Robot assembly environment mapping method and system applied to slam technology

Abstract

The application provides a robot assembly environment mapping method and system applied to SLAM technology, and relates to the technical field of robot automatic assembly. First, scene interaction data sets of a robot assembly environment are collected, including fixed component static space data and dynamic tool interaction trajectory data. Then, a scene interaction correlation network is constructed based on the scene interaction data sets, a space skeleton is built with static data, and dynamic trajectory data is mapped. Next, contact correlation between fixed components and dynamic tools is extracted from the scene interaction data sets, interaction consistency features are generated, and the scene interaction correlation network is dynamically adapted and corrected. Finally, assembly environment mapping data are generated based on the corrected scene interaction correlation network, fixed component space coordinates and dynamic tool motion path constraint information are integrated, and mapping data covering the full range of the assembly environment are obtained to provide accurate environment information for robot assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot automation assembly, in particular to a robot assembly environment mapping method and system applied to SLAM technology. BACKGROUND

[0002] In the field of robot automation assembly, SLAM (Simultaneous Localization and Mapping) technology is the key support for realizing precise operation and autonomous navigation of robots. Traditional robot assembly environment mapping methods often focus on simple description of static environment, mainly relying on pre-set fixed models or static data collection based on single sensors to construct the map of the assembly environment.

[0003] However, in actual assembly scenarios, the environment has high dynamicity and complexity. Not only are there fixed components in the assembly environment, but also the surface details of the fixed components and the relative position relationship between components will affect the operation path planning of the robot. Moreover, in the assembly process, the continuous spatial movement path and real-time attitude change of dynamic tools also change the state of the environment at all times. The existing mapping methods are difficult to comprehensively and real-time capture the above dynamic changes, and cannot accurately reflect the complex interaction relationship between fixed components and dynamic tools. This leads to the possibility of operation errors, collisions and other problems in the assembly process of the robot due to incomplete understanding of the environment, affecting the efficiency and accuracy of assembly, and failing to meet the needs of modern industrial production for high-precision and high-efficiency automated assembly. SUMMARY

[0004] In view of the above-mentioned problems, in combination with the first aspect of the present application, the embodiments of the present application provide a robot assembly environment mapping method applied to SLAM technology, which comprises:

[0005] Collecting a scene interaction data set of the robot assembly environment, the scene interaction data set containing static spatial data of fixed components in the assembly environment and interaction trajectory data of dynamic tools in the assembly process, the static spatial data recording surface details of the fixed components and relative position relationship between components, and the interaction trajectory data recording continuous spatial movement path and real-time attitude change of the dynamic tools in the assembly operation;

[0006] Constructing a scene interaction correlation network based on the scene interaction data set, the scene interaction correlation network building a spatial skeleton structure based on the static spatial data of the fixed components, and mapping the interaction trajectory data of the dynamic tools to the spatial skeleton structure in time sequence to form a network structure containing spatial correlation relationship of the fixed components, movement range of the dynamic tools and time correlation information of both;

[0007] extracting a contact association relationship between the fixed component and the dynamic tool from the scene interaction data set, establishing a contact event and fixed component space position correspondence table by analyzing specific position information and contact occurrence time information of the dynamic tool interaction trajectory data in contact with the fixed component, and generating an interaction consistency feature reflecting the matching degree of the fixed component and the dynamic tool interaction by combining the spatial association relationship of the fixed component and the movement range of the dynamic tool in the scene interaction association network;

[0008] performing dynamic adaptation and correction on the scene interaction association network by using the interaction consistency feature to obtain a corrected scene interaction association network;

[0009] generating assembly environment mapping data based on the corrected scene interaction association network, extracting the spatial coordinates of the fixed component after adjustment from the corrected scene interaction association network, analyzing the position constraint relationship between the dynamic tool interaction trajectory data and the spatial coordinates of the fixed component to form movement path constraint information of the dynamic tool, and integrating the spatial coordinates of the fixed component and the movement path constraint information of the dynamic tool to obtain assembly environment mapping data covering all fixed components and the full movement range of the dynamic tool in the assembly environment.

[0010] In still another aspect, the embodiments of the present application also provide a robot assembly environment mapping system applied to SLAM technology, characterized in that it comprises:

[0011] a processor; a machine readable storage medium for storing machine executable instructions of the processor; wherein the processor is configured to execute the above-mentioned robot assembly environment mapping method applied to SLAM technology by executing the machine executable instructions.

[0012] In still another aspect, the embodiments of the present application also provide a computer program product, which comprises machine executable instructions stored in a computer readable storage medium, and a processor of a computer device reads the machine executable instructions from the computer readable storage medium, and the processor executes the machine executable instructions to make the computer device execute the above-mentioned robot assembly environment mapping method applied to SLAM technology.

[0013] Based on the above, a scene interaction data set was collected, including static spatial data of fixed components within the assembly environment and dynamic tool interaction trajectory data during the assembly process. A scene interaction association network was constructed based on this data set. A spatial skeleton structure was built using static spatial data, and the interaction trajectory data of the dynamic tools was mapped into it in chronological order. This formed a network structure containing spatial relationships between fixed components, the movement range of the dynamic tools, and the temporal relationship between the two. The contact relationships between fixed components and dynamic tools were extracted from the scene interaction data set, generating interaction consistency features reflecting the degree of interaction matching between the two. This further explored the intrinsic connections between various elements in the assembly environment. The interaction consistency features were used to dynamically adapt and correct the scene interaction association network, enabling the network to more accurately reflect the dynamic changes of the actual assembly environment. Finally, based on the corrected scene interaction association network, assembly environment mapping data was generated, integrating the spatial coordinates of fixed components and the motion path constraints of dynamic tools. The resulting mapping data covers the entire movement range of all fixed components and dynamic tools in the assembly environment, providing the robot with more accurate and comprehensive environmental information. This effectively improved the robot's positioning accuracy and operational accuracy in the assembly environment, reduced collision risks, and improved assembly efficiency and automation levels. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the execution flow of the robot assembly environment mapping method applied to SLAM technology provided in the embodiments of the present invention.

[0015] Figure 2 This is a schematic diagram of exemplary hardware and software components of a robot assembly environment mapping system applied to SLAM technology provided in an embodiment of the present invention. Detailed Implementation

[0016] The present invention will now be described in detail with reference to the accompanying drawings. Figure 1 This is a flowchart illustrating a robot assembly environment mapping method applied to SLAM technology, provided by an embodiment of the present invention. The following is a detailed description of this robot assembly environment mapping method applied to SLAM technology.

[0017] Step S110: Collect a set of scene interaction data of the robot assembly environment. The set of scene interaction data includes static spatial data of fixed components in the assembly environment and interactive trajectory data of dynamic tools during the assembly process. The static spatial data records the surface morphology details of the fixed components and the relative positional relationship between the components. The interactive trajectory data records the continuous spatial movement path and real-time posture changes of the dynamic tools during the assembly operation.

[0018] This embodiment takes the assembly of an automotive transmission housing and gear set by an industrial robot as an example. The fixed components in this assembly environment include a transmission base, a positioning bracket, and a support platform, while the dynamic tool is an electric tightening gun with a torque sensor.

[0019] Step S111: The vision acquisition module on the robot is controlled to scan and acquire fixed components in each area according to the regional division scheme of the assembly environment, and obtain surface texture image data, three-dimensional contour data, and structural detail data of the connection parts between components for each fixed component. The surface texture image data, three-dimensional contour data, and structural detail data of the connection parts between components are classified and integrated according to the category of fixed components to form static spatial data of fixed components. The static spatial data records the surface morphological details of fixed components and the relative positional relationship between components.

[0020] The assembly environment is divided into three continuous areas: a base mounting area, a bracket fixing area, and a platform support area. The vision acquisition module, consisting of a high-resolution area scan camera and a line laser scanner, first scans the base mounting area. For the gearbox base, the vision acquisition module scans its cast iron surface point by point, acquiring surface texture image data including surface casting patterns and the chamfered edges around bolt holes. Line laser scanning acquires the three-dimensional contour data of the base's length, width, height, and edge rounded corners. The module also scans the bolt connection holes and locating pin holes between the base and the support platform, acquiring detailed structural data on the hole diameter, depth, and position distribution at the connection points. Next, the positioning bracket in the bracket fixing area is scanned, acquiring image data of the bracket's stamping texture, three-dimensional contour data of the bracket's bending angle and support arm length, and detailed structural data on the width and depth of the slot connecting the bracket and the base.

[0021] Finally, the support platform in the platform support area is scanned to obtain image data of the anti-slip texture on the platform surface, three-dimensional data of the platform's flatness and edge height contour, and structural detail data of the bolt hole distribution for fixing the platform to the ground. This data is then integrated according to the categories of gearbox base, positioning bracket, and support platform to form static spatial data of the fixed components.

[0022] Step S112: The motion tracking module on the robot controls the dynamic tool to record the spatial coordinate data, motion direction data, and posture angle data of the dynamic tool at each time point at a preset time interval during the entire assembly operation. The spatial coordinate data, motion direction data, and posture angle data of the dynamic tool at each time point are then connected in chronological order to form the continuous spatial movement path data and real-time posture change data of the dynamic tool. These are then integrated into the interactive trajectory data of the dynamic tool. The interactive trajectory data records the continuous spatial movement path and real-time posture change of the dynamic tool during the assembly operation.

[0023] The motion tracking module consists of a six-axis inertial measurement unit and a binocular vision tracking system. Throughout the entire process of the electric tightening gun tightening the bolts between the gearbox base and the positioning bracket, data is recorded at preset time intervals. At the first time point, the spatial coordinates of the electric tightening gun are recorded, reflecting its position in three-dimensional space; the direction of motion of the electric tightening gun is recorded, reflecting the direction in which the tightening gun moves from its initial position towards the bolt holes in the base; and the attitude angle data of the electric tightening gun is recorded, reflecting the angle between the tightening gun head and the base surface.

[0024] At each subsequent time point, corresponding spatial coordinate data, motion direction data, and attitude angle data are recorded. The data from all time points are concatenated in chronological order to form continuous spatial movement path data of the electric tightening gun from its initial position to the first bolt hole, then to the second bolt hole after tightening, until all bolts are tightened. Real-time attitude change data of the tightening gun's head angle during movement are also recorded, and these are integrated into the interactive trajectory data of the dynamic tool.

[0025] Step S113: The collected static spatial data of fixed components in different areas are spliced ​​according to the spatial position correlation of the areas. During the splicing process, the relative positional relationship between fixed components in adjacent areas is compared. Static spatial data with positional deviations at the splicing point are fine-tuned to ensure that the relative position between fixed components in adjacent areas remains continuous at the splicing point. The spliced ​​static spatial data is then checked for regional coverage to fill in the static spatial data at spatial discontinuities, forming integrated static spatial data of fixed components covering all areas of the assembly environment.

[0026] The static spatial data of the fixed components in different areas includes the gearbox base data in the base mounting area, the positioning bracket data in the bracket fixing area, and the support platform data in the platform support area. The components are assembled according to the spatial relationship between the adjacent areas of the base mounting area and the bracket fixing area, and between the adjacent areas of the bracket fixing area and the platform support area. The relative positional relationship between the gearbox base in the base mounting area and the positioning bracket in the bracket fixing area is compared to check if the positions of the positioning pin holes of the base and the positioning pins of the bracket match; the relative positional relationship between the positioning bracket in the bracket fixing area and the support platform in the platform support area is compared to check if the positions of the support feet of the bracket and the support holes of the platform match.

[0027] If a positional deviation is found at the splicing point, such as a misalignment between the positioning pin holes of the base and the positioning pins of the bracket, the static spatial data of the positioning bracket is fine-tuned to adjust its position in three-dimensional space, ensuring a continuous relative position between the two. After splicing, it is checked for any area coverage gaps. If unscanned gaps are found between the base mounting area and the bracket fixing area, the surface texture and contour data of that area are scanned to fill in the spatial gaps, forming integrated static spatial data of the fixed components covering all areas.

