the feature axis in the co - motion mechanism based on the scenario requirement, the co - motion mechanism works in a posture that meets the scenario requirements. Iterative solution processing is performed on the co - motion mechanism after its posture is restricted to a certain extent to obtain motion control data, realizing the pose adjustment of the co - motion mechanism under the condition of meeting the scenario requirements, solving the problem that it is relatively difficult to adjust the co - motion mechanism to the desired working point in the prior art, and achieving the technical effect of improving the pose adjustment efficiency of the co - motion mechanism. 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 co - motion mechanism control method based on scenario requirements 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 co - motion mechanism control method based on scenario requirements provided by this application;

[0051] Figure 4 is a flowchart of a co - motion mechanism control method based on scenario requirements provided by this application;

[0052] Figure 5 is a schematic diagram of a co - motion mechanism control device based on scenario requirements provided by this application;

[0053] Figure 6Schematic diagram of another collaborative motion mechanism control device provided for this application. 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 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 skilled in the art based on the described embodiments of the present disclosure without creative efforts also belong to 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. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is 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 so defined herein. 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 shown in the figure with respect to other devices or elements. For example, the terms "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, exists 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 the spatial relative terms are intended to cover different orientations in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure 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 orientation of "above" and "below". The device may also be positioned or rotated in other different ways by 90 degrees or in other orientations, and corresponding interpretations will be made to the spatial relative descriptions used herein.

[0057] 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.

[0058] In an alternative embodiment of the present application, a control method for a cooperative motion mechanism based on scenario requirements is provided. Figure 1 As shown in the flowchart of a control method for a cooperative motion mechanism based on scenario requirements provided by the present application, Figure 1 as shown, the method includes the following steps:

[0059] S101: Obtain cooperative motion mechanism data and scenario requirement data;

[0060] The cooperative motion mechanism data includes the initial state data of the cooperative motion mechanism and the target state data of the cooperative motion mechanism. The scenario requirement data is data used to represent the working scenario requirements 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 mechanism at the initial position. 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. The scenario requirement data is data used to represent the requirements of the construction scenario corresponding to the cooperative motion mechanism.

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

[0062] In another alternative embodiment of the present application, a control method for a cooperative motion mechanism based on scenario requirements is provided for constructing a kinematic model of the cooperative motion mechanism, including:

[0063] 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:

[0064]

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

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

[0067] It represents the position of the Base of the motion mechanism in the world coordinate system. In other words, it represents the homogeneous matrix of the motion mechanism transformed from its own Base coordinate system to the World coordinate system. B: Base, R: Robot, W: world;

[0068] The number 1 here represents the first axis of the motion mechanism. Subsequently (where i = 1, 2, …, 6) also represents the i-th 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;

[0069] transformed to the Base coordinate system; 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 i-th axis of the motion mechanism;

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

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

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

[0073] Furthermore, 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 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; 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, perform 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 initial state of the industrial motion mechanism and the homogeneous matrix of the initial state of the external mechanism coincide; perform the solution processing of the DH parameters of the matrix transformation 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.

[0074] 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 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 the homogeneous matrices of the motion mechanism respectively. 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, 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, 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, the rotation or translation of this axis can be realized. Further, to reach the specified position, additional parameters need to be superimposed on the DH parameters of the next homogeneous matrix. Δd is BP2 shown in the figure, and Δθ is the angle between the B homogeneous matrix and P1P2 in the figure (both Δd and Δθ consider positive and negative signs). Since Δd and Δθ have been calculated in advance, the above Δd and Δθ are directly superimposed on the DH parameters of the next matrix transformation.

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

[0076]

[0077] P: positioner

[0078] G: guide rail

[0079] R: robot motion mechanism

[0080] T E : After the positioner is added, 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 process kinematic model of the above collaborative motion mechanism, and construct the kinematic model of the collaborative motion mechanism according to the equivalent DH parameters,

[0084]

[0085] S103: Perform feature axis update processing on the initial state data of the collaborative motion mechanism based on the scenario requirement data to obtain the updated state data of the collaborative motion mechanism;

[0086] The updated state data of the collaborative motion mechanism is the state data of the collaborative motion mechanism after the feature axis corresponding to the scenario requirement data in the initial state data of the collaborative motion mechanism is updated; the scenario requirement data is the requirement data used to represent the restrictions on the posture of the collaborative motion mechanism in the industrial environment where the collaborative motion mechanism operates. In different industrial scenarios, the working posture of the collaborative motion mechanism is restricted, and the feature axes in the collaborative motion mechanism are calculated to realize the restriction on the working posture of the motion mechanism.

