Industrial robot path self-generation system and method

Abstract

The invention relates to an industrial robot path self-generation system and method. The industrial robot path self-generation system comprises a path type selection module, a path fine planning module, a tool parameter configuration module, a path optimization module, an attitude angle calculation module and a path execution module. The method is realized by using a system and comprises the following steps: S1, selecting a path type; s2, path fine planning; s3, configuring a tool and a tool center point; s4, initializing processing parameters; s5, optimizing position information parameters; s6, resolving an attitude angle; and S7, generating and executing a path. According to the method, standardization and configurability of a path planning process are achieved through modular design, meanwhile, intelligent path locking, a hierarchical optimization algorithm and dynamic parameter configuration are adopted, efficient, accurate and self-adaptive path generation is achieved, the number of times of user interaction can be reduced, the path planning process is simplified, the software operation complexity is remarkably reduced, and the user experience is improved. And the requirements of intelligent manufacturing on flexibility and high precision are met.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robot control, and in particular relates to an industrial robot path self-generation system and method. Background Art

[0002] The path generation technology of industrial robots has gone through three important stages of development. Each generation of technology has improved on the previous generation, but still has corresponding limitations.

[0003] The first generation of this technology employed an embedded programming approach, characterized by its heavy reliance on dedicated hardware platforms. This approach required close collaboration among multidisciplinary teams, encompassing control theory, software engineering, and process technology, resulting in lengthy and costly development cycles. In welding applications, engineers not only had to independently develop weld trajectory planning algorithms but also implement the underlying PID control system, placing extremely high demands on the R&D team's algorithmic and programming expertise.

[0004] The second-generation technology introduced a teach-and-play programming mode, enabling path recording via a teach pendant. While this lowered the programming barrier, it had significant drawbacks when handling complex 3D trajectories: the teaching process was time-consuming, and ultimate accuracy was directly limited by the operator's skill level. Furthermore, this technology lacked path visualization support, making path preview and optimization difficult.

[0005] The current mainstream third-generation offline programming technology uses dedicated software to implement path planning. While addressing some of the shortcomings of the previous two generations, two major challenges remain. First, engineers need to master specialized programming skills and domain knowledge, necessitating a significant learning curve for novices. Second, in practical applications, whether welding, spraying, or grinding and polishing, the system requires users to set numerous parameters and mark numerous path points. More critically, this path generation process is typically "all-or-nothing," meaning any subsequent modifications require a complete re-planning, significantly impacting work efficiency.

[0006] In summary, there is an urgent need to provide an industrial robot path self-generation system and method that can realize the standardization and configurability of the industrial robot path planning process. Summary of the Invention

[0007] The object of the present invention is to provide an industrial robot path self-generation system and method that can realize the standardization and configurability of the industrial robot path planning process.

[0008] The above objectives are achieved through the following technical solutions: an industrial robot path self-generation system, comprising:

[0009] Path type selection module: configured to provide multiple submodules for determining the target path type according to the processing scenario;

[0010] Path fine planning module: configured to analyze the uniqueness of the determined target path. If it is unique, it automatically matches the preset processing parameters; if not, it determines the unique path through an interactive selection mechanism;

[0011] A tool parameter configuration module, configured to automatically obtain current industrial robot tool information and generate tool coordinate system parameters;

[0012] Path optimization module: configured to process paths in a hierarchical manner and optimize path point location information;

[0013] An attitude angle calculation module is configured to establish a robot kinematics model based on the structural parameters of the industrial robot and calculate the joint attitude angles through an inverse kinematics algorithm;

[0014] The path execution module is configured to integrate the data of each module to generate the final path and control the industrial robot to perform the processing task.

[0015] The present invention is used to divide the industrial robot path self-generation, path planning and production into multiple modules to alleviate the problem of repeatedly adjusting parameters and selecting key points when generating the path.

[0016] A further technical solution is that the path type selection module includes a plurality of predefined path type submodules, and the path type submodule includes at least one of the following:

[0017] Paths based on geometric boundaries: an edge of a single face;

[0018] Paths based on closed loops: a loop inside a single face, or a loop outside a single face;

[0019] Path based on irregular curve: irregular curve;

[0020] Path based on discrete point sets: point cloud punching;

[0021] A path based on adjacent geometry: a line between two adjacent faces.

