Pickup control method, device, system and storage medium

Abstract

This application discloses a part-retrieving control method, apparatus, system, and storage medium. The method is applied to the part-retrieving process in a workpiece manufacturing process, where a part-retrieving robot retrieves the workpiece after it has been manufactured. The method includes: during the execution of the preceding process, determining a part-retrieving motion trigger moment based on a first real-time state parameter of the preceding process and a second real-time state parameter of the part-retrieving robot, wherein the part-retrieving motion trigger moment indicates that the preceding process has ended when the part-retrieving robot begins to move to the part-retrieving preparation point; at the part-retrieving motion trigger moment, controlling the part-retrieving robot to move to the part-retrieving preparation point; and in response to the part-retrieving robot reaching the part-retrieving preparation point, controlling the part-retrieving robot to continue moving to the workpiece placement point for part-retrieving. Through the above method, this application can improve the part-retrieving efficiency of the part-retrieving robot.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and in particular to a method, apparatus, system and storage medium for picking up parts. Background Technology

[0002] In automated manufacturing lines, workpiece picking robots are needed to pick up and remove workpieces. The current common picking process is as follows: after the previous process is completed and the process completion signal is output, the picking robot is then controlled to perform the picking action. Therefore, the picking robot is in a waiting state until it receives the end trigger signal of the previous process. The waiting time cannot be compressed, which seriously affects the picking efficiency of the picking robot. Summary of the Invention

[0003] The main technical problem addressed by this application is to provide a method, apparatus, system, and storage medium for picking up items, which can improve the picking efficiency of a picking robot.

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a part-picking control method, which is applied to the part-picking process in the workpiece manufacturing process, wherein the part-picking process is the process by which a part-picking robot removes the workpiece after it has been manufactured; the method includes: during the execution of the previous process of the part-picking process, determining the part-picking motion trigger time based on the first real-time state parameters of the previous process and the second real-time state parameters of the part-picking robot, wherein the part-picking motion trigger time indicates that the previous process has ended when the part-picking robot starts moving to the part-picking preparation point at the part-picking motion trigger time; at the part-picking motion trigger time, controlling the part-picking robot to move to the part-picking preparation point; and in response to the part-picking robot reaching the part-picking preparation point, controlling the part-picking robot to continue moving to the workpiece placement point for part-picking.

[0005] The process of determining the trigger time for the pickup movement based on the first real-time status parameters of the previous process and the second real-time status parameters of the pickup robot includes: determining the current remaining time of the previous process based on the first real-time status parameters of the previous process at the current time, and determining the current movement time of the pickup robot to the pickup preparation point based on the second real-time status parameters of the pickup robot at the current time; determining the current time as the trigger time for the pickup movement in response to the current remaining time being less than or equal to the current movement time; and / or, re-executing the above steps after a preset time interval in response to the current remaining time being greater than the current movement time.

[0006] The preceding process involves moving the target component from the first component position to the second component position. After the target component moves to the second component position, space is provided for the retrieval robot to enter the placement point to retrieve the component. The first real-time state parameter includes the real-time component motion parameters of the target component. Based on the first real-time state parameter of the preceding process at the current moment, the current remaining time of the preceding process is determined, including: determining the time required for the target component to move to the second component position based on the real-time component motion parameters of the target component at the current moment, as the current predicted remaining time; calibrating the current predicted remaining time using the reference completion cycle of the preceding process to obtain the current remaining time, wherein the reference completion cycle includes at least one of the historical completion cycle and the theoretical completion cycle of the preceding process.

[0007] The real-time motion parameters of the target component include the real-time position and velocity of the target component. Based on the real-time motion parameters of the target component at the current moment, the time required for the target component to move to the position of the second component is determined as the current predicted remaining time, including: calculating the current predicted remaining time based on the real-time position and velocity of the target component at the current moment, and the position of the second component.

[0008] The reference completion period includes the historical completion period and the theoretical completion period. Using the reference completion period of the previous process, the current predicted remaining time is calibrated to obtain the current end time. This includes: determining the correction amount for the current predicted remaining time based on the relationship between the historical completion period and the theoretical completion period; where the correction amount increases the current predicted remaining time when the historical completion period is greater than the theoretical completion period, and decreases the current predicted remaining time when the historical completion period is less than the theoretical completion period; and then correcting the current predicted remaining time using the correction amount or a correction amount weighted by a preset weighting coefficient to obtain the current end time.