[0087] In another optional embodiment of the present application, a control method for a collaborative motion mechanism based on scenario requirements is provided, Figure 3 is a flowchart of a control method for a collaborative motion mechanism based on scenario requirements provided by the present application, as Figure 3 shown, the method includes the following steps:

[0088] S201: Perform recognition processing on the scenario requirement data based on the feature axis to obtain scenario requirement feature axis data;

[0089] The scenario requirement feature axis data is the data used to represent the feature axis of the collaborative motion mechanism corresponding to the scenario requirement.

[0090] S202: Perform state data update processing on the initial state data of the cooperative motion mechanism based on the data of the feature axis of the scenario requirements to obtain the updated state data of the cooperative motion mechanism.

[0091] The updated state data of the cooperative motion mechanism is the state data obtained after the state data of the feature axis of the cooperative motion mechanism in the initial state data of the cooperative motion mechanism is updated.

[0092] In another alternative embodiment of the present application, a control method for a cooperative motion mechanism based on scenario requirements is provided, which is used to perform state data update processing on the initial state data of the cooperative motion mechanism based on the data of the feature axis of the scenario requirements, including: performing identification processing on the initial state data of the cooperative motion mechanism based on the data of the feature axis of the scenario requirements to obtain the initial feature axis data of the cooperative motion mechanism, where the initial feature axis data of the cooperative motion mechanism is the data representing the feature axis in the initial state of the cooperative motion mechanism; performing solution processing on the initial feature axis data of the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism and the scenario requirement data to obtain the updated feature axis data of the cooperative motion mechanism; updating the updated feature axis data of the cooperative motion mechanism to the initial state data of the cooperative motion mechanism to obtain the updated state data of the cooperative motion mechanism.

[0093] Specifically, identify the feature axis in the scenario requirement data, where the feature axis is the joint axis of the cooperative motion mechanism that needs to perform update calculation, and the scenario requirement data also includes requirement axis data, where the requirement axis data is the joint axis that restricts the cooperative motion mechanism. By performing update calculation on the feature axis, the requirement axis is made to meet the preset requirements. For example, if the feature axis is axis 1 of the motion mechanism and the requirement axis is the z-axis at the end of the industrial motion mechanism, the following formula is used to perform solution calculation on the cooperative motion mechanism. When calculating axis 1 of the motion mechanism, fix the angles of the other joint axes of the motion mechanism.

[0094]

[0095] Among them, T′ E is the product of all matrices on the left side of the equal sign in the kinematic model of the cooperative motion mechanism constructed according to the equivalent DH parameters above, and is the new end after integrating the positioner and the guide rail. T temp1 is the homogeneous matrix from the rotation position of axis 1 of the motion mechanism to the base coordinate system of the motion mechanism. T emp2 is the homogeneous matrix from the tool end of the motion mechanism to its own rotation axis 2.

[0096] Perform calculation and processing on the above-mentioned feature axis according to the above-mentioned scenario requirement data. The scenario requirements include scenario requirements such as the minimum value of the z-axis, the closest position, and the minimum attitude error. For example, when the scenario requirement data is the minimum value of the z-axis, calculate the angle of axis 1 of the motion mechanism according to the scenario requirement of the minimum z-axis at the end of the industrial motion mechanism, obtain the updated feature axis data, replace the initial value, obtain the updated state data of the cooperative motion mechanism, and perform iterative calculation on the cooperative motion mechanism according to the updated state data of the cooperative motion mechanism to adjust the pose of the cooperative motion mechanism at the attitude corresponding to the satisfied scenario requirement.

[0097] S104: Perform iterative solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism and the updated state data of the cooperative motion mechanism to obtain motion control data, so as to control the cooperative motion mechanism to run to the target pose corresponding to the target state data of the cooperative motion mechanism according to the motion control data.

