Anti-interference control method for cooperative work of multiple mechanical arms, electronic equipment and medium

Abstract

The invention discloses an anti-interference control method for cooperative work of multiple mechanical arms, electronic equipment and a medium, and the method comprises the steps: building a virtual three-dimensional space based on a physical space of a machine tool, and determining the position information and model parameters of each mechanical arm in the virtual three-dimensional space; a preset initial time sequence plan of each mechanical arm is obtained; according to each initial time sequence plan, analog simulation is carried out in a virtual three-dimensional space, and a working path of each mechanical arm is generated; when the positions of the working paths of the mechanical arms and the working paths of other mechanical arms at the same time point coincide or the distance between the working paths of the mechanical arms and the working paths of other mechanical arms is smaller than a preset safety threshold value, it is determined that interference risks exist in the corresponding mechanical arms; and according to the priority of the mechanical arm and a preset adjustment rule, the initial time sequence plan of the mechanical arm with the interference risk is adjusted, and a target time sequence plan of the mechanical arm without the interference risk is determined. The problem of interference between the mechanical arms can be avoided, and the operation safety of the machine tool is improved.

Description

Technical Field

[0001] The present application relates to the technical field of machine tool control, and particularly relates to an anti-interference control method, an electronic device, and a medium for collaborative work of multiple robotic arms. Background Art

[0002] In industries such as petrochemical and food storage and transportation, the large-scale production of oil drums has extremely high requirements for welding efficiency and quality. In the welding operation scenario of the oil drum bottom plate, to improve production efficiency, it is often necessary to simultaneously weld multiple welding points on the same oil drum bottom plate, and each point is operated by an independent robotic arm. However, when multiple robotic arms operate simultaneously within the limited working space of the machine tool, due to unreasonable path planning or inaccurate timing control, collisions and interferences between the robotic arms are extremely likely to occur. Such interferences will not only cause damage to the welding equipment, a decline in welding quality, and production stagnation, but may also pose safety hazards. Traditional anti-interference strategies, by dividing fixed working areas and setting fixed time windows, greatly limit the movement flexibility of the robotic arms and the overall efficiency of the system, and cannot meet the production requirements of high-efficiency welding of oil drums. Summary of the Invention

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present application provides an anti-interference control method, an electronic device, and a medium for collaborative work of multiple robotic arms, which can avoid interference problems between the robotic arms and improve the safety of the machine tool operation.

[0004] In a first aspect, the present application provides an anti-interference control method for collaborative work of multiple robotic arms, including:

[0005] Establish a virtual three-dimensional space based on the physical space of the machine tool, and determine the position information and model parameters of each robotic arm in the virtual three-dimensional space;

[0006] Obtain the preset initial timing plan of each robotic arm;

[0007] According to each initial timing plan, perform simulation in the virtual three-dimensional space to generate the working path of each robotic arm;

[0008] When the working path of a robotic arm coincides with the position of the working path of other robotic arms at the same time point or the distance between the two is less than a preset safety threshold, it is determined that the corresponding robotic arm has an interference risk;

[0009] According to the priority of the robotic arm and a preset adjustment rule, adjust the initial timing plan of the robotic arm with the interference risk to determine the target timing plan without interference risk for the robotic arm.

[0010] The anti-interference control method for collaborative operation of multiple robotic arms according to the embodiments of the first aspect of the present application has at least the following beneficial effects: When implementing the anti-interference control method for collaborative operation of multiple robotic arms, first, a virtual three-dimensional environment is built based on the physical space of the machine tool, and the positions and model parameters of the robotic arms are completely mapped therein. Then, the preset initial timing plans of each robotic arm are obtained, and the working paths are simulated and generated in the virtual space. During this process, the system monitors the working paths of the robotic arms in real time. Once it is found that the positions coincide or the distance is less than the safety threshold at the same time point, it is determined that there is an interference risk. Subsequently, according to the priorities of the robotic arms and the preset adjustment rules, the initial timing plans of the robotic arms with interference risks are optimized and adjusted. After repeatedly verifying and determining the target timing plan without interference risks, it is applied to actual production. This method effectively avoids the interference problem between robotic arms by constructing a virtual simulation and dynamic adjustment mechanism, greatly improves the overall safety of the machine tool, and reduces the risk of equipment collision and damage. At the same time, it improves the movement flexibility of the robotic arms, reduces waiting time, and significantly improves production efficiency.