[0028] Step S114: Correspond the dynamic tool's interactive trajectory data with the time nodes of the assembly operation to form dynamic tool interactive trajectory association data with additional time markers.

[0029] The assembly operation time nodes include the tightening gun start time, the first bolt tightening start time, the first bolt tightening end time, the second bolt tightening start time, the second bolt tightening end time, and so on, until all bolts are tightened. Each set of spatial coordinate data, motion direction data, and attitude angle data in the dynamic tool's interactive trajectory data is associated with its corresponding time node. For example, the spatial coordinate data, motion direction data, and attitude angle data when the tightening gun starts are associated with the tightening gun start time; the corresponding data when the first bolt tightening begins are associated with the first bolt tightening start time, and so on, forming dynamic tool interactive trajectory association data with additional time markers.

[0030] Step S115: The static spatial integration data of fixed components and the dynamic tool interaction trajectory association data with additional time markers are converted according to the preset data format standard. The coordinate system of the converted static spatial integration data of fixed components and the dynamic tool interaction trajectory association data with additional time markers is calibrated to form a scene interaction data set.

[0031] The preset data format standard is the STEP format, which is commonly used in the field of industrial automation. It converts surface texture image data, 3D contour data, and structural detail data from the static spatial integration data of fixed components into geometric entity and topological relationship descriptions in the STEP format. It also converts spatial coordinate data, motion direction data, attitude angle data, and time stamps from the dynamic tool interaction trajectory association data with added time stamps into motion trajectory and timestamp descriptions in the STEP format. The coordinate system calibration adopts an absolute coordinate system within the assembly environment, with one corner of the support platform as the origin, one edge of the platform as the X-axis, another perpendicular edge of the platform as the Y-axis, and the direction perpendicular to the platform surface as the Z-axis. The converted static spatial integration data of fixed components and the dynamic tool interaction trajectory association data are unified under this absolute coordinate system, forming a scene interaction data set.

[0032] Step S120: Construct a scene interaction association network based on the scene interaction data set. The scene interaction association network builds a spatial skeleton structure based on the static spatial data of fixed components. The interaction trajectory data of dynamic tools are mapped to the spatial skeleton structure in chronological order to form a network structure that includes the spatial relationship of fixed components, the movement range of dynamic tools, and the temporal relationship between the two.

[0033] A spatial skeleton structure is constructed based on the spatial position data of the gearbox base, positioning bracket, and support platform from the static spatial integration data of fixed components. This basic spatial skeleton structure reflects the relative positions and connection relationships of the three fixed components in the absolute coordinate system. The motion trajectory data of the electric tightening gun from the dynamic tool interaction trajectory association data is mapped to this spatial skeleton structure in chronological order. For example, the trajectory of the tightening gun moving from its initial position to the bolt hole of the base is mapped to the area where the base is located in the spatial skeleton structure, and the posture change trajectory of the tightening gun at the bolt hole of the base is mapped to the position of the corresponding bolt hole. The resulting scene interaction association network includes the spatial association relationships of fixed components, namely the connection relationship between the base and the bracket, and the connection relationship between the bracket and the platform; the motion range of the dynamic tool, namely the movement area of ​​the tightening gun in the assembly environment; and the temporal association information between the two, namely the fixed component area where the tightening gun is located at different time points.

[0034] Step S130: Extract the contact relationship between fixed components and dynamic tools from the scene interaction data set. By analyzing the specific location information and contact time information of the dynamic tool in contact with the fixed component in the interaction trajectory data, establish a correspondence table between contact events and the spatial position of the fixed component. Combine the spatial relationship of the fixed component in the scene interaction association network with the movement range of the dynamic tool to generate an interaction consistency feature that reflects the degree of interaction matching between the fixed component and the dynamic tool.

[0035] Step S131: Select the spatial coordinate data and corresponding time identifier data of the dynamic tool contacting the fixed component from the dynamic tool interaction trajectory data of the scene interaction data set. The spatial coordinate data and corresponding time identifier data of the dynamic tool contacting the fixed component together constitute the contact event data. Each contact event data contains the specific spatial location of the dynamic tool at the moment of contact.

[0036] Spatial coordinate data of the electric tightening gun head contacting the bolt hole of the gearbox base, as well as corresponding time marker data, are extracted from the dynamic tool interaction trajectory data. For example, the spatial coordinate data and time marker data when the first bolt tightening begins, the spatial coordinate data and time marker data when the second bolt tightening begins, etc. These data together constitute contact event data, and each contact event data includes the specific spatial position of the tightening gun head at the moment of contact.

[0037] Step S132: Extract the surface space coordinate range data of each fixed component from the static space data of the fixed components in the scene interaction data set; perform a point-by-point comparison operation between the dynamic tool space coordinate data in the contact event data and the surface space coordinate range data of the fixed components; mark the fixed component range to which each dynamic tool space coordinate data belongs; determine the specific fixed component corresponding to each contact event data; and record the complete spatial position information of the fixed component.

[0038] The surface spatial coordinate range data of the gearbox base is extracted from the static spatial data of the fixed components. This surface spatial coordinate range data reflects the X, Y, and Z coordinate range of the base in the absolute coordinate system. The surface spatial coordinate range data of the positioning bracket is also extracted, reflecting the coordinate range of the bracket. The surface spatial coordinate range data of the support platform is also extracted, reflecting the coordinate range of the platform. The spatial coordinate data of the electric tightening gun in the contact event data is compared point by point with the surface spatial coordinate range data of the above three fixed components. If the spatial coordinate data of a certain contact event falls within the coordinate range of the gearbox base, the fixed component to which the data belongs is marked as the gearbox base. The specific fixed component corresponding to the contact event is determined to be the gearbox base, and the complete spatial position information of the gearbox base is recorded, including the coordinates of all corner points and the center coordinates of the base.

[0039] Step S133: Based on the dynamic tool spatial coordinate data and fixed component spatial position information corresponding to each contact event data, establish a correspondence table between contact events and fixed component spatial positions. Each entry in the correspondence table contains the contact event time identifier, the specific spatial coordinates of the dynamic tool, and the complete spatial position information of the corresponding fixed component. Perform a uniqueness check on the entries in the correspondence table and delete duplicate entries.

[0040] For each contact event data point, its time identifier, the specific spatial coordinates of the electric tightening gun, and the complete spatial location information of the corresponding fixed component are compiled into an entry in the correspondence table. For example, if the time identifier of a contact event is the start time of tightening the first bolt, the specific spatial coordinates of the electric tightening gun are (X1, Y1, Z1), and the complete spatial location information of the corresponding fixed component is the corner coordinates (X0, Y0, Z0), (X0+L, Y0, Z0), etc., and the center coordinates (X0+L / 2, Y0+W / 2, Z0+H / 2) of the gearbox base, this information is entered as an entry into the correspondence table. A uniqueness check is performed on the entries in the correspondence table. If two entries have the same time identifier, the same electric tightening gun spatial coordinates, and the same fixed component spatial location information, one of the duplicate entries is deleted.

[0041] Step S134: Extract the spatial relationship data of fixed components and the motion range data of dynamic tools from the scene interaction association network. Match the spatial location information of fixed components in the corresponding relationship table with the spatial relationship data of fixed components in the scene interaction association network. Mark the spatial location of the fixed components that are successfully matched. Recheck the spatial location information of the fixed components that are not matched to confirm the accurate spatial location of the fixed components in the scene interaction association network.

[0042] Spatial relationship data of fixed components is extracted from the scene interaction association network. This spatial relationship data reflects the connection position relationship between the gearbox base and the positioning bracket, and the connection position relationship between the positioning bracket and the support platform. Motion range data of dynamic tools is also extracted, reflecting the movement area of ​​the electric tightening gun within the assembly environment. The spatial position information of fixed components in the correspondence table is matched with the spatial relationship data of fixed components in the scene interaction association network. If the spatial position information of a fixed component matches the corresponding position relationship in the association network, the spatial positioning of that fixed component is marked as successfully matched. If the spatial position information of a fixed component does not match the corresponding position relationship in the association network, the static spatial data of that fixed component is re-verified to check for errors in the data acquisition and conversion process, confirming the accurate spatial positioning of the fixed component in the scene interaction association network.

[0043] Step S135: Extract the continuous spatial movement path data of the dynamic tool between two adjacent contact event data from the dynamic tool interaction trajectory data. Use the continuous spatial movement path data of the dynamic tool between two adjacent contact event data as the interaction trajectory segment data of the dynamic tool between the two contact events. Analyze the fit between the interaction trajectory segment data and the corresponding fixed component spatial relationship data in the scene interaction relationship network. Calculate the overlap ratio between the interaction trajectory segment data and the fixed component spatial relationship data and record the fit degree data.

[0044] Step S1351: Sort the contact event data from the contact event data set according to the order of time identification information. Use a time sorting algorithm to sort the contact event data to form an ordered contact event sequence. Perform a time continuity check on the sorted contact event sequence and adjust contact event data entries with abnormal time order.

[0045] The contact event dataset contains data such as the start and end of tightening the first bolt, the start and end of tightening the second bolt, etc. This data is sorted according to the chronological order of its time signatures to form an ordered sequence of contact events. A time-sorting algorithm is used to check the sequence. If a contact event's time signature is found to be earlier than the time signature of the previous contact event, the order of the contact event data entries is adjusted to ensure the temporal continuity of the sequence.

[0046] Step S1352: Select two adjacent contact event data in the ordered contact event sequence and mark them as preceding contact event data and subsequent contact event data, respectively. Extract the time stamp information and dynamic tool space coordinate data of the preceding contact event data, as well as the time stamp information and dynamic tool space coordinate data of the subsequent contact event data. Record the correlation between the time stamp information of the preceding contact event data, the dynamic tool space coordinate data and the time stamp information and dynamic tool space coordinate data of the subsequent contact event data.

[0047] In an ordered sequence of contact events, the data indicating the end of the first bolt tightening is selected as the preceding contact event data, and the data indicating the start of the second bolt tightening is selected as the following contact event data. The time stamp information of the preceding contact event data is extracted as the end time of the first bolt tightening, and the dynamic tool spatial coordinates are (X2, Y2, Z2). The time stamp information of the following contact event data is extracted as the start time of the second bolt tightening, and the dynamic tool spatial coordinates are (X3, Y3, Z3). The correlation between the time stamp and spatial coordinates of the preceding and following contact events is recorded; that is, after the preceding event ends, the dynamic tool moves from (X2, Y2, Z2) to (X3, Y3, Z3).

[0048] Step S1353: Filter out all dynamic tool spatial coordinate data whose time stamp information is between the time stamp information of the preceding contact event data and the time stamp information of the subsequent contact event data from the dynamic tool interaction trajectory data. Use the time interval filtering algorithm to extract the dynamic tool spatial coordinate data that meets the conditions. Arrange the dynamic tool spatial coordinate data that meets the conditions in chronological order to form a continuous spatial movement path data.

[0049] The time stamp information is the dynamic tool space coordinate data between the end time of tightening the first bolt and the start time of tightening the second bolt. This data represents all the positional data of the electric tightening gun as it moves from the first bolt hole to the second bolt hole. The time interval filtering algorithm is used to extract this data and arrange it in chronological order to form a continuous spatial movement path data, reflecting the movement trajectory of the tightening gun between the two contact events.

[0050] Step S1354: Mark this continuous spatial movement path data as the interaction trajectory segment data of the dynamic tool between the preceding contact event and the following contact event, add the corresponding preceding contact event identifier and following contact event identifier to the interaction trajectory segment data, and establish an association index between the interaction trajectory segment data and the contact event.