[0022] In this way, each submodule targets a different processing scenario, and users only need to select the corresponding module based on the processing scenario. This architectural design has the following advantages: reduced user learning costs: through functional decoupling, users can gradually master the functions of each submodule; improved system maintainability: each module is independently developed and tested, facilitating functional expansion and troubleshooting; and enhanced operational efficiency: the corresponding functional module can be quickly located for specific processing needs.

[0023] To achieve the above object, the present invention further provides an industrial robot path self-generation method, which is implemented using any of the above-mentioned industrial robot path self-generation systems, and includes the following steps:

[0024] S1, path type selection: select the target path type and load the corresponding path recognition algorithm according to the selected target path type;

[0025] S2, path fine planning: Analyze the uniqueness of the selected target path. If it is unique, automatically match the preset processing parameters. If not, determine the unique path through an interactive selection mechanism;

[0026] S3, tool and tool center point configuration: automatically read the tool information of the current industrial robot and generate parameters including the associated tool center point, base coordinate system and associated object;

[0027] S4, machining parameter initialization: automatically generating default parameter configuration based on predefined boundary conditions;

[0028] S5, position information parameter optimization: perform differential discretization on the path, decomposing the continuous path into a high-density discrete path point set;

[0029] S6, posture angle calculation: Establish a robot kinematic model and calculate the joint posture angles using the inverse kinematics algorithm to ensure that the tool center maintains an accurate posture along the planned path;

[0030] S7, Generate and execute path: Integrate data to generate the final path, which is then sent to the industrial robot to execute the processing task after confirmation.

[0031] During specific applications, users select the appropriate path type (such as the outer ring of a single surface, irregular curves, etc.) from the six submodules of the path type selection module based on processing requirements. The system automatically loads the corresponding path recognition algorithm based on the selected type and prepares for subsequent processing. It then performs a uniqueness judgment. The system analyzes the path (line or ring) selected by the user to determine whether it is unique in the model. If it is unique, it automatically matches the preset processing parameters to reduce manual input. If it is not unique, the interactive selection process is initiated, guiding the user to gradually lock the target path through "line → surface → auxiliary reference"; again, the system automatically reads the current robot tool information and generates the following parameters: robot model, associated TCP, base coordinate system, and associated object. After completing the above operations, the system initializes the processing parameters and calls the default parameters according to the path type (such as a 90° internal deviation angle at the starting point and a 1mm step length). The user can manually adjust the dynamic range (such as the cutting-in and cutting-out method, and the tool entry offset); then optimize the position information and generate a high-density path point set through differential discretization processing; further perform posture angle calculation, establish a robot kinematic model based on the DH parameters, and quickly calculate the six-axis joint angles through the inverse kinematics algorithm to ensure that the tool end (TCP) maintains a precise posture along the planned path. The calculation results are sent to the robot controller. Finally, the path is generated and executed. The system integrates all module data to generate the final robot motion path and supports visual preview. After the user confirms that it is correct, the path instructions are transmitted to the industrial robot to perform processing tasks (such as welding and cutting).

[0032] A further technical solution is that, in step S1, each submodule of the path type selection module corresponds to a typical application scenario, wherein the submodule includes:

[0033] One edge of a single face is used for edge chamfering and contouring;

[0034] A ring inside a single face is used for internal cavity machining and groove milling;

[0035] The outer ring of a single face is used for contour cutting and boundary trimming;

[0036] Irregular curves are used for artistic carving and special-shaped parts processing

[0037] Point cloud punching is used for processing and drilling of multi-hole parts;

[0038] The line between two adjacent faces is used for surface seam processing and transition area processing.

[0039] The system provides six predefined path type submodules (such as the outer ring of a single surface and point cloud drilling). Users only need to select the corresponding module based on the processing scenario. Using a modular design concept, the complex path type system is broken down into multiple submodules with clear functions. This architectural design has the following advantages: it reduces user learning costs: through functional decoupling, users can gradually master the functions of each submodule; improves system maintainability: each module is independently developed and tested, facilitating functional expansion and troubleshooting; and enhances operational efficiency: the corresponding functional module can be quickly located for specific processing needs.

