Anti-interference control method for cooperative work of multiple robot arms, electronic device and medium

Abstract

The application discloses a kind of multi-robot arm cooperative work's anti-interference control method, electronic equipment and medium, comprising: based on the physical space of machine tool establishes virtual three-dimensional space, and the position information and model parameters of each robot arm are determined in virtual three-dimensional space;Obtain each initial timing planning of preset mechanical arm;According to each initial timing planning, simulation is carried out in virtual three-dimensional space, and the working path of each mechanical arm is generated;When the working path of mechanical arm coincides with the position of the working path of other mechanical arm at the same time point or the spacing between the two is less than the preset safety threshold, it is determined that corresponding mechanical arm exists interference risk;According to the priority of mechanical arm and preset adjustment rule, the initial timing planning of mechanical arm with interference risk is adjusted, and the target timing planning of mechanical arm without interference risk is determined.The application can avoid the interference problem between mechanical arm, improve the safety of machine tool operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tool control, in particular to a multi-robot collaborative work anti-interference control method, an electronic device and a medium. BACKGROUND

[0002] In the petrochemical industry, food storage and transportation industry, the large-scale production of oil drums has very high requirements for welding efficiency and quality. In the oil drum bottom plate welding operation scene, in order to improve production efficiency, multiple welding points of the same oil drum bottom plate often need to be welded at the same time, and each point is operated by an independent robot. However, when multiple robots work in the limited workspace of the machine tool, due to unreasonable path planning or timing control error, collision and interference between robots often occur. Such interference not only causes damage to the welding equipment, reduces the welding quality, and causes production stagnation, but also may cause safety hazards. The traditional anti-interference strategy greatly limits the flexibility of robot movement and the overall efficiency of the system by dividing fixed working areas and setting fixed time windows, which cannot meet the production needs of efficient welding of oil drums. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a multi-robot collaborative work anti-interference control method, an electronic device and a medium, which can avoid the interference problem between robots and improve the safety of machine tool operation.

[0004] In a first aspect, the present application provides a multi-robot collaborative work anti-interference control method, comprising:

[0005] A virtual three-dimensional space is established based on the physical space of the machine tool, and the position information and model parameters of each robot are determined in the virtual three-dimensional space;

[0006] An initial timing plan of each robot is obtained;

[0007] According to each initial timing plan, a simulation is performed in the virtual three-dimensional space to generate a working path of each robot;

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

[0009] According to the priority of the robot and a preset adjustment rule, the initial timing plan of the robot with the interference risk is adjusted to determine a target timing plan of the robot without interference risk.

[0010] According to the anti-interference control method for multi-robot arm cooperative work provided in the embodiments of the first aspect of the present application, the following beneficial effects are achieved: when the anti-interference control method for multi-robot arm cooperative work is executed, first, a virtual three-dimensional environment is built based on the physical space of a machine tool, and the position and model parameters of the robot arm are completely mapped into the virtual three-dimensional environment, then the initial timing plan preset for each robot arm is acquired, and a working path is simulated and generated in the virtual space. In this process, the system monitors the working path of the robot arm in real time, and once it is found that the positions at the same time point coincide or the distance is less than the safety threshold, it is determined that there is an interference risk. Then, according to the priority of the robot arm and the preset adjustment rule, the initial timing plan of the robot arm with the interference risk is optimized and adjusted, and after repeated verification, the target timing plan without the interference risk is determined and applied to actual production. This method effectively avoids the interference problem between the robot arms by building a virtual simulation and a dynamic adjustment mechanism, greatly improves the safety of the machine tool as a whole, reduces the risk of equipment collision and damage, improves the flexibility of the robot arm movement, reduces the waiting time, and significantly improves the production efficiency.

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

[0012] When the current working states of the two robot arms with the interference risk are both in the moving state, the priority of the two robot arms is acquired.

[0013] According to the adjustment rule, the initial timing plan corresponding to the robot arm with the lower priority is adjusted until the corresponding two robot arms do not have the interference risk, and the target timing plan is obtained.

[0014] According to some embodiments of the first aspect of the present application, the adjusting, according to the adjustment rule, of the initial timing plan corresponding to the robot arm with the lower priority until the corresponding two robot arms do not have the interference risk to obtain the target timing plan comprises:

[0015] Identifying the spatial region and the time window when the two robot arms have the interference risk;

[0016] According to the length of the spatial region, the risk level corresponding to the spatial region is determined.