[0009] The method involves using the relationship between historical completion cycles and theoretical completion cycles to determine the correction amount for the current predicted remaining time. This includes: obtaining the cycle ratio between historical completion cycles and theoretical completion cycles; obtaining the first product of the cycle ratio and the current predicted remaining time; and using the difference between the first product and the current predicted remaining time as the correction amount.

[0010] The method further includes: after the previous process is completed, obtaining the current completion cycle of the previous process; and using the current completion cycle to update the historical completion cycle.

[0011] Among them, updating the historical completion period using the current completion period includes: taking the weighted result of the historical completion period and the current completion period as the updated historical completion period.

[0012] The preceding process is the mold separation process after the workpiece is made, and the target component is the moving module containing the mold.

[0013] The second real-time state parameters of the pickup robot include the real-time position and motion constraint parameters of the pickup robot. Based on the second real-time state parameters of the pickup robot at the current moment, the current movement time of the pickup robot to the pickup preparation point is determined, including: obtaining the current movement distance of the pickup robot from the current position to the pickup preparation point; and determining the time required for the pickup robot to move the current movement distance according to the target movement mode as the current movement time, wherein the target movement mode satisfies the kinematic constraints corresponding to the motion constraint parameters.

[0014] The process of controlling the pickup robot to move to the pickup preparation point includes: controlling the pickup robot to move to the pickup preparation point according to a target motion mode, wherein the target motion mode satisfies the kinematic constraints corresponding to the motion constraint parameters of the pickup robot.

[0015] The motion constraint parameters include the maximum acceleration and maximum speed of the pickup robot. The target motion mode is that the pickup robot first accelerates at the maximum acceleration, and if the pickup robot has not reached the pickup preparation point when it accelerates to the maximum speed, it will move to the pickup preparation point at the maximum speed.

[0016] The process of determining the time required for the pickup robot to move the current distance according to the target motion mode, as the current movement time, includes: in response to the current movement distance being less than or equal to the maximum speed distance, acquiring the time required for the pickup robot to perform a first acceleration motion, as the current movement time, wherein the maximum speed distance is the distance the pickup robot moves from the maximum acceleration to the maximum speed, and the first acceleration motion is the movement of the robot accelerating at the maximum acceleration and the distance of the movement is the current movement distance; in response to the current movement distance being greater than the maximum speed distance, acquiring the first time required for the pickup robot to perform a second acceleration motion and the second time required for uniform motion, and using the sum of the first time and the second time as the current movement time, wherein the second acceleration motion is the movement of the robot accelerating from the maximum acceleration to the maximum acceleration, and the uniform motion is the movement of the robot moving at the maximum speed, and the total movement distance of the second acceleration motion and the uniform motion is the current movement distance.

[0017] The process of controlling the retrieval robot to move to the retrieval preparation point according to the target motion pattern includes: controlling the retrieval robot to move to the retrieval preparation point at different motion moments according to the corresponding reference speeds; wherein, when the target speed is less than or equal to the maximum speed, the reference speed corresponding to each motion moment is the second product of the maximum acceleration and the motion moment, and the target speed is the third product of the maximum acceleration and the current remaining time at the moment the previous process was triggered by the retrieval motion; when the target speed is greater than the maximum speed, the reference speed at each first motion moment is the fourth product of the maximum acceleration and the first motion moment, and the reference speed at each second motion moment is the maximum speed, wherein the first motion moment is less than or equal to the ratio of the maximum speed to the maximum acceleration, and the second motion moment is greater than the ratio.

[0018] The process includes, after controlling the picking robot to continue moving to the workpiece placement point to pick up the workpiece, controlling the picking robot to move to the picking target point after picking up the workpiece; and detecting that the picking robot has moved to a safe position after picking up the workpiece and starting the next workpiece's start process.

[0019] The starting process is the process of spraying release agent; and / or, detecting that the picking robot has moved to a safe position after picking up the item includes: detecting that the moving distance of the picking robot after picking up the item is greater than a preset distance.

[0020] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a control device, including a memory and a processor coupled to each other, wherein the memory stores program instructions; and the processor is used to execute the program instructions stored in the memory to implement the above-mentioned method.

[0021] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a workpiece manufacturing system, which includes: workpiece manufacturing equipment, the above-mentioned control device, and a pick-up robot. The workpiece manufacturing equipment is used to manufacture workpieces, and the control device is used to control the pick-up robot to perform the workpiece pick-up process.

[0022] The system also includes at least one of an information acquisition device, a spraying robot, and a safety door interlock device. The information acquisition device is used to collect real-time status parameters of the workpiece manufacturing equipment and the part-retrieving robot. The spraying robot is used to spray a release agent onto the workpiece mold in the workpiece manufacturing equipment in response to the instructions of the control device. The safety door interlock device is used to cut off the action of the part-retrieving robot or the spraying robot when the system is abnormal.