[0040] A further technical solution is that in step S2, if the path is unique and there is only one matching item for the selected path in the model, the system automatically calls the preset parameter library and recommends the optimal processing parameters based on information including processing materials and tool types; if the path is not unique, the target path is locked through the following steps:

[0041] S2.1, select a path line;

[0042] S2.2, screening the machining surface associated with the path line;

[0043] S2.3, specify auxiliary references;

[0044] S2.4, based on the geometric relationship between the path line, machining surface and auxiliary, interactive path locking is used to gradually narrow the scope until the unique target path is determined.

[0045] Through uniqueness judgment, the path features are quickly matched. If it is unique, the path is directly generated. The system automatically calls the preset parameter library and intelligently recommends the optimal processing parameters (such as feed speed, cutting depth, etc.) based on information such as processing materials and tool types. For example, in the outer ring welding of a single surface, after the system detects a unique contour, the default welding contour can be directly applied, and the user only needs to confirm it; when the path is not unique, such as multiple similar straight lines, curves, nested rings, etc., a multi-level interactive selection mechanism is adopted to gradually lock the target path through the "line → surface → auxiliary reference" mechanism (such as selecting the outer edge of the flange → associated flange end face → specifying the bolt hole as a reference) to ensure the accuracy and efficiency of the processing process.

[0046] A path line refers to a candidate machining path line selected manually or automatically by the user from the workpiece model; a path line surface refers to a machining surface that is geometrically associated with the selected path line (such as the plane or surface to which the line belongs); an auxiliary reference refers to additional geometric features specified by the user or the system according to machining requirements (such as boundary lines, hole center lines, intersection lines of adjacent surfaces, or others).

[0047] A further technical solution is that, in step S3, the distance between the workpiece and the robot arm is calculated by Euclidean distance, and the robot arm closest to the workpiece is selected.

[0048] In this technical solution, the tool parameter configuration module quickly generates the "robot model", "associated TCP (Tool Center Point)", "base coordinate system", and "associated object" by automatically reading the equipment tool. "Robot model" refers to the serial number of the current industrial robot, which can be used to distinguish different robots in multi-robot collaborative operations. The robot arm closest to the workpiece (part) is calculated by Euclidean distance and automatically selected. At the same time, users can also choose different industrial robots on their own. "Associated TCP" is the coordinate system set with the top of the current industrial robot's robot arm as the origin. "Base coordinate system" is the coordinate system designed for the current industrial robot with the base as the origin. "Associated object": refers to the workpiece being operated. If the user changes the industrial robot path selection in step S2, this part will be automatically updated.

[0049] A further technical solution is that in step S5, the process of performing differential and discretization processing on the path includes:

[0050] The straight line and quadratic curve path trajectories are fitted using high-order polynomial interpolation, and the continuity and smoothness of the trajectory are ensured by solving high-order differentiable equations;

[0051] The quasi-circular path trajectory adopts a polar coordinate analytical model, and the coordinates of the path points are directly solved through the radius parameter equation;

[0052] The non-standard complex path trajectory uses an adaptive discretization algorithm to decompose the special-shaped trajectory into a set of linear approximation line segments, and the trajectory approximation error is ensured to be within the allowable range by controlling the discrete granularity;

[0053] This invention employs a hierarchical processing strategy to significantly reduce computational complexity while ensuring trajectory accuracy. The system has preset optimized parameter combinations for various trajectory types, and users can adjust the discretization accuracy and fitting order in real time through a visual interface. This allows for the determination of workpoint position information during the automated path generation of industrial robots.

[0054] A further technical solution is that in step S6, a robot kinematic model is established based on Denavit-Hartenberg parameters, and an efficient inverse kinematics solution algorithm is combined to achieve rapid calculation of the six-axis attitude angle of the industrial robot, and then send it to the industrial robot again.

[0055] Compared with the existing technology, the implementation of the technical solution of the present invention realizes the standardization and configurability of the path planning process through modular design. At the same time, it adopts intelligent path locking, hierarchical optimization algorithm and dynamic parameter configuration, which can reduce the number of user interactions and simplify the path planning process in complex workpiece path planning, and significantly reduce the complexity of software operation. The present invention solves the problems of complex operation, low efficiency, insufficient accuracy and poor compatibility in traditional industrial robot path planning, and realizes efficient, accurate and adaptive path generation and control, meeting the requirements of intelligent manufacturing for flexibility and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0057] Figure 1 This is a structural block diagram of an industrial robot path self-generation system involved in one embodiment of the present invention;

[0058] Figure 2 The figure is a flow chart of a method for self-generating an industrial robot path according to one embodiment of the present invention. DETAILED DESCRIPTION

[0059] The present invention is described in detail below with reference to the accompanying drawings. The description in this section is merely exemplary and explanatory and should not have any limiting effect on the scope of protection of the present invention. In addition, those skilled in the art can combine the features in the embodiments and different embodiments of this document accordingly based on the description of this document.