[0051] The aforementioned continuous spatial movement path data is marked as the interactive trajectory segment data of the electric tightening gun between the end of tightening the first bolt and the beginning of tightening the second bolt. The preceding contact event is marked as the end of tightening the first bolt, and the subsequent contact event is marked as the beginning of tightening the second bolt. An association index is established between the interactive trajectory segment data and these two contact events for subsequent querying and analysis.

[0052] Step S1355: Extract the spatial relationship data of the fixed components corresponding to the preceding and subsequent contact events from the scene interaction association network. The spatial relationship data of the fixed components corresponding to the preceding and subsequent contact events includes the surface spatial coordinate range data of the two fixed components and the relative positional relationship data between them. Delete invalid coordinate range data.

[0053] The preceding contact event corresponds to the gearbox base as the fixed component, and the subsequent contact event also corresponds to the gearbox base. The surface spatial coordinate range data of the gearbox base, including its X, Y, and Z coordinate ranges, is extracted from the scene interaction association network. The relative positional relationship data between the gearbox base and itself (i.e., its own position data) is also extracted. Invalid coordinate range data, such as coordinate data exceeding the absolute coordinate system range of the assembly environment, are deleted.

[0054] Step S1356: Compare the spatial coordinate data of each dynamic tool in the interactive trajectory segment data with the surface spatial coordinate range data of the corresponding fixed component one by one, use the spatial coordinate comparison algorithm to calculate the distance data between the spatial coordinate data of each dynamic tool and the surface of the fixed component, and record the results of each calculation.

[0055] The spatial coordinate data of each electric tightening gun in the interactive trajectory segment data is compared one by one with the spatial coordinate range data of the gearbox base surface. The spatial coordinate comparison algorithm is used to calculate the distance between each coordinate data and the base surface. For example, the distance between a certain coordinate data and the base surface is D1, and the distance between another coordinate data and the base surface is D2. These distance data are recorded.

[0056] Step S1357: Calculate the average value of all dynamic tool space coordinate data and the distance data between the surface of the fixed component in the interactive trajectory segment data. The average value is calculated using a statistical calculation method. This average value reflects the overall fit between the interactive trajectory segment data and the spatial relationship data of the fixed component.

[0057] The sum of all distance data in the statistical interactive trajectory segment data is divided by the number of distance data to obtain the average value. This average value reflects the overall fit between the electric tightening gun's movement trajectory and the gearbox base surface between two contact events. If the average value is small, it indicates that the trajectory is in close contact with the base surface.

[0058] Step S1358: Simultaneously, a preset reasonable range for distance data is set, and dynamic tool space coordinate data in the interactive trajectory segment data that exceeds the preset reasonable range for distance from the surface of the fixed component is marked as abnormal data. The number of abnormal data and the corresponding space coordinate information are recorded, and an abnormal data list is established.

[0059] Set the preset reasonable range of distance data to 0 to Dmax. Mark the spatial coordinate data of the electric tightening gun with a distance greater than Dmax in the interactive trajectory segment data as abnormal data. Record the number of abnormal data, such as N. Record the spatial coordinate information corresponding to each abnormal data, such as (Xa, Ya, Za), (Xb, Yb, Zb), etc., and establish an abnormal data list.

[0060] Step S1359: Based on the average distance data and the number of abnormal data, calculate the degree of fit data reflecting the fit between the interactive trajectory segment data and the spatial relationship data of the fixed component. The degree of fit data includes the average distance value and the proportion of abnormal data. The proportion of abnormal data is the ratio of the number of abnormal data to the total number of data in the interactive trajectory segment data.

[0061] The average distance value is the average value obtained from the above statistics. The proportion of abnormal data is the ratio of the number of abnormal data N to the total number of data M in the interactive trajectory segment data, i.e., N / M. These two values ​​are used as the fitting degree data to reflect the fitting of the interactive trajectory segment data and the spatial relationship data of the fixed component.

[0062] Step S13510: Associate and store the fitting degree data corresponding to each interactive trajectory segment data with the identification information of the interactive trajectory segment data, establish the mapping relationship between the interactive trajectory segment identification and the fitting degree data, and form a fitting degree data record table.

[0063] The identification information of the above interactive trajectory segment data, such as the combination of the preceding contact event identifier and the following contact event identifier, is associated with the corresponding fit degree data and stored to establish a mapping relationship. For example, the average distance value and the proportion of abnormal data corresponding to the identifier "the end of tightening the first bolt - the beginning of tightening the second bolt" are used to form a fit degree data record table.

[0064] Step S136: Based on the accuracy of the matching between contact events and the spatial positions of fixed components in the corresponding relationship table, the proportion of accurately matched contact events to the total number of contact events is calculated. Combined with the degree of fit between the interactive trajectory segment data and the spatial relationship data of fixed components, parameters reflecting the degree of interaction between fixed components and dynamic tools are calculated. The calculated parameters reflecting the degree of interaction between fixed components and dynamic tools include contact position matching degree parameters and trajectory fit degree parameters.

[0065] The number of accurately matched contact events in the correspondence table is counted, e.g., P events, and the total number of contact events is Q. The contact position matching degree parameter is P / Q. The trajectory fit parameter is the average of the fit degree data of all interactive trajectory segments, that is, the average of the average distance values ​​of all interactive trajectory segments and the average of the proportion of abnormal data. This parameter reflects the degree of matching between the fixed component and the dynamic tool.

[0066] Step S137: Classify and integrate the contact position matching parameters corresponding to all contact events and the trajectory fitting parameters corresponding to all interactive trajectory segment data. Group the contact position matching parameters and trajectory fitting parameters according to the time sequence and the fixed component area division. Remove outliers from each group of parameters and retain parameter values ​​that meet the statistical requirements to form an interactive consistency feature that reflects the interaction matching between fixed components and dynamic tools in different times and different areas.

[0067] The contact position matching parameters are divided into three groups according to time sequence: pre-tightening stage, mid-tightening stage, and post-tightening stage. The trajectory fit parameters are divided into three groups according to the fixed component area: base area, support area, and platform area. Outliers are removed from each group of parameters; for example, values ​​of the contact position matching parameters below a preset threshold are removed. Parameter values ​​that meet statistical requirements are retained, forming an interactive consistency feature. This interactive consistency feature reflects the interactive matching between the fixed component and the dynamic tool at different times and in different areas.

[0068] Step S140: Dynamically adapt and correct the scene interaction association network using the interaction consistency feature to obtain the corrected scene interaction association network.

[0069] Step S141: Set a preset matching standard for the contact position matching degree parameter and the trajectory fitting degree parameter in the interaction consistency feature. The preset matching standard is determined according to the accuracy requirements of the assembly environment and the allowable range of mapping error of SLAM technology.

[0070] The accuracy requirements for the assembly environment are ±Δ, and the allowable error range for mapping in SLAM technology is ±ε. Based on these, the preset matching standard for the contact position matching parameter is no less than Pmin, and the preset matching standard for the trajectory fit parameter is that the average distance value is no greater than Dmin and the proportion of abnormal data is no greater than Rmin.

[0071] Step S142: Compare the contact position matching degree parameter and trajectory fitting degree parameter in the interaction consistency feature with the corresponding preset matching standard, mark the parameter values ​​that are lower than the preset matching standard, and filter out the parameter items whose contact position matching degree parameter or trajectory fitting degree parameter is lower than the preset matching standard.

[0072] Compare the contact position matching parameter with Pmin. If any parameter is lower than Pmin, mark that parameter value. Compare the average distance value in the trajectory fit parameter with Dmin, and compare the abnormal data percentage with Rmin. If the average distance value is greater than Dmin or the abnormal data percentage is greater than Rmin, mark that parameter value. Filter out all marked parameter entries.

[0073] Step S143: Based on the time identifier information and fixed component area information corresponding to the selected parameter items, retrieve the fixed component area drawing associated with the selected parameter items, determine the fixed component area associated with the selected parameter items, and mark the fixed component area as the area to be corrected for spatial deviation.

[0074] Based on the time identifier information corresponding to the selected parameter items, such as the tightening time of the second bolt, and the information of the fixed component area, such as the gearbox base area, the drawing of the gearbox base area is retrieved, and the fixed component area associated with the parameter item is determined to be the gearbox base area. This area is then marked as the area where spatial deviation needs to be corrected.

[0075] Step S144: Extract spatial relationship data of all fixed components within the spatial deviation to be corrected area from the scene interaction association network. The spatial relationship data of all fixed components within the spatial deviation to be corrected area includes the surface spatial coordinate range data of these fixed components and the relative positional relationship data between the components, and supplement the missing coordinate data and positional relationship data.

[0076] Extract spatial relationship data of all fixed components in the gearbox base area from the scene interaction association network, including surface spatial coordinate range data of the gearbox base and relative positional relationship data between the gearbox base and the positioning bracket, and supplement missing coordinate data, such as the coordinates of a corner point of the base, and supplement missing positional relationship data, such as the connection angle between the base and the bracket.

[0077] Step S145: Analyze the contact event data and interaction trajectory segment data corresponding to the selected parameter items, calculate the deviation values ​​between the dynamic tool space coordinate data, interaction trajectory segment data and the spatial correlation data of the fixed components in the area to be corrected, determine the spatial direction and adjustment range that each fixed component needs to be adjusted through spatial geometric calculation, and generate an adjustment parameter list.

[0078] Step S1451: Extract the corresponding contact event data identifier and interactive trajectory segment data identifier from the selected parameter entries, establish the association between the contact event data identifier, interactive trajectory segment data identifier and parameter entries, and obtain interactive trajectory segment data from the dynamic tool interactive trajectory data based on the interactive trajectory segment data identifier.

[0079] Extract contact event data identifiers from the selected parameter entries, identifying the start of tightening the second bolt. Identify the interactive trajectory segment data as the end of tightening the first bolt and the start of tightening the second bolt. Establish the association between these identifiers and parameter entries. Based on the interactive trajectory segment data identifiers, obtain the corresponding interactive trajectory segment data from the dynamic tool interactive trajectory data.

[0080] Step S1452: Extract the surface spatial coordinate range data of each fixed component from the spatial association data of the fixed components in the area to be corrected, establish the correspondence between the component identifier and the coordinate range data, compare the dynamic tool spatial coordinate data in the contact event data with the surface spatial coordinate range data of the corresponding fixed component, and use a spatial geometry algorithm to determine the theoretical contact position of the dynamic tool spatial coordinate data on the surface of the fixed component. The theoretical contact position is the point on the surface of the fixed component that is closest to the dynamic tool spatial coordinate data.

[0081] Extract the surface spatial coordinate range data of the gearbox base from the spatial correlation data of the fixed components in the area to be corrected, and establish the correspondence between the component identifier gearbox base and this coordinate range data. Compare the spatial coordinate data of the electric tightening gun in the contact event data with the surface spatial coordinate range data of the gearbox base, and use a spatial geometry algorithm to calculate the distance between this coordinate data and each point on the base surface, and determine the closest point as the theoretical contact position.

[0082] Step S1453: Use the spatial distance calculation formula to calculate the spatial distance between the actual spatial coordinates of the dynamic tool in the contact event data and the theoretical contact position, and record the calculation result. This spatial distance is used as the contact position deviation value.

[0083] The distance between the actual spatial coordinates of the electric tightening gun and the theoretical contact position is calculated using the spatial distance calculation formula, such as Δd. This distance is then recorded as the contact position deviation value.

[0084] Step S1454: Simultaneously, compare the spatial coordinate data of each dynamic tool in the interactive trajectory segment data with the surface spatial coordinate range data of the corresponding fixed component in the area to be corrected, calculate the actual distance data between each dynamic tool spatial coordinate data and the surface of the fixed component, set a preset reasonable distance, calculate the difference between the actual distance data and the preset reasonable distance, and use the average calculation method to take the average value of all differences as the trajectory fitting deviation value.

[0085] The spatial coordinate data of each electric tightening gun in the interactive trajectory segment data is compared with the surface spatial coordinate range data of the gearbox base. The actual distance data between each coordinate data and the base surface is calculated. A preset reasonable distance is set as D0. The difference between each actual distance data and D0 is calculated, such as Δd1, Δd2, etc. The average value of these differences is calculated using the averaging method, which is used as the trajectory fitting deviation value.