[0011] According to some embodiments of the first aspect of the present application, the adjusting the initial timing plan of the robotic arm with the interference risk according to the priority of the robotic arm and the preset adjustment rules to determine the target timing plan without interference risk for the robotic arm includes:

[0012] When the current working states of two robotic arms with interference risks are both in the moving state, obtain the priorities of the two robotic arms;

[0013] According to the adjustment rules, adjust the initial timing plan corresponding to the robotic arm with the lower priority until there is no interference risk between the corresponding two robotic arms, and obtain the target timing plan.

[0014] According to some embodiments of the first aspect of the present application, the adjusting the initial timing plan corresponding to the robotic arm with the lower priority according to the adjustment rules until there is no interference risk between the corresponding two robotic arms to obtain the target timing plan includes:

[0015] Identify the spatial region and time window when there is an interference risk between the two robotic arms;

[0016] Determine the corresponding risk level according to the length of the spatial region;

[0017] Generate a first adjustment coefficient according to the risk level;

[0018] Adjust the movement speed of the robotic arm with the lower priority before the interference risk occurs according to the first adjustment coefficient;

[0019] Calculate the time window when the robotic arm with a lower priority passes through the spatial region according to the adjusted motion speed;

[0020] If there is still an overlapping region between the adjusted time window and the time window before adjustment, iteratively adjust the adjusted motion speed using a preset second adjustment coefficient until there is no overlap between the adjusted time window and the time window before adjustment, and determine the target timing plan for the corresponding robotic arm according to the finally determined motion speed of the robotic arm with a lower priority.

[0021] According to some embodiments of the first aspect of the present application, the adjusting the initial timing plan corresponding to the robotic arm with a lower priority according to the adjustment rule until there is no interference risk between the corresponding two robotic arms to obtain the target timing plan includes:

[0022] Identify the maximum overlapping length of the two robotic arms with interference risk;

[0023] Obtain the initial angle of each joint and the length of the arm body of the robotic arm with a lower priority;

[0024] According to the preset arm body adjustment sequence of the robotic arm, the arm body length, and the arm body constraint conditions corresponding to the robotic arm, obtain the target rotation angle corresponding to each joint;

[0025] According to the initial angle of the joint and the target rotation angle, obtain the target timing plan for the corresponding robotic arm.

[0026] According to some embodiments of the first aspect of the present application, the adjusting the initial timing plan of the robotic arm with interference risk according to the priority of the robotic arm and the preset adjustment rule to determine the target timing plan without interference risk for the robotic arm includes:

[0027] When the current working state of one of the robotic arms with interference risk is a stationary state and the end is located at the corresponding preset working position, adjust the priority of the corresponding robotic arm to be higher than that of the other robotic arm;

[0028] According to the adjustment rule, adjust the initial timing plan corresponding to the robotic arm with a lower priority until there is no interference risk between the corresponding two robotic arms to obtain the target timing plan.

[0029] According to some embodiments of the first aspect of the present application, after the step of adjusting the initial timing plan corresponding to the robotic arm with a lower priority according to the adjustment rule, it further includes:

[0030] After the initial timing plan of the robotic arm with the lower priority is adjusted, there is still a risk of interference between the corresponding two robotic arms. According to the adjustment rule, the initial timing plan corresponding to the robotic arm with the higher priority is adjusted.

[0031] According to some embodiments of the first aspect of the present application, after the step of determining the target timing plan without interference risk of the robotic arm, it further includes:

[0032] After starting the operation of the robotic arm, the first real-time distance between each robotic arm and the real-time position between each robotic arm are monitored in real time;

[0033] When the first real-time distance is less than or equal to the safety threshold, according to the real-time positions of other robotic arms, the working path of the corresponding robotic arm is adjusted.

[0034] According to some embodiments of the first aspect of the present application, after the step of determining the target timing plan without interference risk of the robotic arm, it further includes:

[0035] Obtain the image information of the machine tool, and determine the foreign object position according to the image information;

[0036] When the second real-time distance between the real-time position of the robotic arm and the foreign object position is less than or equal to the safety threshold, according to the real-time positions of other robotic arms, the working path of the corresponding robotic arm is adjusted.