[0098] In another optional embodiment of the present application, a control method for a cooperative motion mechanism based on scenario requirements is provided. Figure 4 It is a flowchart of a control method for a cooperative motion mechanism based on scenario requirements. As Figure 4 shown, the method includes the following steps:

[0099] S301: Identify the updated state data of the cooperative motion mechanism to obtain the updated state data of the industrial motion mechanism and the updated state data of the external mechanism;

[0100] S302: Perform 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;

[0101] In an optional embodiment of the present application, a control method for a cooperative motion mechanism based on scenario requirements is provided, which is used to perform iterative solution processing considering coordinates first on the cooperative motion mechanism. The method includes:

[0102] Fix the posture of the fixed industrial motion mechanism, perform position iteration on the external mechanism, and calculate the distance between the position of the end of the cooperative motion mechanism and the target working point during the iteration process. Perform 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; calculate the end distance data according to the process state data of the external mechanism to obtain the process end distance data, where the process end distance data is the distance data used to represent the distance between the end of the industrial motion mechanism corresponding to the process state data of the external mechanism and the target position; compare the process end distance data with a preset end threshold to determine whether the process state data of the external mechanism meets the preset iteration rule. If the process end distance data is less than or equal to the preset end threshold, obtain the target state data of the external mechanism; if the process end distance data is greater than the preset end threshold, perform 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 to obtain the target state data of the external mechanism. Among them, the preset iteration rule includes a first iteration rule and a second iteration rule. The first iteration rule is that the process end distance data is less than or equal to the preset end threshold, and the second iteration rule is that the number of iterations is greater than or equal to the preset upper limit of the number of iterations. After meeting the above iteration rules, stop the iteration.

[0103] In an alternative embodiment of the present application, a cooperative motion mechanism control method based on scenario requirements is provided for performing iterative solution processing based on posture priority on the cooperative motion mechanism. The method includes:

[0104] During the iterative solution process of the cooperative motion mechanism, calculate the error between the end posture of the industrial motion mechanism and the end posture of the target point during the iteration by performing iterative solution on the external mechanism. Perform 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; calculate the end posture error data according to the process state data of the external mechanism to obtain the process end posture error data, where the process end posture error data is the error data used to represent the error between the end posture of the industrial motion mechanism corresponding to the process state data of the external mechanism and the posture of the target point; compare the process end posture error data with a preset end posture 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 posture error threshold, obtain the target state data of the external mechanism; if the process end posture error data is greater than the preset end posture error threshold, perform 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 to obtain the target state data of the external mechanism.

[0105] S303: Perform iterative update processing on the updated 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;

[0106] In another alternative embodiment of the present application, a control method for a cooperative motion mechanism based on scenario requirements is proposed, including: identifying the updated state data of the cooperative motion mechanism to obtain the updated state data of the industrial motion mechanism and the updated state data of the external mechanism; performing iterative solution processing on the industrial motion mechanism according to the kinematic model of the cooperative motion mechanism to obtain the target state data of the industrial motion mechanism; and performing iterative update processing on the updated state data of the external mechanism according to the target state data of the industrial motion mechanism to obtain the target state data of the external mechanism.

[0107] S304: Determine the motion control data according to the target state data of the external mechanism and the target state data of the industrial motion mechanism.

[0108] The motion control data is the pose data of the cooperative motion mechanism when the end of the industrial motion mechanism runs to the target pose.

[0109] In another alternative embodiment of the present application, a control device for a cooperative motion mechanism based on scenario requirements is provided. Figure 5 The following is a schematic diagram of a control device for a cooperative motion mechanism based on scenario requirements provided by the present application, as Figure 5 shown. The device includes:

[0110] A data acquisition module 41, configured to acquire the cooperative motion mechanism data and the scenario requirement data. Among them, the cooperative motion mechanism data includes the initial state data of the cooperative motion mechanism and the target state data of the cooperative motion mechanism, and the scenario requirement data is the data used to represent the working scenario requirements of the cooperative motion mechanism;

[0111] A model construction module 42, configured to construct a kinematic model of the cooperative motion mechanism according to the initial state data of the cooperative motion mechanism;

[0112] An initial state update module 43, configured to perform feature axis update processing on the initial state data of the cooperative motion mechanism based on the scenario requirement data to obtain the updated state data of the cooperative motion mechanism. Among them, the updated state data of the cooperative motion mechanism is the state data of the cooperative motion mechanism after the feature axis corresponding to the scenario requirement data in the initial state data of the cooperative motion mechanism is updated;

[0113] A solution module 44, configured to perform iterative solution processing on the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism and the updated state data of the cooperative motion mechanism to obtain the motion control data, so as to control the cooperative motion mechanism to run to the target pose corresponding to the target state data of the cooperative motion mechanism according to the motion control data.