[0060] The embodiments of the present invention are as follows, referring to Figure 1 , an industrial robot path self-generation system, comprising:

[0061] 1. Path type selection module: configured to provide multiple submodules for determining a target path type based on a processing scenario; wherein the path type selection module includes multiple predefined path type submodules, each of which includes at least one of the following:

[0062] Paths based on geometric boundaries: an edge of a single face;

[0063] Paths based on closed loops: a loop inside a single face, or a loop outside a single face;

[0064] Path based on irregular curve: irregular curve;

[0065] Path based on discrete point sets: point cloud punching;

[0066] A path based on adjacent geometry: a line between two adjacent faces.

[0067] In this way, each submodule targets a different processing scenario, and users only need to select the corresponding module based on the processing scenario. This architectural design has the following advantages: reduced user learning costs: through functional decoupling, users can gradually master the functions of each submodule; improved system maintainability: each module is independently developed and tested, facilitating functional expansion and troubleshooting; and enhanced operational efficiency: the corresponding functional module can be quickly located for specific processing needs.

[0068] The submodules in the path type selection module in one embodiment are as follows:

[0069] Table 1 Submodules in the path type selection module

[0070]

[0071] 2. Path fine-planning module: This module is configured to analyze the uniqueness of the determined target path. If it is unique, it automatically matches the preset processing parameters. If not, it determines the unique path through an interactive selection mechanism.

[0072] The core function of this module is to intelligently identify the user-selected machining path (line or loop) and automatically determine its uniqueness. If the path is unique, the system automatically matches the optimal machining parameters, reducing manual user input. If the path is not unique, a multi-level interactive selection mechanism (such as using line → surface → auxiliary references) accurately locates the target path, ensuring accuracy and efficiency of the machining process. The system first analyzes the user-selected path to determine whether it is unique within the machining environment. If a unique path exists, and the selected path (such as an edge line or closed loop) has only one matching entry in the model, the system automatically calls a preset parameter library and, based on information such as the machining material and tool type, intelligently recommends the optimal machining parameters (such as feed rate and depth of cut). For example, in the case of an outer ring weld on a single surface, once the system detects a unique contour, it can directly apply the default weld contour, requiring only user confirmation. If multiple possible matching paths exist (such as multiple similar lines, curves, or nested loops), the system initiates an interactive path-locking process, guiding the user to gradually narrow the selection until a unique target is identified.

[0073] 3. Tool parameter configuration module, configured to automatically obtain the current industrial robot tool information and generate tool coordinate system parameters;

[0074] Different industrial robots are equipped with inconsistent tools. Therefore, in the present invention, the robots and tools are designed modularly. In the present invention, the "robot model", "associated TCP", "base coordinate system" and "associated object" are quickly generated by automatically reading the equipment tools. "Robot model" refers to the serial number of the current industrial robot, which can be used to distinguish different robots in multi-robot collaborative operations. In the present invention, the robot arm closest to the workpiece (part) can be calculated by Euclidean distance and automatically selected. At the same time, users can also choose different industrial robots by themselves. "Associated TCP" is a coordinate system with the top of the current industrial robot's robot arm as the origin. "Base coordinate system" is a coordinate system designed for the current industrial robot with the base as the origin. "Associated object": refers to the workpiece being operated.

[0075] 4. Path Optimization Module: This module is configured to perform hierarchical path processing and optimize path point location information. The parameter initialization module automatically generates default parameter configurations based on predefined boundary conditions. Unless otherwise specified, it is recommended to maintain the initial settings to reduce interaction complexity (system parameter configuration data is shown in Table 2). To meet the requirements of welding robot trajectory planning, this solution uses differential discretization to decompose the continuous path into a high-density discrete point set.