[0037] In a second aspect, the present application further provides an electronic device, including:

[0038] At least one memory;

[0039] At least one processor;

[0040] At least one program;

[0041] The program is stored in the memory, and the processor executes at least one program to implement the anti-interference control method for multi-robotic arm collaborative work as described in any embodiment of the first aspect.

[0042] In a third aspect, the present application further provides a computer-readable storage medium, and the computer-readable storage medium stores computer-executable signals for executing the anti-interference control method for multi-robotic arm collaborative work as described in any embodiment of the first aspect.

[0043] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0044] Additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, where:

[0045] Figure 1 is a flowchart of an anti-interference control method for collaborative work of multiple robotic arms provided in the present application;

[0046] Figure 2 For the present application Figure 1 is a flowchart of the first embodiment regarding step S150;

[0047] Figure 3 For the present application Figure 2 is a flowchart of the first embodiment regarding step S220;

[0048] Figure 4 For the present application Figure 2 is a flowchart of the second embodiment regarding step S220;

[0049] Figure 5 For the present application Figure 1 is a flowchart of the second embodiment regarding step S150;

[0050] Figure 6 For the present application Figure 2 is regarding step S220 or Figure 5 is a flowchart regarding step S520;

[0051] Figure 7 For the present application Figure 1 is a flowchart after step S150;

[0052] Figure 8 For the present application Figure 1 is a flowchart after step S150. Detailed Description of the Embodiment

[0053] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present application.

[0054] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as a limitation of the present application.

[0055] In the description of the present application, if the first and the second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features or implicitly specifying the sequence relationship of the indicated technical features.

[0056] In the description of the present application, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific content of the technical solution.

[0057] In industries such as petrochemical and food storage and transportation, the large-scale production of oil drums has extremely high requirements for welding efficiency and quality. In the welding operation scenario of the oil drum bottom plate, in order to improve production efficiency, it is often necessary to weld multiple welding points on the same oil drum bottom plate simultaneously, and each point is operated by an independent robotic arm. However, when multiple robotic arms operate simultaneously within the limited working space of the machine tool, due to unreasonable path planning or inaccurate timing control, collisions and interferences between robotic arms are extremely likely to occur. Such interference will not only cause damage to welding equipment, a decline in welding quality, and production stagnation, but may also pose safety hazards. Traditional anti-interference strategies, by dividing fixed working areas and setting fixed time windows, greatly limit the movement flexibility of robotic arms and the overall efficiency of the system, and cannot meet the production requirements of efficient oil drum welding.

[0058] Based on this, the present application provides an anti-interference control method, an electronic device, and a medium for multi-robotic-arm collaborative work to solve the above-mentioned technical problems, and the technical solutions provided by the present application will be described in detail one by one below.

[0059] In the first aspect, referring to Figure 1 , the present application provides an anti-interference control method for multi-robotic-arm collaborative work, which may include but is not limited to the following steps:

[0060] Step S110: Establish a virtual three-dimensional space based on the physical space of the machine tool, and determine the position information and model parameters of each robotic arm in the virtual three-dimensional space.

[0061] Step S120: Obtain the preset initial timing plan for each robotic arm.

[0062] Step S130: According to each initial timing plan, perform simulation in the virtual three-dimensional space to generate the working path of each robotic arm.

[0063] Step S140: When the working path of a robotic arm coincides with the position of the working path of other robotic arms at the same time point or the distance between the two is less than the preset safety threshold, it is determined that the corresponding robotic arm has an interference risk.

[0064] Step S150: According to the priority of the robotic arms and the preset adjustment rules, adjust the initial timing plan of the robotic arms with interference risks to determine the target timing plan without interference risks for the robotic arms.