[0017] According to the risk level, a first adjustment coefficient is generated.

[0018] According to the first adjustment coefficient, the movement speed of the robot arm with the lower priority before the interference risk occurs is adjusted.

[0019] According to the adjusted motion speed, a time window of the mechanical arm with the lower priority when passing through the space region is calculated;

[0020] If the adjusted time window and the time window before adjustment still have an overlapping region, a preset second adjustment coefficient is used to iteratively adjust the adjusted motion speed until the adjusted time window and the time window before adjustment are not overlapped, and the target timing plan of the corresponding mechanical arm is determined according to the final motion speed of the mechanical arm with the lower priority.

[0021] According to some embodiments of the first aspect of the present application, the adjusting, according to the adjustment rule, of the initial timing plan of the mechanical arm with the lower priority until the two corresponding mechanical arms have no interference risk to obtain the target timing plan comprises:

[0022] Identifying the maximum overlapping length of the two mechanical arms with the interference risk;

[0023] Obtaining the initial angle of each joint and the arm length of the mechanical arm with the lower priority;

[0024] According to the preset arm adjustment sequence of the mechanical arm, the arm length and the arm constraint condition corresponding to the mechanical arm, the target rotation angle corresponding to each joint is obtained;

[0025] According to the joint occurrence angle and the target rotation angle, the target timing plan of the corresponding mechanical arm is obtained.

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

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

[0028] According to the adjustment rule, the initial timing plan of the mechanical arm with the lower priority is adjusted until the two corresponding mechanical arms have no interference risk to obtain the target timing plan.

[0029] According to some embodiments of the first aspect of the present application, after the step of adjusting, according to the adjustment rule, of the initial timing plan of the mechanical arm with the lower priority, the method further comprises:

[0030] When the adjustment to the initial timing plan of the lower-priority robot is completed, the corresponding two robots still have the interference risk, and the initial timing plan of the higher-priority robot is adjusted according to the adjustment rule.

[0031] According to some embodiments of the first aspect of the present application, after the step of determining the target timing plan of the robot without interference risk, the method further comprises:

[0032] After starting the work of the robot, the first real-time distance between each robot and the real-time position of each robot are monitored in real time.

[0033] When the first real-time distance is less than or equal to the safety threshold, the work path of the corresponding robot is adjusted according to the real-time position of the other robots.

[0034] According to some embodiments of the first aspect of the present application, after the step of determining the target timing plan of the robot without interference risk, the method further comprises:

[0035] Obtaining image information of the machine tool, and determining the foreign object position according to the image information.

[0036] When the second real-time distance between the real-time position of the robot and the foreign object position is less than or equal to the safety threshold, the work path of the corresponding robot is adjusted according to the real-time position of the other robots.

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

[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 the cooperative work of multiple robots as described in any embodiment of the first aspect.

[0042] In a third aspect, the present application also provides a computer-readable storage medium, which stores computer-executable signals for executing the anti-interference control method for the cooperative work of multiple robots as described in any embodiment of the first aspect.

[0043] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

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

[0045] Figure 1 Flowchart of the anti-interference control method for multi-manipulator collaborative work provided by this application;

[0046] Figure 2 For this application Figure 1 Flowchart of the first embodiment of step S150;

[0047] Figure 3 For this application Figure 2 Flowchart of the first embodiment of step S220;

[0048] Figure 4 For this application Figure 2 Flowchart of the second embodiment of step S220;

[0049] Figure 5 For this application Figure 1 Flowchart of the second embodiment of step S150;

[0050] Figure 6 For this application Figure 2 Regarding step S220 or Figure 5 Flowchart about step S520;

[0051] Figure 7 For this application Figure 1 Regarding the flowchart after step S150;

[0052] Figure 8 For this application Figure 1 The flowchart after step S150. DETAILED DESCRIPTION

[0053] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0054] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0055] In the description of the present application, if the first, second are described for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of the indicated technical features.