[0076] Table 2 System parameter configuration data

[0077]

[0078] 5. An attitude angle calculation module, configured to establish a robot kinematic model based on the structural parameters of the industrial robot and calculate the joint attitude angles through an inverse kinematics algorithm;

[0079] In industrial robotic automated processing (such as welding, grinding, spraying, etc.), precise path planning depends on accurate modeling of the robot arm's kinematics. Traditional methods rely on teaching programming or external reverse engineering software, which is inefficient and lacks adaptability. The present invention uses a kinematic modeling method based on DH (Denavit-Hartenberg) parameters to directly establish a mathematical model from the robot's structural parameters, and combines it with an efficient inverse kinematics solution algorithm to achieve rapid calculation of the six-axis attitude angle, which is then distributed to the industrial robot.

[0080] 6. Path execution module, configured to integrate the data of each module to generate the final path and control the industrial robot to perform the processing task.

[0081] The present invention is used to divide the industrial robot path self-generation, path planning and production into multiple modules to alleviate the problem of repeatedly adjusting parameters and selecting key points when generating the path.

[0082] The present invention also provides an industrial robot path self-generation method, which is implemented using the industrial robot path self-generation system. Figure 2 , including the following steps:

[0083] S1, path type selection: select the target path type and load the corresponding path identification algorithm according to the selected target path type; each submodule of the path type selection module corresponds to a typical application scenario, wherein the submodules include:

[0084] One edge of a single face is used for edge chamfering and contouring;

[0085] A ring inside a single face is used for internal cavity machining and groove milling;

[0086] The outer ring of a single face is used for contour cutting and boundary trimming;

[0087] Irregular curves are used for artistic carving and special-shaped parts processing

[0088] Point cloud punching is used for processing and drilling of multi-hole parts;

[0089] The line between two adjacent faces is used for surface seam processing and transition area processing.

[0090] The system provides six predefined path type submodules (such as the outer ring of a single surface and point cloud drilling). Users only need to select the corresponding module based on the processing scenario. Using a modular design concept, the complex path type system is broken down into multiple submodules with clear functions. This architectural design has the following advantages: it reduces user learning costs: through functional decoupling, users can gradually master the functions of each submodule; improves system maintainability: each module is independently developed and tested, facilitating functional expansion and troubleshooting; and enhances operational efficiency: the corresponding functional module can be quickly located for specific processing needs.

[0091] S2, path fine planning: Analyze the uniqueness of the selected target path. If it is unique, automatically match the preset processing parameters. If not, determine the unique path through an interactive selection mechanism. The specific process is as follows:

[0092] If the path is unique and there is only one matching item for the selected path in the model, the system automatically calls the preset parameter library and recommends the optimal processing parameters based on information including processing material and tool type. If the path is not unique, the target path is locked through the following steps:

[0093] S2.1, select a path line;

[0094] S2.2, screening the machining surface associated with the path line;

[0095] S2.3, specify auxiliary references;

[0096] S2.4, based on the geometric relationship between the path line, machining surface and auxiliary, interactive path locking is used to gradually narrow the scope until the unique target path is determined.

[0097] Through uniqueness judgment, the path features are quickly matched. If it is unique, the path is directly generated. The system automatically calls the preset parameter library and intelligently recommends the optimal processing parameters (such as feed speed, cutting depth, etc.) based on information such as processing materials and tool types. For example, in the outer ring welding of a single surface, after the system detects a unique contour, the default welding contour can be directly applied, and the user only needs to confirm it; when the path is not unique, such as multiple similar straight lines, curves, nested rings, etc., a multi-level interactive selection mechanism is adopted to gradually lock the target path through the "line → surface → auxiliary reference" mechanism (such as selecting the outer edge of the flange → associated flange end face → specifying the bolt hole as a reference) to ensure the accuracy and efficiency of the processing process.

[0098] A path line refers to a candidate machining path line selected manually or automatically by the user from the workpiece model; a path line surface refers to a machining surface that is geometrically associated with the selected path line (such as the plane or surface to which the line belongs); an auxiliary reference refers to additional geometric features specified by the user or the system according to machining requirements (such as boundary lines, hole center lines, intersection lines of adjacent surfaces, or others).