[0065] In steps S110 to S150, when implementing the anti-interference control method for multi-robotic arm collaborative work, first, a virtual three-dimensional environment is built based on the physical space of the machine tool, and the positions and model parameters of the robotic arms are completely mapped into it. Then, the preset initial timing plans of each robotic arm are obtained, and the working paths are simulated and generated in the virtual space. During this process, the system monitors the working paths of the robotic arms in real time. Once it is found that the positions coincide or the distance is less than the safety threshold at the same time point, it is determined that there is an interference risk. Subsequently, according to the priority of the robotic arms and the preset adjustment rules, the initial timing plans of the robotic arms with interference risks are optimized and adjusted. After repeatedly verifying and determining the target timing plan without interference risks, it is applied to actual production. This method effectively avoids the interference problem between robotic arms by constructing a virtual simulation and dynamic adjustment mechanism, greatly improves the overall safety of the machine tool, and reduces the risk of equipment collision and damage. At the same time, it improves the movement flexibility of the robotic arms, reduces the waiting time, and significantly improves the production efficiency.

[0066] Among them, the priority in step S150 can be determined according to the welding type, specifically such as the complexity of the welding process, the value degree of the welded workpiece, the precision requirement of the welded workpiece, or the dependence degree of the welded workpiece on the timing. This application does not make any limitations in this regard.

[0067] Refer to Figure 2 , it can be understood that in step S150, it may include but is not limited to the following steps:

[0068] Step S210: When the current working states of two robotic arms with interference risks are both in the moving state, obtain the priorities of the two robotic arms.

[0069] Step S220: According to the adjustment rules, adjust the initial timing plan corresponding to the robotic arm with the lower priority until there is no interference risk between the corresponding two robotic arms, and obtain the target timing plan.

[0070] In steps S210 to S220, the system continuously monitors the working status of each robotic arm. When it detects that two robotic arms enter the overlapping space within the same time window and are both in a moving state, a priority evaluation process is triggered. Since in the scenario of multi-robotic arm collaborative operation, the impact degrees of the tasks undertaken by different robotic arms on the production process are different, that is, there are distinctions in the importance of the work responsible for each robotic arm. The system implements dynamic timing adjustment for the robotic arm with a lower priority, and the impact on the overall production process is relatively controllable, and it can make way for high-priority tasks through dynamic optimization. Through this strategy, the potential interference hazards between robotic arms are quickly eliminated, ensuring the safe operation of the equipment, and effectively improving the overall efficiency and stability of the multi-robotic arm collaborative working system.

[0071] Referring to Figure 3 , it can be understood that in step S220, it may include but is not limited to the following steps:

[0072] Step S310: Identify the spatial region and time window when there is an interference risk between the two robotic arms.

[0073] Step S320: Determine the corresponding risk level according to the length of the spatial region.

[0074] Step S330: Generate a first adjustment coefficient according to the risk level.

[0075] Step S340: Adjust the movement speed of the robotic arm with a lower priority before the interference risk occurs according to the first adjustment coefficient.

[0076] Step S350: Calculate the time window of the robotic arm with a lower priority when passing through the spatial region according to the adjusted movement speed.

[0077] Step S360: If there is still an overlapping area between the adjusted time window and the time window before adjustment, iteratively adjust the adjusted movement speed using a preset second adjustment coefficient until there is no overlap between the adjusted time window and the time window before adjustment, and determine the target timing plan of the corresponding robotic arm according to the finally determined movement speed of the robotic arm with a lower priority.

[0078] In steps S310 to S360, in the collaborative work of multiple robotic arms, when an interference risk between two robotic arms is detected, first, accurately identify the spatial region and time window where the interference occurs. Then, divide the risk level based on the length of the spatial region. A shorter interference spatial region corresponds to a lower risk level, while a longer one corresponds to a higher risk level. Based on the risk level, the system generates a corresponding first adjustment coefficient. The higher the risk, the greater the adjustment amplitude of this coefficient on the speed of the robotic arm. Subsequently, use the first adjustment coefficient to adjust the movement speed of the robotic arm with a lower priority before the interference risk occurs, reducing its speed when entering the interference spatial region. Then, according to the adjusted movement speed, recalculate the time window for this robotic arm to pass through the interference spatial region. If the new time window still overlaps with the time window before adjustment, it means the interference risk has not been completely eliminated. At this time, the system uses a preset second adjustment coefficient to adjust the adjusted movement speed again and repeats the process of calculating the time window, continuously iterating until the two time windows no longer overlap. Finally, based on the final movement speed determined by the robotic arm with a lower priority, generate a target timing plan without interference risk. Through the iterative adjustment mechanism, the effectiveness of the adjustment strategy is ensured, the interference risk can be reliably eliminated, and the safety and stability of the collaborative work of multiple robotic arms are greatly improved. Moreover, this speed adjustment method based on the risk level enables the robotic arm to operate at a reasonable speed under different working conditions, which helps to optimize the overall production efficiency. In scenarios such as the welding of the bottom plate of an oil barrel, it not only ensures that each robotic arm operates orderly without collision but also maintains the efficient progress of the welding task.