[0056] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting and the like should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0057] In the petroleum chemical industry, food storage and transportation industry, the large-scale production of oil drums has very high requirements for welding efficiency and quality. In the welding operation scene of the bottom plate of the oil drum, in order to improve production efficiency, multiple welding points of the same oil drum bottom plate often need to be welded at the same time, and each point is operated by an independent mechanical arm. However, when multiple mechanical arms work at the same time in the limited working space of the machine tool, due to unreasonable path planning or timing control error, collision and interference between mechanical arms are prone to occur. Such interference not only causes damage to the welding equipment, reduces the welding quality, and causes production stagnation, but also may cause safety hazards. The traditional anti-interference strategy greatly limits the flexibility of mechanical arm movement and the overall efficiency of the system by dividing fixed working areas and setting fixed time windows, which cannot meet the production needs of efficient welding of oil drums.

[0058] Based on this, the present application provides a multi-mechanical arm cooperative working anti-interference control method, electronic equipment and medium to solve the technical problems proposed above, and the technical solutions provided by the present application are described in detail one by one as follows.

[0059] In the first aspect, with reference to Figure 1 The present application provides a multi-mechanical arm cooperative working anti-interference control method, which can include but is not limited to the following steps:

[0060] Step S110: A virtual three-dimensional space is established based on the physical space of the machine tool, and the position information and model parameters of each mechanical arm are determined in the virtual three-dimensional space.

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

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

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

[0064] Step S150: According to the priority of the robot arm and the preset adjustment rule, the initial timing plan of the robot arm with interference risk is adjusted to determine the target timing plan of the robot arm without interference risk.

[0065] In steps S110 to S150, in the implementation of the anti-interference control method for multi-robot arm cooperative work, first, a virtual three-dimensional environment is built based on the physical space of the machine tool, and the position and model parameters of the robot arm are completely mapped therein, then the preset initial timing plan of each robot arm is obtained, and the working path is simulated and generated in the virtual space. In this process, the system monitors the robot arm working path in real time, and once it is found that the positions at the same time point coincide or the distance is less than the safety threshold, it is determined that there is an interference risk. Then, according to the priority of the robot arm and the preset adjustment rule, the initial timing plan of the robot arm with interference risk is optimized and adjusted, and after repeated verification, the target timing plan without interference risk is determined and applied to actual production. This method effectively avoids the interference problem between robot arms by building a virtual simulation and dynamic adjustment mechanism, greatly improves the overall safety of the machine tool, reduces the risk of equipment collision damage; at the same time, improves the flexibility of the robot arm movement, reduces the waiting time, and significantly improves the production efficiency.

[0066] In step S150, the priority can be determined according to the welding type, such as welding process complexity, value of the welding workpiece, precision requirement of the welding workpiece, or degree of dependence of the welding workpiece on timing, etc., which is not limited in the present application.

[0067] Referring to Figure 2 It can be understood that in step S150, the following steps can be included but are not limited to:

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

[0069] Step S220: According to the adjustment rule, the initial timing plan corresponding to the robot arm with lower priority is adjusted until the corresponding two robot arms do not have interference risk, and the target timing plan is obtained.

[0070] In steps S210 to S220, the system continuously monitors the working status of each robot arm, and when it is detected that two robot arms enter the overlapping space at the same time window and are both in the moving state, the priority evaluation process is triggered. Since in the multi-robot arm collaborative working scene, the influence of different robot arms on the production process is different, that is, there is a distinction in the importance of the work each robot arm is responsible for, the system implements dynamic timing adjustment for the robot arm with lower priority, the influence on the overall production process is relatively controllable, and can give way to high-priority tasks through dynamic optimization. Through this strategy, the interference risk between robot arms is quickly eliminated, the safe operation of the equipment is ensured, and the overall efficiency and stability of the multi-robot arm collaborative working system are effectively improved.

[0071] With reference to Figure 3 It can be understood that in step S220, the following steps can be included but are not limited to:

[0072] Step S310: Identify the spatial region and time window when the two robot arms have interference risk.

[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 moving speed of the robot arm with lower priority before the interference risk occurs according to the first adjustment coefficient.

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

[0077] Step S360: If the adjusted time window and the unadjusted time window still have overlapping regions, iteratively adjust the adjusted moving speed using a preset second adjustment coefficient until the adjusted time window and the unadjusted time window are not overlapping, and determine the target timing plan of the corresponding robot arm according to the final moving speed of the robot arm with lower priority.