[0099] S3, Tool and Tool Center Point Configuration: Automatically reads the current industrial robot's tool information and generates parameters including the associated tool center point, base coordinate system, and associated object. It calculates the distance between the workpiece and the robot arm using Euclidean distance and selects the robot arm closest to the workpiece. The tool parameter configuration module automatically reads the equipment tool and quickly generates the "Robot Model," "Associated TCP (Tool Center Point)," "Base Coordinate System," and "Associated Object." The "Robot Model" refers to the current industrial robot's serial number and is used to distinguish different robots in multi-robot collaborative operations. The robot arm closest to the workpiece (part) is calculated using Euclidean distance and automatically selected. Users can also select a different industrial robot. The "Associated TCP" is the coordinate system set with the top of the current industrial robot arm as the origin. The "Base Coordinate System" is the coordinate system designed with the base of the current industrial robot as the origin. The "Associated Object" refers to the workpiece being operated. If the user changes the industrial robot path selection in step S2, this section will automatically update.

[0100] S4, machining parameter initialization: automatically generating default parameter configuration based on predefined boundary conditions;

[0101] S5, position information parameter optimization: perform differential discretization processing on the path, decomposing the continuous path into a high-density discrete path point set; the differential discretization process of the path includes:

[0102] The straight line and quadratic curve path trajectories are fitted using high-order polynomial interpolation, and the continuity and smoothness of the trajectory are ensured by solving high-order differentiable equations;

[0103] The quasi-circular path trajectory adopts a polar coordinate analytical model, and the coordinates of the path points are directly solved through the radius parameter equation;

[0104] The non-standard complex path trajectory uses an adaptive discretization algorithm to decompose the special-shaped trajectory into a set of linear approximation line segments, and the trajectory approximation error is ensured to be within the allowable range by controlling the discrete granularity;

[0105] This invention employs a hierarchical processing strategy to significantly reduce computational complexity while ensuring trajectory accuracy. The system has preset optimized parameter combinations for various trajectory types, and users can adjust the discretization accuracy and fitting order in real time through a visual interface. This allows for the determination of workpoint position information during the automated path generation of industrial robots.

[0106] S6, attitude angle solution: establish a robot kinematic model, calculate the joint attitude angle through the inverse kinematics algorithm, and ensure that the tool center point maintains a precise attitude along the planned path; in industrial robot automated processing (such as welding, grinding, spraying, etc.), accurate path planning depends on accurate modeling of the robot arm kinematics. Traditional methods rely on teaching programming or external reverse engineering software, which is inefficient and lacks adaptability. The present invention establishes a robot kinematic model based on Denavit-Hartenberg parameters, combined with efficient inverse kinematics solution to support adaptive path generation of the work point position. Algorithm, realize the rapid calculation of the six-axis attitude angle of the industrial robot, and send it to the industrial robot again,

[0107] S7, Generate and execute path: Integrate data to generate the final path, which is then sent to the industrial robot to execute the processing task after confirmation.

[0108] During specific applications, users select the appropriate path type (such as the outer ring of a single surface, irregular curves, etc.) from the six submodules of the path type selection module based on processing requirements. The system automatically loads the corresponding path recognition algorithm based on the selected type and prepares for subsequent processing. It then performs a uniqueness judgment. The system analyzes the path (line or ring) selected by the user to determine whether it is unique in the model. If it is unique, it automatically matches the preset processing parameters to reduce manual input. If it is not unique, the interactive selection process is initiated, guiding the user to gradually lock the target path through "line → surface → auxiliary reference"; again, the system automatically reads the current robot tool information and generates the following parameters: robot model, associated TCP, base coordinate system, and associated object. After completing the above operations, the system initializes the processing parameters and calls the default parameters according to the path type (such as a 90° internal deviation angle at the starting point and a 1mm step length). The user can manually adjust the dynamic range (such as the cutting-in and cutting-out method, and the tool entry offset); then optimize the position information and generate a high-density path point set through differential discretization processing; further perform posture angle calculation, establish a robot kinematic model based on the DH parameters, and quickly calculate the six-axis joint angles through the inverse kinematics algorithm to ensure that the tool end (TCP) maintains a precise posture along the planned path. The calculation results are sent to the robot controller. Finally, the path is generated and executed. The system integrates all module data to generate the final robot motion path and supports visual preview. After the user confirms that it is correct, the path instructions are transmitted to the industrial robot to perform processing tasks (such as welding and cutting).