[0079] In one embodiment, suppose that in the oil barrel bottom plate welding scenario, robot A is responsible for welding the key weld in the center of the oil barrel bottom plate, and robot B is responsible for welding the auxiliary weld on the edge, and robot A has a higher priority than robot B. When robot A and robot B move to the center area of the oil barrel at the same time, the system detects that the two will interfere in a cylindrical space area with a length of 30 cm in the next 5 seconds. The system first identifies this cylindrical space with a diameter of about 20 cm and a length of 30 cm as an interference area, and the time window is the 3rd to 8th seconds in the future. According to the length of the space area of 30 cm, it is determined to be a medium-level risk, and the first adjustment coefficient of 0.7 is generated. The system adjusts the original movement speed of robot B of 0.5 m / s to 0.5×0.7=0.35 m / s. Calculated at this speed, the time window for robot B to pass through the interference area becomes the 5th to 13.5th second. However, at this time, there is still a 2-second overlap with the time window of robot A. The system uses the second adjustment coefficient of 0.8, further adjusting the speed of robot arm B to 0.35×0.8=0.28 m / s, and recalculates the time window for robot arm B to pass through the interference area from 6.5 to 17.2 seconds, which is completely different from the time window of robot arm A. Finally, the system writes robot arm B into the target timing plan at a movement speed of 0.28 m / s, ensuring that robot arm A can successfully complete the key welding task while robot arm B can also safely complete the auxiliary welding operation. The whole process not only eliminates the risk of interference, but also ensures the continuity of the core welding process.

[0080] Reference Figure 4 It is understandable that, in step S220, the following steps may be included but not limited to:

[0081] Step S410: Identify the maximum overlapping length of two robotic arms that have a risk of interference.

[0082] Step S420: Obtain the initial angle of each joint and the arm length of the robotic arm with a lower priority.

[0083] Step S430: Obtain the target rotation angle corresponding to each joint according to the preset arm adjustment sequence, arm length and arm constraint conditions corresponding to the robotic arm.

[0084] Step S440: Obtain the target timing plan of the corresponding robot arm according to the joint accident angle and the target rotation angle.

[0085] When dealing with the interference risk of multiple robotic arms, first calculate the maximum overlapping length of the two in space to quantify the severity of the conflict. Subsequently, the system extracts the geometric parameters of the robotic arm with lower priority, including the initial angles of each joint and the lengths of the arm bodies, which constitute the basic constraint conditions for path optimization. Based on the preset order of arm body adjustment, such as adjusting the distal joint first and then the proximal joint, the system combines the arm body constraint conditions, such as the joint rotation range and the obstacle avoidance area limit, and uses the inverse kinematics algorithm to calculate the target rotation angle of each joint. Through the coordinated change of joint angles, this process enables the robotic arm to avoid the interference area while maintaining the task execution ability, and ensures that all joint movements are within the physically feasible range. Finally, the system converts the target rotation angles of each joint into a continuous motion trajectory to generate a target time sequence plan without interference. This adjustment method has a higher space utilization efficiency compared to simple speed adjustment or time delay, and can achieve a more compact cooperative operation within a limited working space.

[0086] Referring to Figure 5 , it can be understood that in step S150, it may include but is not limited to the following steps:

[0087] Step S510: When the current working state of one of the robotic arms with interference risk is in a stationary state and the end is located at the corresponding preset working position, adjust the priority of the corresponding robotic arm to be higher than that of the other robotic arm.

[0088] Step S520: According to the adjustment rules, adjust the initial time sequence plan corresponding to the robotic arm with lower priority until there is no interference risk between the corresponding two robotic arms to obtain the target time sequence plan.