[0078] In steps S310 to S360, in the multi-robot collaborative work, when it is detected that there is an interference risk between two robots, first, the spatial region and the time window in which the interference occurs are accurately identified, then, according to the length of the spatial region, the risk level is divided, a shorter interference spatial region corresponds to a lower risk level, and a longer interference spatial region 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 range of the coefficient to the speed of the robot. Subsequently, the first adjustment coefficient is used to adjust the movement speed of the robot with lower priority before the interference risk occurs, so as to reduce the speed of the robot entering the interference spatial region. Then, according to the adjusted movement speed, the time window of the robot passing through the interference spatial region is recalculated. If the new time window still overlaps with the time window before the adjustment, it means that 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, and iterates until the two time windows no longer overlap. Finally, according to the final movement speed of the robot with lower priority, a target time sequence plan without interference risk is generated. 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 multi-robot collaborative work are greatly improved. Moreover, this speed adjustment method based on risk level enables the robot to run at a reasonable speed under different working conditions, which helps to optimize the overall production efficiency. In the scene of welding the bottom plate of the oil drum, the orderly work of each robot is ensured without collision, and the efficient progress of the welding task is maintained.

[0079] In one embodiment, assume that in the oil drum bottom plate welding scene, robot A is responsible for welding the center key weld of the oil drum bottom plate, and robot B is responsible for welding the edge auxiliary weld. Robot A has higher priority than robot B. When robot A and robot B move to the center area of the oil drum at the same time, the system detects that both will interfere in a cylindrical space area with a length of 30 cm within 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 next 3-8 seconds. According to the length of the space area of 30 cm, it is determined to be a medium risk level, and a 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 x 0.7 = 0.35 m / s. According to this speed, the time window of robot B passing through the interference area becomes the 5th-13.5thsecond. But at this time, the time window still overlaps with robot A for 2 seconds. The system enables a second adjustment coefficient of 0.8, further adjusts the speed of robot B to 0.35 x 0.8 = 0.28 m / s, and recalculates the time window of robot B passing through the interference area as the 6.5th-17.2ndsecond, which is completely staggered with the time window of robot A. Finally, the system writes the target timing plan of robot B at a movement speed of 0.28 m / s, ensuring that robot A can successfully complete the key welding task, and robot B can also safely complete the auxiliary welding operation, which not only resolves the interference risk, but also guarantees the continuity of the core welding process.

[0080] With reference to Figure 4 It can be understood that in step S220, the following steps can be included but are not limited to:

[0081] Step S410: Identify the maximum overlap length of the two robots with interference risk.

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

[0083] Step S430: According to the preset arm body adjustment sequence of the robot, the length of the arm body and the arm body constraint condition corresponding to the robot, the target rotation angle corresponding to each joint is obtained.

[0084] Step S440: According to the joint incident angle and the target rotation angle, the target timing plan of the corresponding robot is obtained.

[0085] In handling the risk of multi-robot interference, the maximum overlap length of the two robots in space is first calculated to quantify the severity of the conflict. Subsequently, the system extracts the geometric parameters of the lower-priority robot, including the initial angles of the joints and the lengths of the arms, which constitute the basic constraint conditions for path optimization. Based on the preset arm adjustment sequence, such as adjusting the distal joints first and then adjusting the proximal joints, the system calculates the target rotation angles of each joint using the inverse kinematics algorithm combined with arm constraints, such as joint rotation range and obstacle avoidance area limitations. This process allows the robot to avoid the interference area while maintaining task execution capability through the coordinated change of joint angles, and ensures that all joint movements are within the physically feasible range. Finally, the system converts the target rotation angles of each joint into continuous motion trajectories to generate a non-interference target timing plan. Compared to simple speed adjustment or time delay, this adjustment method has higher spatial utilization efficiency and can achieve more compact collaborative work in limited workspace.

[0086] Reference Figure 5 It can be understood that in step S150, the following steps can be included but are not limited to:

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

[0088] Step S520: According to the adjustment rule, the initial timing plan corresponding to the lower-priority robot is adjusted until there is no interference risk between the corresponding two robots, and the target timing plan is obtained.

[0089] In steps S510 to S520, when the multiple robot arms are working cooperatively, once it is detected that there is an interference risk between two robot arms, one of the robot arms is in a stationary state and its end has been positioned at a preset working position, the system will immediately start the priority dynamic adjustment mechanism. The priority of the robot arm that is stationary and has been positioned is raised higher than the other robot arm, because the robot 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 continuity and operation accuracy of the overall production process. Subsequently, the system adjusts the initial timing plan of the robot arm with lower priority according to the preset adjustment rules. By optimizing parameters such as motion path, speed, start time, etc., such as delaying start, adjusting speed curve, fine-tuning motion trajectory, etc., the two robot arms avoid each other in time and space dimensions until the interference risk is completely eliminated, thereby generating a target timing plan without interference. In this step, the stability of the positioned robot arm operation is ensured, and the motion interference of other robot arms is avoided, which effectively improves the quality of precision operations such as welding, better adapts to different production tasks and environmental changes, and ensures the safe and efficient production process.