[0086] Step S1455: Based on the directional attribute of the contact position deviation value, determine the offset direction of the actual spatial coordinate data of the dynamic tool relative to the theoretical contact position of the fixed component through spatial vector analysis, and record the vector information of the offset direction. This offset direction serves as the spatial direction that the fixed component needs to be adjusted.

[0087] The offset direction of the actual spatial coordinate data of the electric tightening gun relative to the theoretical contact position is determined by spatial vector analysis. For example, if it is offset along the positive X-axis, the vector information of this offset direction is recorded as (Δx, 0, 0). This direction is used as the spatial direction that the gearbox base needs to be adjusted.

[0088] Step S1456: The magnitude of the contact position deviation value is used as the basic amplitude that the fixed component needs to be adjusted in the offset direction. At the same time, the amplitude correction coefficient is set in combination with the magnitude of the trajectory fitting deviation value to correct the basic amplitude. If the trajectory fitting deviation value exceeds the preset trajectory deviation threshold, the amplitude correction coefficient is increased to adjust the basic amplitude. If the trajectory fitting deviation value does not exceed the preset trajectory deviation threshold, the amplitude correction coefficient is kept at the preset reference value to keep the basic amplitude unchanged.

[0089] The magnitude of the contact position deviation is Δd, which serves as the base adjustment value for the gearbox base in the positive X-axis direction. The trajectory fit deviation is Δdt. A preset trajectory deviation threshold is set to Δt. If Δdt > Δt, the amplitude correction coefficient is set to K1 > 1 to correct the base amplitude, and the corrected amplitude is Δd × K1. If Δdt ≤ Δt, the amplitude correction coefficient is set to K0 = 1 to keep the base amplitude unchanged, and the corrected amplitude is Δd × K0 = Δd.

[0090] Step S1457: For each fixed component in the area to be corrected, repeat the above steps of calculating the contact position deviation value, trajectory fitting deviation value, determining the adjustment direction and adjustment range, establishing the correspondence between component identification and adjustment parameters, and ensuring that each fixed component has a corresponding adjustment direction and adjustment range.

[0091] Repeat the above steps for the gearbox base to establish the correspondence between the component identification gearbox base and the adjustment direction (Δx, 0, 0) and adjustment range Δd×K1, ensuring that the fixed component has a corresponding adjustment direction and adjustment range.

[0092] Step S1458: The adjustment direction and adjustment range of each fixed component are classified and organized according to the component identification. The sorting results are recorded in tabular form to form a fixed component adjustment parameter table for the area to be corrected. Each entry in the fixed component adjustment parameter table for the area to be corrected contains the component identification, vector information of the adjustment direction, and the specific value of the adjustment range. Duplicate entries and invalid parameters are deleted.

[0093] Enter the component identification gearbox base, adjustment direction (Δx, 0, 0), and adjustment range Δd×K1 as an entry into the fixed component adjustment parameter table of the area to be corrected. Delete duplicate entries and invalid parameters, such as parameters with an adjustment range of 0.

[0094] Step S146: According to the calculated spatial direction and adjustment range, adjust the surface spatial coordinate range data of each fixed component in the spatial deviation to be corrected area one by one, and update the relative positional relationship data between these fixed components and adjacent fixed components. Perform a compatibility check on the adjusted positional relationship data to ensure that the relative position between the adjusted components conforms to the actual situation of the assembly environment.

[0095] Adjust the surface space coordinate range data of the gearbox base according to the adjustment direction (Δx, 0, 0) and adjustment range Δd×K1, increasing all X coordinate values ​​of the base by Δd×K1. Simultaneously update the relative positional relationship data between the gearbox base and the positioning bracket, such as increasing the distance between the base and the bracket by Δd×K1. Perform a compatibility check on adjacent components based on the adjusted positional relationship data, checking whether the connection between the base and the bracket still meets the assembly requirements. If not, readjustment is performed.

[0096] Step S147: Based on the adjustment of the spatial association data of fixed components, synchronously update the mapping position of the dynamic tool's motion range in the scene interaction association network, compare the updated dynamic tool motion range mapping position with the adjusted fixed component spatial position, mark the positions where the two do not match, and readjust the mapping position.

[0097] According to the adjustment of the spatial correlation relationship data of the transmission base, synchronously update the mapped position of the movement range of the electric tightening gun in the scene interaction correlation network, and increase the X coordinate value of the mapped position by Δd × K1. Compare the updated mapped position with the adjusted spatial position of the transmission base through trajectory matching. If it is found that the two do not match at a certain position, readjust the mapped position to make them match.

[0098] Step S148, after the adjustment is completed, recalculate the contact position matching degree parameter of the contact event between the fixed component and the dynamic tool in this area, and the trajectory fitting degree parameter between the dynamic tool interaction trajectory segment data and the spatial correlation relationship data of the fixed component, and import the recalculated contact position matching degree parameter and trajectory fitting degree parameter into the parameter comparison system.

[0099] After the adjustment is completed, recalculate the contact position matching degree parameter of the contact event in the transmission base area, such as P’ / Q, and recalculate the trajectory fitting degree parameter of the interaction trajectory segment data, such as the average distance value D’ and the abnormal data ratio R’, and import the above parameters into the parameter comparison system.

[0100] Step S149, compare the recalculated contact position matching degree parameter and trajectory fitting degree parameter with the preset matching standard again. If there are still parameters lower than the preset matching standard, repeat the steps of adjusting the spatial correlation relationship data of the fixed component, updating the mapped position of the movement range of the dynamic tool in the scene interaction correlation network, and recalculating the matching degree parameter until all parameters meet the standard.

[0101] Compare the recalculated contact position matching degree parameter P’ / Q with the preset matching standard Pmin, and compare the trajectory fitting degree parameters D’ with Dmin and R’ with Rmin. If P’ / Q < Pmin or D’ > Dmin or R’ > Rmin, repeat the steps of adjusting the spatial correlation relationship data of the transmission base, updating the mapped position of the movement range of the electric tightening gun, and recalculating the matching degree parameter until all parameters meet the standard.

[0102] Step S1410, when both the recalculated contact position matching degree parameter and trajectory fitting degree parameter reach the preset matching standard, stop the adjustment operation, and update the adjusted spatial correlation relationship data of the fixed component and the updated mapped position data of the movement range of the dynamic tool to the scene interaction correlation network, replacing the original spatial deviation to-be-corrected area data, and obtain the corrected scene interaction correlation network.

[0103] When the recalculated contact position matching parameter P' / Q≥Pmin, the trajectory fit parameter D'≤Dmin, and R'≤Rmin, the adjustment operation is stopped. The adjusted gearbox base space association data and the updated electric tightening gun motion range mapping position data are then updated to the scene interaction association network, replacing the original gearbox base area data, thus obtaining the corrected scene interaction association network.

[0104] Step S150: Based on the modified scene interaction association network, generate assembly environment mapping data, extract the adjusted spatial coordinates of fixed components from the modified scene interaction association network, analyze the positional constraint relationship between the dynamic tool interaction trajectory data and the spatial coordinates of fixed components, form the motion path constraint information of dynamic tools, integrate the spatial coordinates of fixed components and the motion path constraint information of dynamic tools, and obtain assembly environment mapping data covering the entire motion range of all fixed components and dynamic tools in the assembly environment.

[0105] Step S151: Extract the surface spatial coordinate range data and relative positional relationship data between all fixed components from the modified scene interaction association network. Refine the surface spatial coordinate range data of each fixed component and mark the key points on the component surface. The key points on the component surface include the vertices, midpoints of edges, and center points of connecting parts of the fixed component. Collect the spatial coordinates of the key points on the component surface. Repeatedly collect and compare the spatial coordinates of the key points on the surface of each component. Remove coordinate data with deviations exceeding the preset range and retain coordinate data that meet the accuracy requirements.

[0106] The surface spatial coordinate range data and relative positional relationship data between components of the gearbox base, positioning bracket, and support platform are extracted from the corrected scene interaction association network. The surface spatial coordinate range data of the gearbox base is refined, and the vertices, midpoints of edges, and center points of bolt connections are marked as key points. The spatial coordinates of these key points are collected, and the spatial coordinates of each key point are collected repeatedly, such as three times. The coordinate data from the three collections are compared, and coordinate data with deviations exceeding the preset range ±Δc are discarded, retaining the coordinate data that meets the accuracy requirements.

[0107] Step S152: The spatial coordinates of the key points of each fixed component are systematically organized according to the component category and the area where it is located. The organized spatial coordinate data of the key points are classified and stored. The association between the spatial coordinate data of the key points and the component identifier is established to form a set of spatial coordinates of the fixed components.

[0108] The spatial coordinates of key points on the gearbox base are systematically organized according to the component category of the gearbox base and the base installation area. The organized coordinate data is then classified and stored. The association between the spatial coordinate data of key points and the component identifier of the gearbox base is established, forming a set of spatial coordinates of fixed components.

[0109] Step S153: Extract all interactive trajectory data of the dynamic tool from the scene interaction data set, compare all interactive trajectory data of the dynamic tool with the spatial coordinates of the fixed components in the corrected scene interaction association network point by point, record the distance data between the spatial position of each dynamic tool and the key points of the fixed components, and analyze the minimum distance data between the dynamic tool and the key points of each fixed component during the movement.

[0110] Extract all interactive trajectory data of the electric tightening gun from the scene interaction data set, compare the data point by point with the spatial coordinates of the key points of the gearbox base in the corrected scene interaction association network, record the distance data between the spatial position of each electric tightening gun and the key points of the base, and analyze to obtain the minimum distance data between the electric tightening gun and each key point of the base during the movement.

[0111] Step S154: Based on the minimum distance data between the dynamic tool and the key points of the fixed component, determine the safe distance that the dynamic tool needs to maintain with the fixed component during the movement.

[0112] Step S1541: Extract all key point spatial coordinates of each fixed component from the set of spatial coordinates of the fixed components, establish the association between component identifier and key point coordinates, group the key points according to component category, classify and store the spatial coordinate data of each group of key points, and each component group contains the spatial coordinates of the vertex, edge midpoint and connection center of the component.

[0113] Extract the spatial coordinates of all key points of the gearbox base from the set of spatial coordinates of the fixed components, and establish the association between the component identifier gearbox base and these key point coordinates. Group the key points according to the component category gearbox base, and classify and store the spatial coordinate data of this group of key points. This group includes the spatial coordinates of the vertices, midpoints of the edges, and center points of the bolt connections of the base.

[0114] Step S1542: Extract the spatial position sequence of the dynamic tool for each motion stage from the interactive trajectory data of the dynamic tool, establish the correspondence between the motion stage identifier and the spatial position sequence of the dynamic tool, sort each spatial position sequence of the dynamic tool in time so that the spatial position sequence of the dynamic tool conforms to the chronological order, and each motion stage corresponds to a continuous assembly operation process.

[0115] Dynamic tool spatial position sequences for the pre-tightening, during-tightening, and post-tightening motion stages are extracted from the interactive trajectory data of the electric tightening gun. A correspondence is established between the motion stage identifier (pre-tightening) and the corresponding spatial position sequence. Each spatial position sequence is then time-sorted to ensure chronological order. Each motion stage corresponds to a continuous assembly operation process; for example, the pre-tightening motion stage corresponds to the tightening gun moving from its initial position to the first bolt hole.

[0116] Step S1543: For each dynamic tool spatial position sequence in each motion stage, calculate the spatial distance between each dynamic tool spatial position in the dynamic tool spatial position sequence and all key points of fixed components in the corresponding area, use the spatial distance calculation formula to calculate, record the distance values ​​between each dynamic tool spatial position and each key point, and establish the mapping relationship between dynamic tool spatial position and distance values.