[0089] In steps S510 to S520, during the collaborative operation of multiple robotic arms, once it is detected that among the two robotic arms with an interference risk, one robotic arm is in a stationary state and its end has reached the preset working position, the system will immediately activate the priority dynamic adjustment mechanism. The priority of the stationary and positioned robotic arm is raised to be higher than that of the other robotic arm because this robotic arm has completed positioning in advance or is in a critical operation preparation state, and maintaining its stationary state is more conducive to ensuring the coherence and operation accuracy of the overall production process. Subsequently, the system adjusts the initial timing plan of the robotic arm with a lower priority according to the preset adjustment rules. By optimizing parameters such as its motion path, speed, and start time, such as delaying the start, adjusting the speed curve, and fine-tuning the motion trajectory, the two robotic arms avoid each other in the time and space dimensions until the interference risk is completely eliminated, thereby generating a non-interference target timing plan. In this step, the stability of the operation of the positioned robotic arm is ensured, avoiding position deviation or operation interruption caused by the movement interference of other robotic arms, effectively improving the quality of precision operations such as welding, and being able to better adapt to different production tasks and environmental changes, ensuring the safe and efficient progress of the production process.

[0090] Refer to Figure 6 , after the adjustment of the robotic arm with a lower priority in step S220 or step S520, it may further include but is not limited to the following steps:

[0091] Step S610: When there is still an interference risk between the corresponding two robotic arms after the initial timing plan of the robotic arm with a lower priority is adjusted, according to the adjustment rules, adjust the initial timing plan corresponding to the robotic arm with a higher priority.

[0092] In step S610, when the system completes the adjustment of the timing plan of the robotic arm with a lower priority, if there is still an interference risk between the two robotic arms, the adjustment mechanism of the robotic arm with a higher priority will be triggered, adopting a dynamic balance strategy between ensuring safety and maintaining production efficiency. Establish a dual adjustment mechanism to ensure that the interference risk can still be eliminated under complex working conditions.

[0093] Refer to Figure 7 , after step S150, it may further include but is not limited to the following steps:

[0094] Step S710: After starting the operation of the robotic arm, monitor the first real-time distance between each robotic arm and the real-time position between each robotic arm in real time;

[0095] Step S720: When the first real-time distance is less than or equal to the safety threshold, adjust the working path of the corresponding robotic arm according to the real-time position of other robotic arms.

[0096] In steps S710 to S720, after determining the target timing plan without interference risk for the robotic arms and starting the operation, the system enters the real-time dynamic monitoring phase. Through high-precision sensors and positioning systems, the real-time position information of each robotic arm is continuously obtained, the first real-time distance between the robotic arms is calculated, and it is compared with the preset safety threshold in real time. Once it is detected that the real-time distance between two robotic arms touches or is less than the safety threshold, the system immediately activates the emergency response mechanism. First, a dynamic spatial environment model is constructed based on the current real-time positions of the other robotic arms; then, using path planning algorithms, combined with the kinematic constraints of the robotic arms and task requirements, a new collision-free working path is generated within a very short time; finally, the adjustment instructions are quickly sent to the corresponding robotic arms to achieve timely correction of the working path and ensure a safe distance between the robotic arms.

[0097] This step improves the safety and reliability of the system. Through real-time monitoring and immediate adjustment, it effectively avoids collision accidents caused by sudden factors such as robotic arm movement deviation and external interference, reducing the risk of equipment damage. Secondly, it enhances the dynamic adaptability of the system, enabling it to flexibly respond to uncertainties in the production process, such as material position offset and insertion of temporary tasks, ensuring the continuity of the production process, reducing downtime, and improving production efficiency.

[0098] Refer to Figure 8 , after step S150, it may further include but is not limited to the following steps:

[0099] Step S810: Obtain the image information of the machine tool and determine the position of the foreign object according to the image information;

[0100] Step S820: When the second real-time distance between the real-time position of the robotic arm and the position of the foreign object is less than or equal to the safety threshold, adjust the working path of the corresponding robotic arm according to the real-time positions of the other robotic arms.