[0090] Referring to Figure 6 In step S220 or step S520, after adjusting the robot arm with lower priority, the following steps can be included but are not limited to:

[0091] Step S610: When the adjustment of the initial timing plan of the robot arm with lower priority is completed, the corresponding two robot arms still have an interference risk, and the initial timing plan of the robot arm with higher priority is adjusted according to the adjustment rules.

[0092] In step S610, after the system completes the timing plan adjustment of the robot arm with lower priority, if the two robot arms still have an interference risk, the adjustment mechanism of the robot arm with higher priority will be triggered, and a dynamic balance strategy between safety and production efficiency is ensured. The double adjustment mechanism is established to ensure that the interference risk can be eliminated under complex working conditions.

[0093] Referring to Figure 7 After step S150, the following steps can be included but are not limited to:

[0094] Step S710: After starting the robot arm work, the first real time distance between each robot arm and the real-time position between each robot arm is monitored in real time.

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

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

[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 robot motion deviation, external interference, etc., reducing the risk of equipment damage. Secondly, it enhances the dynamic adaptability of the system, which can flexibly respond to uncertainties in the production process, such as material position deviation, temporary task insertion, etc., ensuring the continuity of the production process, reducing downtime, and improving production efficiency.

[0098] Reference Figure 8 After step S150, the following steps can also be included but are not limited to:

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

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

[0101] In steps S810 to S820, foreign objects may appear in the production site due to human negligence, equipment failure, or material scattering, etc. The pre-planning cannot predict such dynamic obstacles. The camera around the machine tool continuously captures images of the working area to obtain real-time visual information. The image is processed to identify whether there is a foreign object and determine its position in the machine tool space. The distance between the current position of the robot arm and the foreign object position is calculated in real time and compared with the preset safety threshold, so as to timely adjust the working path of the corresponding robot arm to avoid colliding with the foreign object, further improving the safety performance of the machine tool during machining.

[0102] In a second aspect, the present application also provides an electronic device comprising at least one memory, at least one processor, and at least one program, the program being stored in the memory, and the processor executing one or more programs to implement the above-mentioned anti-interference control method for multi-robot arm cooperative work.

[0103] When the electronic device executes the anti-interference control method for multi-robot arm cooperative work, it first builds a virtual three-dimensional environment based on the physical space of the machine tool, and maps the positions and model parameters of the robot arms into the virtual three-dimensional environment. Then, the initial timing plan of each robot arm is obtained, and a working path is simulated and generated in the virtual space. During this process, the system monitors the working path of the robot arms in real time. Once it is found that the positions of the robot arms coincide at the same time point or the distance is less than the safety threshold, it is determined that there is an interference risk. Subsequently, according to the priority of the robot arms and the preset adjustment rules, the initial timing plan of the robot arm with interference risk is optimized and adjusted. After repeated verification to determine the target timing plan without interference risk, the target timing plan is applied to actual production. This method effectively avoids the interference between the robot arms by building a virtual simulation and dynamic adjustment mechanism, greatly improves the safety of the machine tool as a whole, reduces the risk of equipment collision and damage, and improves the flexibility of the robot arm movement, reduces the waiting time, and significantly improves the production efficiency.

[0104] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and signals, such as 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, i.e., implements the anti-interference control method for multi-robot arm cooperative work of the above-mentioned method embodiments.

[0105] The memory can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store related data of the anti-interference control method for multi-robot arm cooperative work and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory can optionally include a memory remotely arranged with respect to the processor, and these remote memories can be connected to the processing module through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0106] One or more signals are stored in the memory, and when executed by one or more processors, the anti-interference control method for multi-robot arm cooperative work in any of the above-mentioned method embodiments is executed.

[0107] In a third aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. The computer program is executed by one or more processors, and can cause the one or more processors to perform the method of the above method embodiments.