[0023] The workpiece manufacturing equipment is a die-casting machine.

[0024] The control device is also used to control the implementation of other processes in the manufacturing of the workpiece.

[0025] In this system, the modules communicate with each other via wired or wireless means.

[0026] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a computer-readable storage medium for storing program instructions that can be executed to implement the above-mentioned method.

[0027] In the above scheme, the picking robot starts moving during the execution of the previous process, and when it reaches the picking preparation point, the previous process has already ended. The picking robot does not need to stop and wait at the picking preparation point and can continue moving to the workpiece placement point to pick up the part. It can be seen that the picking robot maintains a continuous movement state from the start of movement to the completion of picking up the part, without stopping or waiting, thus ensuring the picking efficiency of the picking robot. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating an embodiment of the item retrieval control method provided in this application; Figure 2 This is a schematic diagram of the part retrieval route of the part retrieval robot after mold separation provided in this application; Figure 3 This is a flowchart illustrating an embodiment of determining the current remaining time provided in this application; Figure 4 This is a schematic diagram of the framework of an embodiment of the control device provided in this application; Figure 5 This is a schematic diagram of the framework of an embodiment of the workpiece manufacturing system provided in this application; Figure 6 This is a schematic diagram of the framework of the computer-readable storage medium provided in this application. Detailed Implementation

[0029] To make the purpose, technical solution and effects of this application clearer and more explicit, the following describes this application in further detail with reference to the accompanying drawings and embodiments.

[0030] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0031] It should be noted that the part-removal control method provided in this application is applied to the part-removal process in the workpiece manufacturing process. The workpiece manufacturing process includes multiple processes, and the part-removal process is the process in which the part-removal robot removes the workpiece after it is made.

[0032] The workpiece manufacturing process can be exemplified by, for example, the injection molding process, which includes processes such as raw material melting and injection molding, pressure holding and cooling, mold opening, part removal, workpiece cutting / post-processing, and warehousing; or the die casting process, which includes processes such as alloy molten metal pouring, high-pressure die casting, mold cooling, mold opening, part removal, workpiece deburring, and grinding; or the stamping sheet metal process, which includes processes such as sheet metal loading, stamping, mold separation, part removal, bending / painting, etc.

[0033] Workpieces in the injection molding process include, for example, plastic shells and accessories; workpieces in the die casting process include, for example, aluminum alloy motor shells and automotive die castings; and workpieces in the stamping sheet metal process include, for example, metal sheet metal shells and automotive sheet metal parts.

[0034] To facilitate understanding of this application, the part-picking control method and related devices in the part-picking process are described below with reference to specific embodiments: Please see Figure 1 , Figure 1 This is a schematic flowchart of an embodiment of the package retrieval control method provided in this application. It should be noted that if substantially the same result is achieved, this embodiment does not necessarily reflect that outcome. Figure 1 The illustrated process sequence is limited. For example... Figure 1 As shown, this embodiment includes: S11: During the execution of the previous process of the picking process, the picking motion trigger time is determined based on the first real-time state parameter of the previous process and the second real-time state parameter of the picking robot. The picking motion trigger time indicates that the previous process has ended when the picking robot starts moving to the picking preparation point at the picking motion trigger time.

[0035] In one implementation scenario, the preceding process is the mold separation process (or mold opening process) after the workpiece is made; in another implementation scenario, the preceding process is the workpiece forming process (such as the battery cell packaging process), etc.

[0036] In this embodiment, the trigger time for the pickup movement is the time when the pickup robot begins to move, determined during the execution of the process preceding the pickup process. At this moment, the preceding process has not yet ended, and when the pickup robot begins to move to the pickup preparation point, the preceding process has already ended. In other words, the pickup robot begins to move before the preceding process ends, and reaches the pickup preparation point after the preceding process has finished.

[0037] In some embodiments, the trigger time for the pickup movement is determined as follows: first, based on the first real-time state parameter of the previous process at the current time, the current remaining time of the previous process is determined, and based on the second real-time state parameter of the pickup robot at the current time, the current movement time of the pickup robot to the pickup preparation point is determined; then, the trigger time for the pickup movement is determined using the current remaining time of the previous process and the current movement time of the pickup robot.