[0101] In steps S810 to S820, foreign objects may appear at the production site due to sudden situations such as human negligence, equipment failure, or material scattering. Such dynamic obstacles cannot be predicted in the early planning. The camera around the machine tool continuously captures images of the working area to obtain real-time visual information. The images are processed to identify whether there are foreign objects and determine their positions in the machine tool space. The distance between the current position of the robotic arm and the position of the foreign object is calculated in real time and compared with the preset safety threshold, so as to timely adjust the working path of the corresponding robotic arm to avoid colliding with foreign objects and further improve the safety performance of the machine tool during the processing process.

[0102] In a second aspect, the present application also provides an electronic device, including: at least one memory, at least one processor, and at least one program, where the program is stored in the memory, and the processor executes one or more programs to implement the anti-interference control method for collaborative work of multiple robotic arms as described above.

[0103] When the electronic device executes the anti-interference control method for collaborative work of multiple robotic arms, it first builds a virtual three-dimensional environment based on the physical space of the machine tool, and completely maps the positions and model parameters of the robotic arms into it. Then, it obtains the preset initial timing plans of each robotic arm, and simulates and generates the working paths in the virtual space. During this process, the system monitors the working paths of the robotic arms in real time. Once it is found that the positions coincide or the distance is less than the safety threshold at the same time point, it is determined that there is an interference risk. Subsequently, according to the priorities of the robotic arms and the preset adjustment rules, the initial timing plans of the robotic arms with interference risks are optimized and adjusted. After repeatedly verifying and determining the target timing plan without interference risk, it is applied to actual production. This method effectively avoids the interference problem between robotic arms through the construction of a virtual simulation and dynamic adjustment mechanism, greatly improves the overall safety of the machine tool, and reduces the risk of equipment collision and damage; at the same time, it improves the movement flexibility of the robotic arms, reduces the waiting time, and significantly improves the production efficiency.

[0104] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs, and signals, such as the program instructions / signals corresponding to the processing module in the embodiments of the present application. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and signals stored in the memory, that is, to implement the anti-interference control method for collaborative work of multiple robotic arms in the above method embodiments.

[0105] The memory can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store relevant data of the anti-interference control method for collaborative work of the above multiple robotic arms, etc. In addition, the memory can include a high-speed random access memory, and can also include non-transitory memories, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory can optionally include memories remotely set relative to the processor, and these remote memories can be connected to the processing module through a network. Examples of the above networks include, but are not limited to, the Internet, enterprise intranets, local area networks, mobile communication networks, and their combinations.

[0106] One or more signals are stored in the memory, and when executed by one or more processors, they execute the anti-interference control method for collaborative work of multiple robotic arms in any of the above method embodiments.

[0107] In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which when executed by one or more processors, enables the one or more processors to execute the anti-interference control method for collaborative work of multiple robotic arms in the above method embodiments.

[0108] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] Through the description of the above embodiments, those of ordinary skill in the art can understand that all or some of the steps and systems disclosed in the above methods can be implemented as software, firmware, hardware and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable signals, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassette, tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, communication media typically includes computer-readable signals, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0110] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0111] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0112] The embodiments of the present application have been described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the purpose of the present application.

Claims

1. A method for anti-interference control of collaborative work of multiple robotic arms, characterized in that, Including: Establish a virtual three-dimensional space based on the physical space of the machine tool, and determine the position information and model parameters of each robotic arm in the virtual three-dimensional space; Obtain the preset initial timing plan for each robotic arm; According to each initial timing plan, perform simulation in the virtual three-dimensional space to generate the working path of each robotic arm; When the working path of a robotic arm coincides with the position of the working path of other robotic arms at the same time point or the distance between them is less than a preset safety threshold, it is determined that there is an interference risk for the corresponding robotic arm; According to the priority of the robotic arm and a preset adjustment rule, adjust the initial timing plan of the robotic arm with the interference risk to determine the target timing plan without interference risk for the robotic arm.

2. The anti-interference control method for collaborative operation of multiple robotic arms according to claim 1, characterized in that, The adjusting the initial timing plan of the robotic arm with the interference risk according to the priority of the robotic arm and a preset adjustment rule to determine the target timing plan without interference risk for the robotic arm includes: When the current working states of two robotic arms with interference risks are both in the moving state, obtain the priorities of the two robotic arms; According to the adjustment rule, adjust the initial timing plan corresponding to the robotic arm with the lower priority until there is no interference risk between the corresponding two robotic arms to obtain the target timing plan.