[0114] In another alternative embodiment of the present application, a control device for a cooperative motion mechanism based on scenario requirements is provided. Figure 6Schematic diagram of another collaborative motion mechanism control device provided for this application, as Figure 6 shown. The device includes:

[0115] A feature axis recognition module 51, configured to perform feature axis-based recognition processing on the scenario requirement data to obtain scenario requirement feature axis data, where the scenario requirement feature axis data is data used to represent the feature axis of the collaborative motion mechanism corresponding to the scenario requirement;

[0116] A feature axis data update module 52, configured to perform state data update processing on the initial state data of the collaborative motion mechanism based on the scenario requirement feature axis data to obtain updated state data of the collaborative motion mechanism, where the updated state data of the collaborative motion mechanism is data used to represent the state data obtained after the state data of the feature axis of the collaborative motion mechanism in the initial state data of the collaborative motion mechanism is updated.

[0117] The specific manners of the execution operations of each unit in the above embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0118] In summary, in this application, collaborative motion mechanism data and scenario requirement data are obtained, where the collaborative motion mechanism data includes initial state data of the collaborative motion mechanism and target state data of the collaborative motion mechanism, and the scenario requirement data is data used to represent the working scenario requirements of the collaborative motion mechanism; a kinematic model of the collaborative motion mechanism is constructed based on the initial state data of the collaborative motion mechanism; feature axis update processing is performed on the initial state data of the collaborative motion mechanism based on the scenario requirement data to obtain updated state data of the collaborative motion mechanism, where the updated state data of the collaborative motion mechanism is data used to represent the state of the collaborative motion mechanism after the feature axis corresponding to the scenario requirement data in the initial state data of the collaborative motion mechanism is updated; iterative solution processing is performed on the collaborative motion mechanism based on the kinematic model of the collaborative motion mechanism and the updated state data of the collaborative motion mechanism to obtain motion control data, so as to control the collaborative motion mechanism to run to the target pose corresponding to the target state data of the collaborative motion mechanism according to the motion control data. By performing initial state update on the feature axis in the collaborative motion mechanism based on the scenario requirement, the collaborative motion mechanism works in a posture that meets the scenario requirement, and iterative solution processing is performed on the collaborative motion mechanism after a certain posture is restricted to obtain motion control data, realizing pose adjustment of the collaborative motion mechanism under the condition of meeting the scenario requirement, solving the problem that it is relatively difficult to adjust the collaborative motion mechanism to the desired working point in the prior art, and achieving the technical effect of improving the pose adjustment efficiency of the collaborative motion mechanism.

[0119] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses 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 portion of an instruction, which 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, or 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 diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, 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.

[0120] Unless the context clearly dictates otherwise herein, the singular forms of words used in this specification and the appended claims also include the plural, and vice versa. Thus, when reference is made to the singular, the corresponding plural is generally included. Similarly, the terms "comprising" and "including" are to be construed as inclusive rather than exclusive. Likewise, the term "or" should be interpreted as inclusive, unless such an interpretation is explicitly 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 extensive.

[0121] 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 may 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.

[0122] 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 method for controlling a cooperative motion mechanism based on scene requirements, characterized in that: The coordinated motion mechanism is a motion mechanism used to represent a motion mechanism formed by the cooperation of an industrial motion mechanism and an external mechanism, wherein the external mechanism includes a guide rail and a positioner. The control method of the coordinated motion mechanism includes: Acquire collaborative motion mechanism data and scene requirement data, wherein the collaborative motion mechanism data includes collaborative motion mechanism initial state data and collaborative motion mechanism target state data, and the scene requirement data is data used to represent collaborative motion mechanism working scene requirements; Constructing a kinematic model of the coordinated motion mechanism according to the initial state data of the coordinated motion mechanism; Performing a characteristic axis update process based on the scene requirement data on the initial state data of the coordinated motion mechanism to obtain updated state data of the coordinated motion mechanism, wherein the updated state data of the coordinated motion mechanism is the updated state data of the coordinated motion mechanism used to represent the characteristic axis corresponding to the scene requirement data in the initial state data of the coordinated motion mechanism; The collaborative motion mechanism is iteratively solved according to the kinematic model of the collaborative motion mechanism and the updated state data of the collaborative motion mechanism to obtain motion control data, so as to control the collaborative motion mechanism to run to a target posture corresponding to the target state data of the collaborative motion mechanism according to the motion control data.

2. The method for controlling a coordinated motion mechanism according to claim 1, characterized in that: The initial state data of the coordinated motion mechanism is updated by a characteristic axis based on the scene demand data to obtain updated state data of the coordinated motion mechanism, including: Performing feature axis-based identification processing on the scene requirement data to obtain scene requirement feature axis data, wherein the scene requirement feature axis data is data used to represent the feature axis of the cooperative motion mechanism corresponding to the scene requirement; The initial state data of the collaborative motion mechanism is processed for state data update based on the characteristic axis data required by the scenario to obtain the updated state data of the collaborative motion mechanism, wherein the updated state data of the collaborative motion mechanism is used to represent the state data obtained after the state data of the characteristic axis of the collaborative motion mechanism in the initial state data of the collaborative motion mechanism is updated.