[0038] It should be noted that the current remaining time represents the remaining time from the current moment to the completion of the previous process; the current movement time represents the movement time from the current moment to the robot's movement to the pick-up preparation point. Specifically, if the previous process has already completed when the pick-up robot reaches the pick-up preparation point, the robot must arrive at the preparation point after the previous process has finished. Correspondingly, the robot's current movement time should be greater than or equal to the current remaining time. Otherwise, if the robot's current movement time is less than the current remaining time, the previous process will not be completed when the robot reaches the preparation point. The robot will then need to stop and wait for the previous process to finish before resuming its movement. This increases the robot's waiting time and the number of starts and stops, affecting not only the pick-up efficiency but also the robot's lifespan.

[0039] Therefore, in one embodiment, if the current remaining time is less than or equal to the current movement time, the current moment can be directly determined as the trigger moment for the pickup movement; however, if the current remaining time is greater than the current movement time, the above steps can be repeated after a preset time interval until it is detected that the current remaining time is less than or equal to the current movement time. The preset time is the prediction period for the pickup movement trigger moment. For example, if the preset time is 10ms, then the step of determining the pickup movement trigger moment is executed every 10ms.

[0040] Of course, in one embodiment, when the remaining time before the end is greater than the current travel time, the time difference between the remaining time before the end and the current travel time can be obtained, and then the time determined by adding the time difference or the adjusted time difference to the current time can be used as the time to trigger the pickup movement; or, the above-mentioned steps of determining the time to trigger the pickup movement can be performed after the time difference or the adjusted time difference has elapsed.

[0041] For example, the current remaining time of the current detection is 3.98s, the current movement time is 3.87s, and the time difference is 0.12s. Therefore, the time corresponding to 0.12s or 0.1s can be used as the time to trigger the item retrieval movement, or the above-mentioned steps to determine the time to trigger the item retrieval movement can be performed after 0.12s or 0.1s.

[0042] It should be noted that, in order to maximize retrieval efficiency while ensuring retrieval safety, the remaining time at the end of the current process should be made as close as possible to the current movement time, so that the retrieval robot can arrive at the retrieval preparation point at the moment the previous process ends.

[0043] In one implementation scenario, the preceding process involves moving the target component from a first component position to a second component position. After the target component moves to the second component position, space is provided for the picking robot to enter the placement point and pick up the component. The first real-time state parameter includes the real-time component motion parameters of the target component. The robot in this implementation scenario is not limited to a complete robot; it can also be a robotic arm, robotic hand, or other actuator with workpiece grasping capabilities.

[0044] In this implementation scenario, the remaining time to complete the previous process is determined based on the first real-time state parameters of the previous process at the current moment. This includes: determining the time required for the target component to move to the position of the second component based on the real-time component motion parameters of the target component at the current moment, which is used as the current predicted remaining time; calibrating the current predicted remaining time using the reference completion cycle of the previous process to obtain the current remaining time to complete the process. The reference completion cycle includes at least one of the historical completion cycle and the theoretical completion cycle of the previous process. For details on determining the current remaining time to complete the process, please refer to the following text. Figure 3 The relevant description of the illustrated embodiment.

[0045] In this embodiment, in order to reduce theoretical calculation errors caused by fluctuations in the motion parameters of the target component and wear of the target component, a reference completion cycle is used to calibrate the calculated current predicted remaining time in order to accurately determine the current remaining time.

[0046] In another embodiment, without considering the impact of fluctuations in the motion parameters of the target component, the current predicted remaining time can be directly used as the current remaining time before the end.

[0047] In a specific implementation scenario, the workpiece is die-cast using a mold. The preceding process is the mold separation process after the workpiece is manufactured. The target component is the moving module (or moving mold) containing the mold. Please refer to [link / reference]. Figure 2 , Figure 2 This is a schematic diagram of the part-retrieving robot's route after mold separation, as provided in this application. The target part is... Figure 2 The moving module shown, after separating from the fixed module mold, moves from the first component position to the second component position (e.g., Figure 2 The position of the moving module shown corresponds to the mold opening process. The space between the fixed module and the moving module is the space for the picking robot to enter the placement point to pick up the part.

[0048] In one embodiment, the second real-time state parameters of the picking robot include the real-time position of the picking robot and motion constraint parameters. The motion constraint parameters are the upper limits of the motion parameters during the picking robot's movement. They can be understood as threshold values ​​for motion parameters set to balance the smoothness of the picking robot's movement and the efficiency of picking up the parts, without damaging the robot, causing the workpiece to fall off, or ensuring positioning accuracy.