[0109] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An industrial robot path self-generation system, characterized in that: include: Path type selection module: configured to provide multiple submodules for determining the target path type according to the processing scenario; Path fine planning module: configured to analyze the uniqueness of the determined target path. If it is unique, it automatically matches the preset processing parameters; if not, it determines the unique path through an interactive selection mechanism; A tool parameter configuration module, configured to automatically obtain current industrial robot tool information and generate tool coordinate system parameters; Path optimization module: configured to process paths in a hierarchical manner and optimize path point location information; An attitude angle calculation module is configured to establish a robot kinematics model based on the structural parameters of the industrial robot and calculate the joint attitude angles through an inverse kinematics algorithm; The path execution module is configured to integrate the data of each module to generate the final path and control the industrial robot to perform the processing task.

2. The industrial robot path self-generation system according to claim 1, characterized in that: The path type selection module includes a plurality of predefined path type submodules, each of which includes at least one of the following: Paths based on geometric boundaries; Path based on closed loops; Paths based on irregular curves; Paths based on discrete point sets; Paths based on adjacent geometric features.

3. A method for self-generating an industrial robot path, characterized in that: The method is implemented using the industrial robot path self-generation system according to claim 1 or 2, comprising the following steps: S1, path type selection: select the target path type and load the corresponding path recognition algorithm according to the selected target path type; S2, path fine planning: Analyze the uniqueness of the selected target path. If it is unique, automatically match the preset processing parameters. If not, determine the unique path through an interactive selection mechanism; S3, tool and tool center point configuration: automatically read the tool information of the current industrial robot and generate parameters including the associated tool center point, base coordinate system and associated object; S4, machining parameter initialization: automatically generating default parameter configuration based on predefined boundary conditions; S5, position information parameter optimization: perform differential discretization on the path, decomposing the continuous path into a high-density discrete path point set; S6, posture angle calculation: Establish a robot kinematic model and calculate the joint posture angles using the inverse kinematics algorithm to ensure that the tool center maintains an accurate posture along the planned path; S7, Generate and execute path: Integrate data to generate the final path, which is then sent to the industrial robot to execute the processing task after confirmation.

4. The method for self-generating an industrial robot path according to claim 3, characterized in that: In step S1, each submodule of the path type selection module corresponds to a typical application scenario, wherein the submodules include: One edge of a single face is used for edge chamfering and contouring; A ring inside a single face is used for internal cavity machining and groove milling; The outer ring of a single face is used for contour cutting and boundary trimming; Irregular curves are used for artistic carving and special-shaped parts processing Point cloud punching is used for processing and drilling multi-hole parts; The line between two adjacent faces is used for surface joint processing and transition area processing.

5. The method for self-generating an industrial robot path according to claim 3, characterized in that: In step S2, if the path is unique and there is only one matching item for the selected path in the model, the system automatically calls the preset parameter library and recommends the optimal processing parameters based on information including processing materials and tool types. If the path is not unique, the target path is locked through the following steps: S2.1, select a path line; S2.2, screening the machining surface associated with the path line; S2.3, specify auxiliary references; S2.4, based on the geometric relationship between the path line, machining surface and auxiliary, interactive path locking is used to gradually narrow the scope until the unique target path is determined.

6. The method for self-generating an industrial robot path according to claim 4, characterized in that: In step S3, the distance between the workpiece and the robot arm is calculated using the Euclidean distance, and the robot arm closest to the workpiece is selected.

7. The method for self-generating an industrial robot path according to claim 3, characterized in that: In step S5, the process of performing differential and discretization processing on the path includes: The straight line and quadratic curve path trajectories are fitted using high-order polynomial interpolation, and the continuity and smoothness of the trajectory are ensured by solving high-order differentiable equations; The quasi-circular path trajectory adopts a polar coordinate analytical model, and the coordinates of the path points are directly solved through the radius parameter equation; The non-standard complex path trajectory adopts an adaptive discretization algorithm to decompose the irregular trajectory into a set of linear approximation line segments, and the trajectory approximation error is ensured to be within the allowable range by controlling the discrete granularity.

8. The method for self-generating an industrial robot path according to claim 3, characterized in that: In step S6, a robot kinematics model is established based on Denavit-Hartenberg parameters, and an efficient inverse kinematics solution algorithm is combined to achieve rapid calculation of the six-axis attitude angles of the industrial robot, and then send the calculated angles to the industrial robot again.

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