3. The method for controlling a coordinated motion mechanism according to claim 2, characterized in that: Performing a state data update process on the initial state data of the coordinated motion mechanism based on the scene requirement characteristic axis data to obtain the updated state data of the coordinated motion mechanism includes: Performing identification processing on the initial state data of the coordinated motion mechanism based on the scene requirement characteristic axis data to obtain initial characteristic axis data of the coordinated motion mechanism, wherein the initial characteristic axis data of the coordinated motion mechanism is data for representing the characteristic axis in the initial state of the coordinated motion mechanism; Solving the initial characteristic axis data of the cooperative motion mechanism according to the kinematic model of the cooperative motion mechanism and the scene requirement data to obtain updated characteristic axis data of the cooperative motion mechanism; The updated characteristic axis data of the coordinated motion mechanism is updated into the initial state data of the coordinated motion mechanism to obtain the updated state data of the coordinated motion mechanism.

4. The method for controlling a coordinated motion mechanism according to claim 1, characterized in that: The coordinated motion mechanism is iteratively solved according to the kinematic model of the coordinated motion mechanism and the updated state data of the coordinated motion mechanism to obtain motion control data including: Identifying the update status data of the cooperative motion mechanism to obtain the update status data of the industrial motion mechanism and the update status data of the external mechanism; Iteratively solving the external mechanism according to the kinematic model of the cooperative motion mechanism to obtain target state data of the external mechanism; Iteratively updating the updated 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 motion control data is determined according to the external mechanism target state data and the industrial motion mechanism target state data, wherein the motion control data is used to represent the posture data of the coordinated motion mechanism when the end of the industrial motion mechanism runs to the target posture.

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

6. The method for controlling a coordinated motion mechanism according to claim 4, characterized in that: The external mechanism is iteratively solved according to the kinematic model of the cooperative motion mechanism to obtain the target state data of the external mechanism, 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 corresponding to the process state data of the external mechanism and the posture of the target point; Compare the process end posture error data with a preset end posture 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 posture error threshold, obtaining the target state data of the external mechanism; If the process terminal posture error data is greater than the preset terminal posture 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.

7. A collaborative motion mechanism control device based on scene requirements, characterized in that: The coordinated motion mechanism is used to represent a motion mechanism formed by the cooperation of an industrial motion mechanism and an external mechanism, wherein the external mechanism includes a guide rail and a positioner, and the coordinated motion mechanism control device includes: A data acquisition module, used to acquire collaborative motion mechanism data and scene requirement data, wherein the collaborative motion mechanism data includes collaborative motion mechanism initial state data and collaborative motion mechanism target state data, and the scene requirement data is data used to represent the working scene requirements of the collaborative 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; An initial state update module, used for performing a characteristic axis update process on the initial state data of the collaborative motion mechanism based on the scene requirement data to obtain updated state data of the collaborative motion mechanism, wherein the updated state data of the collaborative motion mechanism is the updated state data of the collaborative motion mechanism used to represent the characteristic axis corresponding to the scene requirement data in the initial state data of the collaborative motion mechanism; A solution module is used to iteratively solve the collaborative motion mechanism according to the kinematic model of the collaborative motion mechanism and the updated state data of the collaborative motion mechanism to obtain motion control data, so as to control the collaborative motion mechanism to run to a target posture corresponding to the target state data of the collaborative motion mechanism according to the motion control data.

8. The coordinated motion mechanism control device according to claim 7, characterized in that: Initial state update module, including: A characteristic axis identification module, used for performing characteristic axis-based identification processing on the scene requirement data to obtain scene requirement characteristic axis data, wherein the scene requirement characteristic axis data is data for representing the characteristic axis of the cooperative motion mechanism corresponding to the scene requirement; A characteristic axis data updating module is used to perform status data updating processing on the initial status data of the collaborative motion mechanism based on the characteristic axis data required by the scenario, so as to obtain updated status data of the collaborative motion mechanism, wherein the updated status data of the collaborative motion mechanism is status data obtained after the status data of the characteristic axis of the collaborative motion mechanism in the initial status data of the collaborative motion mechanism is updated.

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 scene-requirement-based collaborative motion mechanism control method 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 collaborative motion mechanism control method based on scene requirements as described in any one of claims 1-6.

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