[0117] For the spatial position sequence of the electric tightening gun in the pre-tightening motion phase, calculate the spatial distance between each spatial position and all key points of the gearbox base one by one. Use the spatial distance calculation formula to calculate and record the distance values ​​between each spatial position and each key point. Establish the mapping relationship between the spatial position of the dynamic tool and the distance values. For example, the distance between the spatial position (Xc, Yc, Zc) and the vertex of the base is Dc1, and the distance between the spatial position (Xc, Yc, Zc) and the midpoint of the edge is Dc2, etc.

[0118] Step S1544: Select the minimum distance value from all distance values ​​corresponding to each dynamic tool space location, use the minimum value filtering algorithm to determine the minimum distance value, summarize the minimum distance values ​​corresponding to all dynamic tool space locations to form a minimum distance value set, and remove duplicate values ​​from the minimum distance value set.

[0119] The minimum distance value is selected from all distance values ​​corresponding to the spatial position of each electric tightening gun. For example, if the minimum distance value corresponding to the spatial position (Xc, Yc, Zc) is Dcmin, the minimum value selection algorithm is used to determine this value. The minimum distance values ​​corresponding to all spatial positions are summarized to form a minimum distance value set. The values ​​in this set are then deduplicated to remove duplicate values.

[0120] Step S1545: Perform statistical analysis on the values ​​in the minimum distance value set, use statistical software to calculate the average value of all minimum distance values, and use an extreme value search algorithm to identify the minimum value in the minimum distance value set, and record the average value and the minimum value.

[0121] Perform a statistical analysis on the values in the set of minimum distance values. Use statistical software to calculate the average value of all the values, such as Dav. Use an extreme value search algorithm to identify the minimum value in the set, such as Dmin, and record Dav and Dmin.

[0122] Step S1546, set a preset collision safety redundancy distance, which is determined according to the actual size and movement accuracy of the dynamic tool. Add the minimum value to the preset collision safety redundancy distance, and use an addition operation to obtain a preliminary safety distance, and record the preliminary safety distance value.

[0123] The actual size of the dynamic tool, the electric tightening gun, is a diameter d, and the movement accuracy is ±Δm. Based on these, the preset collision safety redundancy distance is determined to be Δs. Add the minimum value Dmin to Δs to obtain a preliminary safety distance Ds = Dmin + Δs, and record Ds.

[0124] Step S1547, then perform a comparison operation between the preliminary safety distance and the average value of the minimum distance values. Use a numerical comparison algorithm to judge the size of the two. If the preliminary safety distance is less than the average value, then use the average value as the final safety distance. If the preliminary safety distance is greater than or equal to the average value, then use the preliminary safety distance as the final safety distance, and record the final safety distance value.

[0125] Compare the preliminary safety distance Ds with the average value Dav of the minimum distance values. Use a numerical comparison algorithm to judge the size of the two. If Ds < Dav, then use Dav as the final safety distance; if Ds ≥ Dav, then use Ds as the final safety distance, and record the final safety distance value.

[0126] Step S1548, for the fixed component area corresponding to each movement stage, repeat the above calculation process to determine the safety distance maintained by the dynamic tool and the corresponding fixed component in each area, and establish a correspondence between the area identifier and the safety distance.

[0127] Repeat the above calculation process for the base installation area corresponding to the movement stage before tightening, and determine the safety distance Dsaf maintained by the electric tightening gun and the transmission base in this area, and establish a correspondence between the area identifier base installation area and the safety distance Dsaf.

[0128] Step S1549, classify and organize the safety distances of all areas according to the area identifier, record the sorting result in a table form, and form a dynamic tool safety distance table. Each entry in the dynamic tool safety distance table includes an area identifier, the corresponding fixed component category, and the safety distance value.

[0129] Enter the area identification base installation area, the corresponding fixed component category gearbox base, and the safety distance Dsaf as an entry into the dynamic tool safety distance table. Repeat the above operation for all areas to form a complete dynamic tool safety distance table.

[0130] Step S155: Based on the interactive trajectory data of the dynamic tool and combined with the determined safety distance, set the boundary range of the dynamic tool's movement path. This boundary range is a spatial area centered on the interactive trajectory data of the dynamic tool and with the safety distance as its width. At the same time, mark the area covered by the spatial coordinates of the fixed component and designate the area covered by the spatial coordinates of the fixed component as the area where the dynamic tool is prohibited from entering.

[0131] Step S1551: Extract the interactive trajectory coordinate sequence of each motion stage from the interactive trajectory data of the dynamic tool. The interactive trajectory coordinate sequence contains the coordinate data of the spatial position of all dynamic tools within the motion stage. Establish the correspondence between the motion stage identifier and the interactive trajectory coordinate sequence. Perform coordinate format unification processing on each interactive trajectory coordinate sequence.

[0132] Extract the interactive trajectory coordinate sequence of the pre-tightening motion phase from the interactive trajectory data of the electric tightening gun. This interactive trajectory coordinate sequence contains the coordinate data of the spatial positions of all electric tightening guns within the motion phase. Establish the correspondence between the motion phase identifier before tightening and this trajectory coordinate sequence, and perform coordinate format unification processing on the sequence, converting all coordinate data into a format under an absolute coordinate system.

[0133] Step S1552: For the interactive trajectory coordinate sequence of each motion stage, take each coordinate point in the interactive trajectory coordinate sequence as the center and the safety distance corresponding to the motion stage as the radius, use the spatial geometry drawing tool to draw a spatial sphere, record the coordinate range of each spatial sphere, and the tubular spatial region formed by connecting all spatial spheres along the interactive trajectory coordinate sequence is used as the boundary range of the dynamic tool motion path of the motion stage.

[0134] For the interactive trajectory coordinate sequence of the pre-tightening movement phase, a spatial sphere is drawn using a spatial geometry drawing tool, with each coordinate point in the sequence as the center and the corresponding safety distance Dsaf as the radius. The coordinate range of each sphere is recorded. The tubular spatial region formed by connecting all spheres along the trajectory coordinate sequence serves as the boundary range of the electric tightening gun's movement path for that movement phase.

[0135] Step S1553: Extract the spatial coordinate data of all points within the boundary of the dynamic tool's motion path during this motion phase. Use a spatial region sampling algorithm to collect the coordinate data, classify and organize it according to the coordinate dimensions, record the extreme values ​​of each dimension, and form the coordinate range data of the boundary of the dynamic tool's motion path during this motion phase.

[0136] Extract the spatial coordinate data of all points within the boundary of the electric tightening gun's motion path during the pre-tightening phase. Collect this data using a spatial region sampling algorithm, and classify and organize it according to the X, Y, and Z coordinate dimensions. Record the maximum value Xmax and minimum value Xmin in the X dimension, the maximum value Ymax and minimum value Ymin in the Y dimension, and the maximum value Zmax and minimum value Zmin in the Z dimension to form the coordinate range data (Xmin, Xmax, Ymin, Ymax, Zmin, Zmax) of the dynamic tool's motion path boundary during this phase.

[0137] Step S1554: Extract the surface spatial coordinate range data of each fixed component from the spatial coordinate set of fixed components, establish the correspondence between component identifier and coordinate range data, integrate the surface spatial coordinate range data of each fixed component according to the component area, and use the area merging algorithm to merge the coordinate ranges of adjacent components to form the spatial area coordinate data occupied by the fixed component in each area.

[0138] Extract the surface spatial coordinate range data of the gearbox base from the set of spatial coordinates of the fixed components, and establish the correspondence between the component identifier gearbox base and this coordinate range data. Integrate this coordinate range data according to the component area base installation area, and use an area merging algorithm to merge the coordinate ranges of adjacent components to form the spatial area coordinate data occupied by the fixed components within the base installation area.

[0139] Step S1555: Compare the coordinate data of the spatial area occupied by the fixed component with the coordinate data of the boundary range of the dynamic tool's motion path. Use a spatial area comparison algorithm to check if there is any overlap. If there is an overlap, readjust the safety distance and repeat the step of drawing the boundary range of the dynamic tool's motion path until there is no overlap between the spatial area occupied by the fixed component and the boundary range of the dynamic tool's motion path.

[0140] The coordinate data of the spatial area occupied by the fixed components in the base mounting area are compared with the coordinate data of the boundary range of the electric tightening gun's movement path. A spatial area comparison algorithm is used to check whether there is any overlap. If there is an overlapping area, the safety distance is readjusted, such as increasing the safety distance to Dsaf'>Dsaf, and the steps of drawing the boundary range of the movement path are repeated until there is no overlap.

[0141] Step S1556: Summarize the coordinate data of the spatial areas occupied by all fixed components, use the data integration tool to merge duplicate area coordinates, mark the spatial areas occupied by all fixed components as areas where dynamic tools are prohibited from entering, and record the boundary coordinate data of the areas where dynamic tools are prohibited from entering and the corresponding fixed component identifiers, thus establishing the association between area coordinates and component identifiers.

[0142] The coordinate data of the spatial areas occupied by the gearbox base, positioning bracket, and support platform are summarized. Duplicate coordinates are merged using a data integration tool, and these areas are marked as prohibited zones for the electric tightening gun. The boundary coordinate data of the prohibited zones and their corresponding component identifiers are recorded. For example, the boundary coordinate data (Xbmin, Xbmax, Ybmin, Ybmax, Zbmin, Zbmax) corresponds to the component identifier gearbox base, establishing a correlation between the zone coordinates and the component identifier.

[0143] Step S1557: Repeat the above steps of setting the boundary range of the dynamic tool's motion path and marking the area where the dynamic tool is prohibited from entering for each motion stage, and establish the correspondence between the motion stage identifier and the boundary range of the dynamic tool's motion path and the area where the dynamic tool is prohibited from entering, so that each motion stage has a corresponding boundary range of the dynamic tool's motion path and the area where the dynamic tool is prohibited from entering.

[0144] Repeat the above operation steps during the tightening movement phase to establish a correspondence between the tightening phase marker and the boundary range and prohibited entry area of ​​the electric tightening gun's movement path, so that the movement phase has a corresponding boundary range and prohibited entry area.

[0145] Step S1558: Classify and organize the coordinate data of the boundary range of the motion path of all motion stages and the coordinate data of the prohibited area of ​​the dynamic tool according to the order of motion stages, and store the organized data in a database to form a dynamic tool motion constraint area table. Each entry in the dynamic tool motion constraint area table includes the motion stage identifier, the coordinate data of the boundary range of the motion path of the dynamic tool and the coordinate data of the prohibited area of ​​the dynamic tool.

[0146] The coordinate data of the boundary range of the electric tightening gun's movement path and the coordinate data of the prohibited entry area during the pre-tightening, tightening, and tightening stages are classified and organized according to the order of the movement stages. The organized data is stored in a database to form a dynamic tool movement constraint area table. Each entry contains the movement stage identifier, boundary range coordinate data, and prohibited entry area coordinate data.

[0147] Step S156: The spatial coordinates of the boundary range of the dynamic tool's motion path and the area where the dynamic tool is prohibited from entering are organized in detail. The spatial coordinate data of the boundary range of the dynamic tool's motion path and the area where the dynamic tool is prohibited from entering are standardized in format. The relationship between the boundary range of the dynamic tool's motion path and the motion stage is established, forming dynamic tool motion path constraint information that includes path boundary coordinate data and prohibited area coordinate data.

[0148] The spatial coordinate data of the boundary range and prohibited entry area of ​​the electric tightening gun's movement path are meticulously organized and converted into a unified format for standardization. A correlation is established between the boundary range and the movement stage, such as associating the boundary range (Xmin, Xmax, Ymin, Ymax, Zmin, Zmax) with the movement stage identifier before tightening, thus forming dynamic tool movement path constraint information containing both path boundary coordinate data and prohibited entry area coordinate data.