[0108] The device embodiments described above are merely illustrative, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0109] From the above description of the embodiments, those skilled in the art can understand that all or some of the steps in the above disclosed method and the system can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all of the 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 as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of 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 technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. In addition, as known to those skilled in the art, communication media generally includes computer readable signals, data structures, program modules or other data in modulated data signals such as carrier waves or other transport mechanisms, and can include any information delivery medium.

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

[0111] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which can 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: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program storage media.

[0112] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the purpose of the present application.

Claims

1. A method for interference avoidance control of multiple robot arms working in cooperation, characterized in that, The method comprises the following steps: a virtual three-dimensional space is established based on a physical space of a machine tool, and position information and model parameters of each robot arm are determined in the virtual three-dimensional space; initial timing plans of each robot arm are obtained; simulation is performed in the virtual three-dimensional space according to the initial timing plans, and working paths of each robot arm are generated; when the working path of a robot arm coincides with the position of the working path of another robot arm at the same time point or the distance between the two working paths is less than a preset safety threshold, it is determined that the corresponding robot arm has an interference risk; the initial timing plan of the robot arm with the interference risk is adjusted according to the priority of the robot arm and a preset adjustment rule, and a target timing plan of the robot arm without the interference risk is determined; when the current working states of two robot arms with the interference risk are both in a moving state, the priorities of the two robot arms are obtained; the initial timing plan of the robot arm with the lower priority is adjusted according to the adjustment rule, until the corresponding two robot arms do not have the interference risk, and the target timing plan is obtained; a spatial region and a time window when the two robot arms have the interference risk are identified; a risk level is determined according to the length of the spatial region; a first adjustment coefficient is generated according to the risk level, the moving speed of the robot arm with the lower priority before the interference risk occurs is adjusted according to the first adjustment coefficient, and a time window when the robot arm with the lower priority passes through the spatial region is calculated according to the adjusted moving speed; if the adjusted time window and the unadjusted time window still have an overlapping region, a preset second adjustment coefficient is used to iteratively adjust the adjusted moving speed, until the adjusted time window and the unadjusted time window do not overlap, and the target timing plan of the robot arm with the lower priority is determined according to the final moving speed of the robot arm; when the current working state of one of the robot arms with the interference risk is a static state and the end of the robot arm is located at a corresponding preset working position, the priority of the robot arm is adjusted to be higher than the priority of the other robot arm; the initial timing plan of the robot arm with the lower priority is adjusted according to the adjustment rule, until the corresponding two robot arms do not have the interference risk, and the target timing plan is obtained; when the initial timing plan of the robot arm with the lower priority is adjusted and the corresponding two robot arms still have the interference risk, the initial timing plan of the robot arm with the higher priority is adjusted according to the adjustment rule.

2. The anti-collision control method for cooperative work of multiple robot arms according to claim 1, characterized by, The method comprises the following steps: the maximum overlapping length of the two robot arms with the interference risk is identified; obtaining an initial angle of each joint and a length of an arm body of the robot arm with a low priority; obtaining a target rotation angle of each joint according to a preset arm body adjustment sequence of the robot arm, the length of the arm body and a corresponding arm body constraint condition of the robot arm; obtaining the target time sequence planning corresponding to the robot arm according to the initial angle of the joint and the target rotation angle.

3. The anti-collision control method for cooperative work of multiple robot arms according to claim 1, characterized by, After the step of determining the target time sequence planning of the robot arm without interference risk, the method further comprises: monitoring a first real-time distance between each robot arm and a real-time position of each robot arm in real time after starting the robot arm to work; adjusting a working path of the corresponding robot arm according to the real-time position of the other robot arms when the first real-time distance is less than or equal to the safety threshold.

4. The anti-collision control method for cooperative work of multiple robot arms according to claim 3, characterized by, After the step of determining the target time sequence planning of the robot arm without interference risk, the method further comprises: obtaining image information of the machine tool and determining a foreign object position according to the image information; adjusting a working path of the corresponding robot arm according to the real-time position of the other robot arms when a second real-time distance between the real-time position of the robot arm and the foreign object position is less than or equal to the safety threshold.

5. An electronic device, comprising: comprises: at least one memory; at least one processor; at least one program; the program is stored in the memory, and the processor executes the at least one program to implement the anti-interference control method for cooperative work of multiple robot arms according to any one of claims 1 to 4.

6. 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 cooperative work of multiple robot arms according to any one of claims 1 to 4.

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