3. The anti-interference control method for collaborative operation of multiple robotic arms according to claim 2, characterized in that, The adjusting the initial timing plan corresponding to the robotic arm with the lower priority according to the adjustment rule until there is no interference risk between the corresponding two robotic arms to obtain the target timing plan includes: Identify the spatial region and time window when there is an interference risk between the two robotic arms; Determine the corresponding risk level according to the length of the spatial region; Generate a first adjustment coefficient according to the risk level; According to the first adjustment coefficient, adjust the moving speed of the robotic arm with the lower priority before the interference risk occurs; According to the adjusted moving speed, calculate the time window when the robotic arm with the lower priority passes through the spatial region; If there is still an overlapping region between the adjusted time window and the time window before adjustment, iteratively adjust the adjusted moving speed using a preset second adjustment coefficient until there is no overlap between the adjusted time window and the time window before adjustment, and determine the target timing plan for the corresponding robotic arm according to the finally determined moving speed of the robotic arm with the lower priority.

4. The anti-interference control method for collaborative operation of multiple robotic arms according to claim 2, characterized in that, The adjusting the initial timing plan corresponding to the robotic arm with the lower priority according to the adjustment rule until there is no interference risk between the corresponding two robotic arms to obtain the target timing plan includes: Identify the maximum overlapping length of the two robotic arms with interference risks; Obtain the initial angle of each joint and the length of the arm body of the robotic arm with the lower priority; According to the preset arm body adjustment sequence of the robotic arm, the arm body length, and the arm body constraint conditions corresponding to the robotic arm, obtain the target rotation angle corresponding to each joint; Based on the accident angle of the joint and the target rotation angle, obtain the target timing plan corresponding to the robotic arm.

5. The anti-interference control method for collaborative operation of multiple robotic arms according to claim 1, characterized in that, Adjusting the initial timing plan of the robotic arm with the interference risk according to the priority of the robotic arm and a preset adjustment rule to determine the target timing plan of the robotic arm without interference risk includes: When the current working state of one of the robotic arms with interference risk is a stationary state and the end is located at the corresponding preset working position, adjust the priority of the corresponding robotic arm to be higher than that of the other robotic arm; According to the adjustment rule, adjust the initial timing plan corresponding to the robotic arm with the lower priority until there is no interference risk between the corresponding two robotic arms, and obtain the target timing plan.

6. The anti-interference control method for collaborative operation of multiple robotic arms according to claim 2 or 5, characterized in that, After the step of adjusting the initial timing plan corresponding to the robotic arm with the lower priority according to the adjustment rule, it further includes: When there is still interference risk between the corresponding two robotic arms after completing the adjustment of the initial timing plan of the robotic arm with the lower priority, adjust the initial timing plan corresponding to the robotic arm with the higher priority according to the adjustment rule.

7. The anti-interference control method for collaborative operation of multiple robotic arms according to claim 1, wherein After the step of determining the target timing plan of the robotic arm without interference risk, it further includes: After starting the robotic arm to work, monitor the first real-time distance between each robotic arm and the real-time position between each robotic arm in real time; When the first real-time distance is less than or equal to the safety threshold, adjust the working path of the corresponding robotic arm according to the real-time positions of the other robotic arms.

8. The anti-interference control method for collaborative operation of multiple robotic arms according to claim 7, wherein, After the step of determining the target timing plan of the robotic arm without interference risk, it further includes: Obtain the image information of the machine tool and determine the foreign object position according to the image information; When the second real-time distance between the real-time position of the robotic arm and the foreign object position is less than or equal to the safety threshold, adjust the working path of the corresponding robotic arm according to the real-time positions of the other robotic arms.

9. An electronic device, characterized in that, Includes: At least one memory; At least one processor; At least one program; The program is stored in the memory, and the processor executes at least one of the programs to implement the anti-interference control method for multi-robotic arm collaborative work as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable signals, and the computer-executable signals are used to execute the anti-interference control method for multi-robotic arm collaborative work as described in any one of claims 1 to 8.

Images