[0149] Step S157: According to the regional division of the assembly environment, the spatial coordinate set of fixed components and the motion path constraint information of dynamic tools are associated and processed to establish the correspondence between the regional identifier and the spatial coordinate set of fixed components and the motion path constraint information data entries of dynamic tools, so that the spatial coordinates of fixed components in each region correspond to the corresponding motion path constraint information of dynamic tools.

[0150] For example, in step S1571, the assembly environment is divided into regions based on the process sequence of the assembly steps and the distribution density of fixed components. The assembly environment is divided into multiple continuous and non-overlapping regions using region division software. A unique region identifier is assigned to each region, and the correspondence between the region identifier and the region boundary is recorded.

[0151] The assembly process sequence is: base installation, bracket fixing, and platform support. The density of fixed components is highest in the base installation area, followed by the bracket fixing area, and lowest in the platform support area. Based on these criteria, the assembly environment is divided into three continuous and non-overlapping areas using area partitioning software: the base installation area, the bracket fixing area, and the platform support area. Each area is assigned a unique area identifier, such as A001 for the base installation area, A002 for the bracket fixing area, and A003 for the platform support area. The correspondence between area identifiers and area boundaries is recorded, such as A001 corresponding to the boundaries (Xa001min, Xa001max, Ya001min, Ya001max, Za001min, Za001max).

[0152] Step S1572: Extract the spatial coordinate data of key points of each fixed component from the spatial coordinate set of fixed components, establish the correspondence between component identifier and key point spatial coordinate data, determine the region to which each fixed component belongs based on the key point spatial coordinate data, use the region attribution judgment algorithm to determine the region to which the component belongs, and group the spatial coordinates of all fixed components in the same region according to the component category to form a fixed component coordinate group for each region. Each fixed component coordinate group contains the region identifier, component category and corresponding spatial coordinate data.

[0153] Spatial coordinate data of key points on the gearbox base are extracted from the set of spatial coordinates of fixed components, and a correspondence is established between the component identifier "gearbox base" and this coordinate data. Based on the spatial coordinate data of the key points, the area to which the gearbox base belongs is determined as the base installation area, and an area affiliation algorithm is used to determine that the component belongs to area A001. The spatial coordinates of all fixed components within the base installation area are grouped according to the component category "gearbox base" to form a fixed component coordinate group for that area, containing the area identifier A001, the component category "gearbox base," and the corresponding spatial coordinate data.

[0154] Step S1573: Extract the path boundary range coordinate data and prohibited entry area coordinate data of each motion stage from the motion path constraint information of the dynamic tool. Establish the correspondence between the motion stage identifier and the path boundary range coordinate data and the prohibited entry area coordinate data. Analyze the motion range of the dynamic tool in each motion stage. Use the motion range analysis algorithm to determine the assembly environment area involved in the motion stage. Assign the path boundary range coordinate data and the prohibited entry area coordinate data of the motion stage to the corresponding areas to form a dynamic tool constraint group for each area. Each dynamic tool constraint group includes an area identifier, a motion stage identifier, path boundary range coordinate data, and prohibited entry area coordinate data.

[0155] Extract the path boundary coordinates and prohibited entry area coordinates of the pre-tightening motion stage from the motion path constraint information of the dynamic tool, and establish the correspondence between the pre-tightening motion stage identifier and these data. Analyze the motion range of the electric tightening gun in this motion stage, and use a motion range analysis algorithm to determine that the assembly environment area involved in this motion stage is the base mounting area A001. Assign the path boundary coordinates and prohibited entry area coordinates of this motion stage to A001 to form a dynamic tool constraint group for this area, including the area identifier A001, the pre-tightening motion stage identifier, the path boundary coordinates, and the prohibited entry area coordinates.

[0156] Step S1574: Associate the fixed component coordinate group with the dynamic tool constraint group through the region identifier, and use the data association algorithm to establish the mapping relationship between the fixed component coordinate group and the dynamic tool constraint group under the same region identifier, so that the spatial coordinate data of the fixed component and the motion path constraint information of the dynamic tool under the same region identifier correspond to each other.

[0157] By associating the fixed component coordinate group with the dynamic tool constraint group through the region identifier A001, a data association algorithm is used to establish the mapping relationship between the fixed component coordinate group and the dynamic tool constraint group under A001, so that the spatial coordinate data of the gearbox base in A001 corresponds to the motion path constraint information of the electric tightening gun.

[0158] Step S1575: If data is missing in the coordinate group of fixed components in any region, the spatial coordinate data of fixed components in that region is re-extracted from the spatial coordinate set of fixed components, and the re-extracted spatial coordinate data of fixed components is supplemented into the coordinate group of fixed components in that region using a data supplementation algorithm; If data is missing in the constraint group of dynamic tools in any region, the motion path constraint data of that region is re-extracted from the motion path constraint information of dynamic tools, and the re-extracted motion path constraint data is supplemented into the constraint group of dynamic tools in that region using a data supplementation algorithm.

[0159] If missing data is detected in the coordinate group of the fixed component within the base mounting area A001, such as missing coordinate data for the midpoint of an edge of the gearbox base, the spatial coordinate data of the gearbox base for that area is re-extracted from the spatial coordinate set of the fixed components, and the re-extracted coordinate data is added to the coordinate group of the fixed component in A001 using a data supplementation algorithm. If missing data is detected in the dynamic tool constraint group within A001, such as missing coordinate data for the prohibited entry area during the pre-tightening movement phase, the motion path constraint data for that area is re-extracted from the motion path constraint information of the dynamic tool, and the re-extracted data is added to the dynamic tool constraint group in A001 using a data supplementation algorithm.

[0160] Step S1576: Associate all regions and supplement the fixed component coordinate group and dynamic tool constraint group according to the region identifier order. Sort the data using a data sorting algorithm to form an assembly environment region data association table. Each region entry in the assembly environment region data association table includes a region identifier, the corresponding fixed component coordinate group and dynamic tool constraint group. Standardize the data format of the assembly environment region data association table and convert the data in the assembly environment region data association table into a preset drawing data format.

[0161] The coordinate groups of fixed components and the dynamic tool constraint groups of the base mounting area A001, bracket fixing area A002, and platform support area A003, after being associated and supplemented, are arranged according to the region identifier order. A data sorting algorithm is used to sort the data, forming an assembly environment region data association table. Each region entry includes a region identifier, the corresponding fixed component coordinate group, and the dynamic tool constraint group. The table is then standardized by converting the data into a preset drawing data format, such as the PLY format commonly used in SLAM drawing.

[0162] Step S158: The spatial coordinate set of the integrated fixed components and the motion path constraint information of the dynamic tools are integrated and encapsulated according to the preset drawing data format, and data version identifier and generation time information are added to form assembly environment drawing data covering the entire motion range of all fixed components and dynamic tools in the assembly environment.

[0163] According to the preset PLY format for drawing data, the spatial coordinate set of fixed components and the motion path constraint information of dynamic tools are integrated and encapsulated, and data version identifiers such as V1.0 and generation time information such as the current time are added to form assembly environment drawing data that covers the entire motion range of all fixed components and dynamic tools in the assembly environment.

[0164] Based on the same inventive concept, please refer to Figure 2 This paper shows a schematic block diagram of a robot assembly environment mapping system 100 for executing the above-described robot assembly environment mapping method for SLAM technology, provided in an embodiment of this application. The robot assembly environment mapping system 100 for SLAM technology may include a communication unit 110, a machine-readable storage medium 120, and a processor 130.

[0165] In this embodiment, both the machine-readable storage medium 120 and the processor 130 are located in the robot assembly environment mapping system 100 using SLAM technology and are separately configured. However, it should be understood that the machine-readable storage medium 120 may also be independent of the robot assembly environment mapping system 100 using SLAM technology and may be accessed by the processor 130 via a bus interface. Alternatively, the machine-readable storage medium 120 may also be integrated into the processor 130 and may communicate and interact with external systems through the communication unit 110.

[0166] The processor 130 is the control center of the robot assembly environment mapping system 100 using SLAM technology. It connects to various parts of the system via various interfaces and lines. By running or executing software programs and / or modules stored in the machine-readable storage medium 120, and by calling data stored in the machine-readable storage medium 120, it performs various functions and processes data of the robot assembly environment mapping system 100, thereby providing overall monitoring of the system. Optionally, the processor 130 may include one or more processing cores; for example, the processor 130 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor. The machine-readable storage medium 120 is used to store machine-executable instructions for executing the scheme of this application, and the processor 130 is used to execute the machine-executable instructions stored in the machine-readable storage medium 120 to implement the robot assembly environment mapping method for SLAM technology provided in the aforementioned method embodiments.

[0167] It should be noted that, in order to simplify the description of the present invention and thus help to understand one or more embodiments of the invention, multiple features may sometimes be grouped into one embodiment, drawing or description thereof in the foregoing description of the embodiments of the present invention.

Claims

1. A method for mapping a robot assembly environment using SLAM technology, characterized in that, The method includes: Collect scene interaction data set of robot assembly environment. The scene interaction data set includes static spatial data of fixed components in the assembly environment and interactive trajectory data of dynamic tools during the assembly process. The static spatial data records the surface morphology details of fixed components and the relative positional relationship between components. The interactive trajectory data records the continuous spatial movement path and real-time posture changes of dynamic tools in the assembly operation. Based on the aforementioned scene interaction data set, a scene interaction association network is constructed. The scene interaction association network builds a spatial skeleton structure based on the static spatial data of fixed components, and maps the interaction trajectory data of dynamic tools to the spatial skeleton structure in chronological order, forming a network structure that includes the spatial relationship of fixed components, the movement range of dynamic tools, and the temporal relationship between the two. The contact relationships between fixed components and dynamic tools are extracted from the scene interaction data set. By analyzing the specific location information and contact time information of the dynamic tool's interaction trajectory data, a correspondence table between contact events and the spatial location of fixed components is established. Combining the spatial relationships of fixed components in the scene interaction association network with the movement range of the dynamic tool, interaction consistency features reflecting the degree of matching between fixed components and dynamic tools are generated, including: From the dynamic tool interaction trajectory data of the scene interaction data set, the spatial coordinate data and corresponding time identifier data of the dynamic tool contacting the fixed component are selected. The spatial coordinate data and corresponding time identifier data of the dynamic tool contacting the fixed component together constitute the contact event data. Each contact event data contains the specific spatial location of the dynamic tool at the moment of contact. Extract the surface space coordinate range data of each fixed component from the static space data of the fixed components in the scene interaction data set, compare the dynamic tool space coordinate data in the contact event data with the surface space coordinate range data of the fixed components point by point, mark the fixed component range to which each dynamic tool space coordinate data belongs, determine the specific fixed component corresponding to each contact event data, and record the complete spatial position information of the fixed component. Based on the dynamic tool spatial coordinate data and fixed component spatial location information corresponding to each contact event data, a correspondence table between contact events and fixed component spatial locations is established. Each entry in the correspondence table contains the contact event time identifier, the specific spatial coordinates of the dynamic tool, and the complete spatial location information of the corresponding fixed component. The uniqueness of the entries in the correspondence table is checked, and duplicate entries are deleted. The spatial relationship data of fixed components and the motion range data of dynamic tools are extracted from the scene interaction association network. The spatial position information of fixed components in the corresponding relationship table is matched with the spatial relationship data of fixed components in the scene interaction association network. The spatial positioning of the fixed components that are successfully matched is marked. The spatial position information of the fixed components that fail to match is rechecked to confirm the accurate spatial positioning of the fixed components in the scene interaction association network. Extract the continuous spatial movement path data of the dynamic tool between two adjacent contact event data from the dynamic tool interaction trajectory data. Use the continuous spatial movement path data of the dynamic tool between two adjacent contact event data as the interaction trajectory segment data of the dynamic tool between the two contact events. Analyze the fit between the interaction trajectory segment data and the corresponding fixed component spatial relationship data in the scene interaction relationship network. Calculate the overlap ratio between the interaction trajectory segment data and the fixed component spatial relationship data and record the fit degree data. Based on the accuracy of the matching between contact events and the spatial positions of fixed components in the correspondence table, the proportion of accurately matched contact events to the total number of contact events is statistically analyzed. Combined with the degree of fit between the interactive trajectory segment data and the spatial correlation data of fixed components, parameters reflecting the degree of matching between fixed components and dynamic tools are calculated. The calculated parameters reflecting the degree of matching between fixed components and dynamic tools include contact position matching degree parameter and trajectory fit degree parameter. All contact position matching parameters corresponding to all contact events and trajectory fitting parameters corresponding to all interactive trajectory segments are classified and integrated. The contact position matching parameters and trajectory fitting parameters are grouped and organized according to time sequence and fixed component area division. Outliers are removed from each group of parameters, and parameter values ​​that meet the statistical requirements are retained to form an interactive consistency feature that reflects the interaction matching between fixed components and dynamic tools in different times and different areas. The scene interaction association network is dynamically adapted and corrected using the interaction consistency feature to obtain the corrected scene interaction association network. Based on the modified scene interaction association network, assembly environment mapping data is generated. The adjusted spatial coordinates of fixed components are extracted from the modified scene interaction association network. The positional constraint relationship between the dynamic tool interaction trajectory data and the spatial coordinates of the fixed components is analyzed to form the motion path constraint information of the dynamic tool. The spatial coordinates of the fixed components and the motion path constraint information of the dynamic tool are integrated to obtain assembly environment mapping data covering the entire motion range of all fixed components and dynamic tools in the assembly environment.

2. The robot assembly environment mapping method applied to SLAM technology according to claim 1, characterized in that, The collection of scene interaction data of the robot assembly environment includes: The vision acquisition module on the robot controls the fixed components in each area according to the regional division scheme of the assembly environment. It scans and acquires the surface texture image data, three-dimensional contour data, and structural detail data of the connection parts between the components for each fixed component. The surface texture image data, three-dimensional contour data, and structural detail data of the connection parts between the components are classified and integrated according to the category of the fixed components to form static spatial data of the fixed components. The static spatial data records the surface morphology details of the fixed components and the relative positional relationship between the components. The motion tracking module on the robot records the spatial coordinate data, motion direction data, and posture angle data of the dynamic tool at each time point at a preset time interval during the entire assembly operation. The spatial coordinate data, motion direction data, and posture angle data of the dynamic tool at each time point are then linked together in chronological order to form the continuous spatial movement path data and real-time posture change data of the dynamic tool. These are then integrated into the interactive trajectory data of the dynamic tool, which records the continuous spatial movement path and real-time posture change of the dynamic tool during the assembly operation. The static spatial data of fixed components collected from different regions are spliced ​​together according to the spatial position correlation of the regions. During the splicing process, the relative positional relationship between fixed components in adjacent regions is compared. Static spatial data with positional deviations at the splicing point are fine-tuned to ensure that the relative position between fixed components in adjacent regions remains continuous at the splicing point. The spliced ​​static spatial data is then checked for regional coverage to fill in the static spatial data at spatial discontinuities, forming integrated static spatial data of fixed components covering all regions of the assembly environment. The interactive trajectory data of dynamic tools is correlated one-to-one with the time nodes of assembly operations to form dynamic tool interactive trajectory association data with additional time markers. The static spatial integration data of fixed components and the dynamic tool interaction trajectory association data with additional time markers are converted according to the preset data format standard. The coordinate system of the converted static spatial integration data of fixed components and the dynamic tool interaction trajectory association data with additional time markers is calibrated to form a scene interaction data set.

3. The robot assembly environment mapping method applied to SLAM technology according to claim 1, characterized in that, The step of dynamically adapting and correcting the scene interaction association network using the interaction consistency feature to obtain the corrected scene interaction association network includes: A preset matching standard is set for the contact position matching degree parameter and the trajectory fit degree parameter in the interaction consistency feature. The preset matching standard is determined according to the accuracy requirements of the assembly environment and the allowable range of mapping error of SLAM technology. The contact position matching degree parameter and trajectory fit degree parameter in the interaction consistency feature are compared with the corresponding preset matching standard. Parameter values ​​that are lower than the preset matching standard are marked, and parameter items with contact position matching degree parameter or trajectory fit degree parameter lower than the preset matching standard are filtered out. Based on the time identifier information and fixed component area information corresponding to the selected parameter items, retrieve the fixed component area drawings associated with the selected parameter items, determine the fixed component area associated with the selected parameter items, and mark the fixed component area as the area where spatial deviation needs to be corrected. The spatial relationship data of all fixed components in the area where the spatial deviation needs to be corrected is extracted from the scene interaction association network. The spatial relationship data of all fixed components in the area where the spatial deviation needs to be corrected includes the surface spatial coordinate range data of these fixed components and the relative positional relationship data between the components, and the missing coordinate data and positional relationship data are supplemented. Analyze the contact event data and interaction trajectory segment data corresponding to the selected parameter items, calculate the deviation values ​​between the dynamic tool space coordinate data, interaction trajectory segment data and the spatial relationship data of the fixed components in the area to be corrected, determine the spatial direction and adjustment range of each fixed component through spatial geometric calculation, and generate a list of adjustment parameters. Based on the calculated spatial direction and adjustment range, adjust the surface spatial coordinate range data of each fixed component in the spatial deviation area to be corrected one by one, and update the relative positional relationship data between these fixed components and adjacent fixed components. Perform a compatibility check on the adjusted positional relationship data to ensure that the relative position between the adjusted components conforms to the actual situation of the assembly environment. Based on the adjustment of the spatial relationship data of fixed components, the mapping position of the dynamic tool's motion range in the scene interaction relationship network is updated synchronously. The updated dynamic tool motion range mapping position is compared with the adjusted fixed component spatial position through trajectory matching. The positions where the two do not match are marked and the mapping positions are readjusted. After the adjustment is completed, the contact position matching degree parameter of the contact event between the fixed component and the dynamic tool in the area is recalculated, as well as the trajectory fit degree parameter of the dynamic tool interaction trajectory segment data and the spatial correlation data of the fixed component. The recalculated contact position matching degree parameter and trajectory fit degree parameter are then imported into the parameter comparison system. The recalculated contact position matching parameters and trajectory fit parameters are compared with the preset matching standard again. If there are still parameters that are lower than the preset matching standard, the steps of adjusting the spatial relationship data of the fixed components, updating the mapping position of the dynamic tool's motion range in the scene interaction relationship network, and recalculating the matching parameters are repeated until all parameters meet the standard. When the recalculated contact position matching parameters and trajectory fit parameters both reach the preset matching standard, the adjustment operation is stopped. The adjusted fixed component spatial relationship data and the updated dynamic tool motion range mapping position data are then updated into the scene interaction association network, replacing the original spatial deviation area data to be corrected, thus obtaining the corrected scene interaction association network.

4. The robot assembly environment mapping method applied to SLAM technology according to claim 1, characterized in that, The assembly environment mapping data is generated based on the modified scene interaction association network. The adjusted spatial coordinates of fixed components are extracted from the modified scene interaction association network. The positional constraint relationship between the dynamic tool interaction trajectory data and the spatial coordinates of the fixed components is analyzed to form the motion path constraint information of the dynamic tool. The spatial coordinates of the fixed components and the motion path constraint information of the dynamic tool are integrated to obtain assembly environment mapping data covering the entire motion range of all fixed components and dynamic tools in the assembly environment, including: Extract the surface spatial coordinate range data and relative positional relationship data between all fixed components from the modified scene interaction association network. Refine the surface spatial coordinate range data of each fixed component and mark the key points on the component surface. The key points on the component surface include the vertex, edge midpoint and connection center of the fixed component. Collect the spatial coordinates of the key points on the component surface. Repeat the collection and comparison of the spatial coordinates of the key points on the surface of each component. Remove coordinate data with deviations exceeding the preset range and retain coordinate data that meet the accuracy requirements. The spatial coordinates of key points of each fixed component are systematically organized according to component category and region. The organized spatial coordinate data of key points are classified and stored, and the association between the spatial coordinate data of key points and component identification is established to form a set of spatial coordinates of fixed components. Extract all interactive trajectory data of the dynamic tool from the scene interaction data set, compare all interactive trajectory data of the dynamic tool with the spatial coordinates of the fixed components in the corrected scene interaction association network point by point, record the distance data between the spatial position of each dynamic tool and the key points of the fixed components, and analyze the minimum distance data between the dynamic tool and the key points of each fixed component during the movement. Based on the minimum distance data of key points between the dynamic tool and the fixed component, the safe distance that the dynamic tool needs to maintain with the fixed component during the movement is determined. The determined safe distance is substituted into the dynamic tool movement simulation program to simulate the movement process of the dynamic tool at the safe distance. The distance data between the dynamic tool and the fixed component during the simulation is recorded. If there is a situation where the distance is less than the preset collision threshold, the safe distance is readjusted. Based on the interactive trajectory data of the dynamic tool and combined with the determined safety distance, the boundary range of the dynamic tool's movement path is set. This boundary range is a spatial area centered on the dynamic tool's interactive trajectory data and with the safety distance as its width. The spatial coordinates of the boundary range of the dynamic tool's movement path are calibrated, and the extreme values ​​of the coordinates of the boundary range of the dynamic tool's movement path are recorded. At the same time, the area covered by the spatial coordinates of the fixed component is marked, and the area covered by the spatial coordinates of the fixed component is taken as the area where the dynamic tool is prohibited from entering. The coordinate range of the area where the dynamic tool is prohibited from entering is recorded. The spatial coordinates of the boundary range of the dynamic tool's motion path and the area where the dynamic tool is prohibited from entering are organized in detail. The spatial coordinate data of the boundary range of the dynamic tool's motion path and the area where the dynamic tool is prohibited from entering are standardized in format. The relationship between the boundary range of the dynamic tool's motion path and the motion stage is established, forming dynamic tool motion path constraint information that includes path boundary coordinate data and prohibited area coordinate data. According to the regional division of the assembly environment, the spatial coordinate set of fixed components and the motion path constraint information of dynamic tools are associated. The correspondence between the regional identifier and the spatial coordinate set of fixed components and the motion path constraint information data entries of dynamic tools is established, so that the spatial coordinates of fixed components in each region correspond to the corresponding motion path constraint information of dynamic tools. The spatial coordinate set of the integrated fixed components and the motion path constraint information of the dynamic tools are integrated and encapsulated according to the preset drawing data format, and data version identifiers and generation time information are added to form assembly environment drawing data covering the entire motion range of all fixed components and dynamic tools in the assembly environment.

5. The robot assembly environment mapping method applied to SLAM technology according to claim 1, characterized in that, The process involves extracting continuous spatial movement path data of the dynamic tool between two adjacent contact event data from the dynamic tool interaction trajectory data, using this continuous spatial movement path data as the interaction trajectory segment data of the dynamic tool between the two contact events, analyzing the fit between this interaction trajectory segment data and the corresponding spatial association data of fixed components in the scene interaction association network, and recording the fit degree data, including: The contact event data is sorted according to the chronological order of the time identifier information in the contact event dataset. A time sorting algorithm is used to sort the contact event data to form an ordered contact event sequence. The time continuity of the sorted contact event sequence is checked, and contact event data entries with abnormal time order are adjusted. In an ordered sequence of contact events, select two adjacent contact event data and label them as preceding contact event data and subsequent contact event data, respectively. Extract the time stamp information and dynamic tool space coordinate data of the preceding contact event data, as well as the time stamp information and dynamic tool space coordinate data of the subsequent contact event data. Record the correlation between the time stamp information and dynamic tool space coordinate data of the preceding contact event data and the time stamp information and dynamic tool space coordinate data of the subsequent contact event data. From the dynamic tool interaction trajectory data, all dynamic tool spatial coordinate data whose time stamp information is between the time stamp information of the preceding contact event data and the time stamp information of the subsequent contact event data are filtered out. The dynamic tool spatial coordinate data that meets the conditions are extracted using a time interval filtering algorithm. The dynamic tool spatial coordinate data that meets the conditions are arranged in chronological order to form a continuous spatial movement path data. Mark this continuous spatial movement path data as the interaction trajectory segment data of the dynamic tool between the preceding and subsequent contact events, add corresponding preceding and subsequent contact event identifiers to the interaction trajectory segment data, and establish an association index between the interaction trajectory segment data and the contact events; Extract the spatial relationship data of the fixed components corresponding to the preceding and subsequent contact events from the scene interaction association network. The spatial relationship data of the fixed components corresponding to the preceding and subsequent contact events includes the surface spatial coordinate range data of the two fixed components and the relative positional relationship data between them. Delete invalid coordinate range data. The spatial coordinate data of each dynamic tool in the interactive trajectory segment data is compared one by one with the surface spatial coordinate range data of the corresponding fixed component. The spatial coordinate comparison algorithm is used to calculate the distance data between each dynamic tool spatial coordinate data and the surface of the fixed component, and the result of each calculation is recorded. The average value of all dynamic tool spatial coordinate data and the distance data between the surface of the fixed component in the interactive trajectory segment data is calculated using statistical methods. This average value reflects the overall fit between the interactive trajectory segment data and the spatial relationship data of the fixed component. At the same time, a preset reasonable range for distance data is set, and dynamic tool spatial coordinate data in interactive trajectory segment data that exceeds the preset reasonable range for distance data from the surface of fixed components are marked as abnormal data. The number of abnormal data and the corresponding spatial coordinate information are recorded to establish an abnormal data list. Based on the average distance data and the number of abnormal data, the degree of fit data reflecting the spatial relationship between the interactive trajectory segment data and the fixed component is calculated. The degree of fit data includes the average distance value and the proportion of abnormal data. The proportion of abnormal data is the ratio of the number of abnormal data to the total number of data in the interactive trajectory segment data. The fitting degree data corresponding to each interactive trajectory segment is associated with the identification information of that interactive trajectory segment data and stored together to establish a mapping relationship between the interactive trajectory segment identification and the fitting degree data, forming a fitting degree data record table.

6. The robot assembly environment mapping method applied to SLAM technology according to claim 3, characterized in that, The analysis and selection of parameter entries correspond to contact event data and interaction trajectory segment data. The deviation values ​​between the dynamic tool space coordinate data, interaction trajectory segment data, and the spatial correlation data of fixed components in the area to be corrected are calculated to determine the spatial direction and adjustment range required for each fixed component, including: Extract the corresponding contact event data identifier and interaction trajectory segment data identifier from the selected parameter entries, establish the association between the contact event data identifier, interaction trajectory segment data identifier and parameter entries, and obtain the interaction trajectory segment data from the dynamic tool interaction trajectory data based on the interaction trajectory segment data identifier; Extract the surface spatial coordinate range data of each fixed component from the spatial association data of the fixed components in the area to be corrected, establish the correspondence between component identifier and coordinate range data, compare the dynamic tool spatial coordinate data in the contact event data with the surface spatial coordinate range data of the corresponding fixed component, and use spatial geometry algorithm to determine the theoretical contact position of the dynamic tool spatial coordinate data on the surface of the fixed component. This theoretical contact position is the point closest to the dynamic tool spatial coordinate data on the surface of the fixed component. The spatial distance is calculated using the spatial distance calculation formula. The spatial distance between the actual spatial coordinates of the dynamic tool in the contact event data and the theoretical contact position is recorded. This spatial distance is used as the contact position deviation value. At the same time, the spatial coordinate data of each dynamic tool in the interactive trajectory segment data is compared with the surface spatial coordinate range data of the corresponding fixed component in the area to be corrected. The actual distance data between each dynamic tool spatial coordinate data and the surface of the fixed component is calculated. A preset reasonable distance is set, and the difference between the actual distance data and the preset reasonable distance is calculated. The average value of all differences is used as the trajectory fitting deviation value. Based on the directional attribute of the contact position deviation value, the offset direction of the actual spatial coordinate data of the dynamic tool relative to the theoretical contact position of the fixed component is determined by spatial vector analysis. The vector information of this offset direction is recorded, and this offset direction is used as the spatial direction that the fixed component needs to be adjusted. The magnitude of the contact position deviation is used as the base amplitude that the fixed component needs to be adjusted in the offset direction. At the same time, the amplitude correction coefficient is set in combination with the magnitude of the trajectory fit deviation to correct the base amplitude. If the trajectory fit deviation exceeds the preset trajectory deviation threshold, the amplitude correction coefficient is increased to adjust the base amplitude. If the trajectory fit deviation does not exceed the preset trajectory deviation threshold, the amplitude correction coefficient is kept at the preset reference value to keep the base amplitude unchanged. For each fixed component in the area to be corrected, repeat the above steps of calculating the contact position deviation value, trajectory fitting deviation value, determining the adjustment direction and adjustment range, and establishing the correspondence between component identification and adjustment parameters to ensure that each fixed component has a corresponding adjustment direction and adjustment range. The adjustment direction and adjustment range of each fixed component are classified and organized according to the component identification. The sorting results are recorded in tabular form to form an adjustment parameter table for the fixed components in the area to be corrected. Each entry in the adjustment parameter table for the fixed components in the area to be corrected contains the component identification, vector information of the adjustment direction, and the specific value of the adjustment range. Duplicate entries and invalid parameters are deleted.

7. The robot assembly environment mapping method applied to SLAM technology according to claim 4, characterized in that, The step of determining the safe distance that the dynamic tool needs to maintain from the fixed component during movement, based on the minimum distance data of key points between the dynamic tool and the fixed component, includes: Extract all key point spatial coordinates of each fixed component from the set of spatial coordinates of the fixed components, establish the association between component identifier and key point coordinates, group the key points according to component category, classify and store the spatial coordinate data of each group of key points, and each component group contains the spatial coordinates of the vertex, edge midpoint and connection center of the component. Extract the spatial position sequence of the dynamic tool for each motion stage from the interactive trajectory data of the dynamic tool, establish the correspondence between the motion stage identifier and the spatial position sequence of the dynamic tool, sort each spatial position sequence of the dynamic tool in time so that the spatial position sequence of the dynamic tool conforms to the chronological order, and each motion stage corresponds to a continuous assembly operation process. For each movement phase of the dynamic tool spatial position sequence, calculate the spatial distance between each dynamic tool spatial position in the sequence and all key points of fixed components in the corresponding area. Use the spatial distance calculation formula to calculate and record the distance values ​​between each dynamic tool spatial position and each key point to establish the mapping relationship between dynamic tool spatial position and distance values. The minimum distance value is selected from all distance values ​​corresponding to each dynamic tool space location. The minimum distance value is determined by using a minimum value filtering algorithm. The minimum distance values ​​corresponding to all dynamic tool space locations are summarized to form a minimum distance value set. The values ​​in the minimum distance value set are deduplicated. Perform statistical analysis on the values ​​in the set of minimum distance values, use statistical software to calculate the average of all minimum distance values, and use an extreme value search algorithm to identify the minimum value in the set of minimum distance values, and record the average and minimum values. Set a preset collision safety redundancy distance, which is determined based on the actual size and motion accuracy of the dynamic tool. Add the minimum value to the preset collision safety redundancy distance and use addition to obtain the initial safety distance. Record the initial safety distance value. Next, the initial safety distance is compared with the average of the minimum distance values. A numerical comparison algorithm is used to determine the size of the two. If the initial safety distance is less than the average, the average is used as the final safety distance. If the initial safety distance is greater than or equal to the average, the initial safety distance is used as the final safety distance. The final safety distance value is recorded. For each fixed component area corresponding to each movement stage, repeat the above calculation process to determine the safe distance between the dynamic tool and the corresponding fixed component in each area, and establish the correspondence between area markers and safe distances; The safety distances of all areas are categorized and organized according to area identifiers. The organization results are recorded in tabular form to form a dynamic tool safety distance table. Each entry in the dynamic tool safety distance table includes an area identifier, the corresponding fixed component category, and the safety distance value.

8. The robot assembly environment mapping method applied to SLAM technology according to claim 4, characterized in that, Based on the interactive trajectory data of the dynamic tool and combined with a determined safety distance, the boundary range of the dynamic tool's movement path is set. This boundary range is a spatial area centered on the dynamic tool's interactive trajectory data and with the safety distance as its width. Simultaneously, the area covered by the spatial coordinates of the fixed component is marked, and this area is designated as a prohibited zone for the dynamic tool, including: Extract the interactive trajectory coordinate sequence of each motion stage from the interactive trajectory data of the dynamic tool. The interactive trajectory coordinate sequence contains the coordinate data of the spatial position of all dynamic tools within the motion stage. Establish the correspondence between the motion stage identifier and the interactive trajectory coordinate sequence. Perform coordinate format unification processing on each interactive trajectory coordinate sequence. For each motion phase's interactive trajectory coordinate sequence, a spatial sphere is drawn using a spatial geometry drawing tool, with each coordinate point in the interactive trajectory coordinate sequence as the center and the corresponding safety distance of that motion phase as the radius. The coordinate range of each spatial sphere is recorded. The tubular spatial region formed by connecting all spatial spheres along the interactive trajectory coordinate sequence serves as the boundary range of the dynamic tool's motion path for that motion phase. Extract the spatial coordinate data of all points within the boundary of the dynamic tool's motion path during this motion phase. Use a spatial region sampling algorithm to collect the coordinate data, classify and organize it according to the coordinate dimensions, record the extreme values ​​of the coordinates in each dimension, and form the coordinate range data of the boundary of the dynamic tool's motion path during this motion phase. Extract the surface spatial coordinate range data of each fixed component from the set of spatial coordinates of the fixed components, establish the correspondence between component identifier and coordinate range data, integrate the surface spatial coordinate range data of each fixed component according to the component region, and use the region merging algorithm to merge the coordinate ranges of adjacent components to form the spatial region coordinate data occupied by the fixed components in each region. The coordinate data of the spatial area occupied by the fixed component is compared with the coordinate data of the boundary range of the dynamic tool's motion path. The spatial area comparison algorithm is used to check whether there is an overlap. If there is an overlap, the safety distance is readjusted and the steps of drawing the boundary range of the dynamic tool's motion path are repeated until there is no overlap between the spatial area occupied by the fixed component and the boundary range of the dynamic tool's motion path. Summarize the coordinate data of the spatial areas occupied by all fixed components, use data integration tools to merge duplicate area coordinates, mark the spatial areas occupied by all fixed components as areas where dynamic tools are prohibited from entering, and record the boundary coordinate data of the areas where dynamic tools are prohibited from entering and the corresponding fixed component identifiers, thus establishing the association between area coordinates and component identifiers; Repeat the above steps of setting the boundary range of the dynamic tool's motion path and marking the area where the dynamic tool is prohibited from entering for each motion stage, and establish the correspondence between the motion stage identifier and the boundary range of the dynamic tool's motion path and the area where the dynamic tool is prohibited from entering, so that each motion stage has a corresponding boundary range of the dynamic tool's motion path and the area where the dynamic tool is prohibited from entering. All dynamic tool movement path boundary range coordinate data and dynamic tool prohibited entry area coordinate data for all movement stages are classified and organized according to the movement stage order. The organized data is stored in a database to form a dynamic tool movement constraint area table. Each entry in the dynamic tool movement constraint area table contains a movement stage identifier, dynamic tool movement path boundary range coordinate data, and dynamic tool prohibited entry area coordinate data.

9. A robot assembly environment mapping system applied to SLAM technology, characterized in that, include: processor; A machine-readable storage medium for storing machine-executable instructions of the processor; The processor is configured to execute the robot assembly environment mapping method for SLAM technology according to any one of claims 1 to 8 by executing the machine-executable instructions.

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