[0049] In this embodiment, the time required for the pickup robot to move from its current position to the pickup preparation point according to the target motion pattern can be used as the current movement time of the pickup robot; wherein, the target motion pattern satisfies the kinematic constraints corresponding to the motion constraint parameters. Specifically, the current movement distance of the pickup robot from its current position to the pickup preparation point can be obtained first; then, the time required for the pickup robot to move the current movement distance according to the target motion pattern can be determined as the current movement time. The current movement distance can be referenced... Figure 2 The indicated pre-movement distance is shown. Of course, the robot will continue to move after reaching the pickup preparation point to complete the pickup.

[0050] In one implementation scenario, the motion constraint parameters of the pickup robot include the maximum acceleration (maximum allowable acceleration during operation) and the maximum speed (maximum allowable speed during operation) of the pickup robot.

[0051] In one embodiment, the target motion mode is a motion mode in which the pickup robot accelerates at the maximum acceleration first, and if the pickup robot does not reach the pickup preparation point when it accelerates to the maximum speed, it moves at the maximum speed at a constant speed to the pickup preparation point.

[0052] Specifically, the time required for the pickup robot to move the current distance according to the target motion pattern is determined as the current movement time, including the following two scenarios: Scenario 1: If the current moving distance is less than or equal to the maximum speed distance, then the time required for the pickup robot to perform its first acceleration motion is obtained as the current moving time.

[0053] Among them, the maximum speed distance is the distance the pickup robot travels when it accelerates to the maximum speed at the maximum acceleration, and the first acceleration motion is the motion when it accelerates at the maximum acceleration and the distance traveled is the current distance.

[0054] In simple terms, scenario one corresponds to the situation where the current moving distance is insufficient for the robot to accelerate to its maximum speed. In this case, the time required for the robot to accelerate to its maximum speed and move the current distance can be obtained according to the formula for uniformly accelerated motion, and this time can be used as the current moving time.

[0055] Scenario 2: If the current moving distance is greater than the maximum speed distance, then obtain the first time required for the pickup robot to perform the second acceleration motion and the second time required for uniform motion, and use the sum of the first time and the second time as the current moving time.

[0056] The second acceleration motion involves accelerating to maximum acceleration, while the constant speed motion involves moving at a constant speed at maximum speed. The total distance traveled during the second acceleration motion and the constant speed motion is the current travel distance. Scenario 2 corresponds to a longer current travel distance. In this case, the robot needs to accelerate to maximum speed and then move at a constant speed with maximum acceleration.

[0057] For easier understanding, please refer to the following formula:

[0058] In the formula, Indicates the current movement time. This indicates the current movement distance (the distance between the current location and the pickup preparation point). This represents the maximum speed over distance (from the kinematic equation v). 2 =2as is derived), where, (From the uniformly accelerated formula) (derived) This indicates the first time required for the pickup robot to perform its second acceleration movement. This represents the second time required to travel the remaining distance (the difference between the current distance traveled and the distance traveled at maximum speed) at a constant maximum speed.

[0059] Among them, the first sub-formula of the above two formulas is the formula for determining the current movement time when case one is satisfied, and the second sub-formula is the formula for determining the current movement time when case two is satisfied.

[0060] S12: At the moment the pickup motion is triggered, control the pickup robot to move to the pickup preparation point.

[0061] To facilitate the control of the pickup robot's movement, the reference speed of the pickup robot at different movement moments can be predetermined, and then the pickup robot can be controlled to move to the pickup preparation point at the corresponding reference speed at different movement moments.

[0062] In one embodiment, in order to balance the motion stability and retrieval efficiency of the retrieval robot, the retrieval robot can be controlled to move to the retrieval preparation point according to a target motion mode, wherein the target motion mode satisfies the kinematic constraints corresponding to the motion constraint parameters of the retrieval robot.

[0063] The motion constraint parameters include the maximum acceleration and maximum speed of the pickup robot. Specifically, the maximum speed of the pickup robot cannot exceed its maximum velocity, and its maximum acceleration cannot exceed its maximum acceleration. Therefore, based on the motion constraints of the maximum speed and maximum acceleration of the pickup robot, the reference speed of the pickup robot at different moments in motion can be determined.

[0064] In addition, if the picking robot is to start moving at the moment the picking motion is triggered, and move to the picking preparation point in the shortest time when the previous process ends (when the remaining time of the current process ends), the picking robot needs to accelerate at the maximum acceleration first, and move at the maximum speed at a constant speed when it has accelerated to the maximum speed and has not reached the picking preparation point.

[0065] Therefore, when planning the reference speed at different motion moments, we can first determine the target speed that the picking robot can reach when accelerating at maximum acceleration at the moment the picking motion is triggered (i.e., the product of the maximum acceleration and the third product of the current remaining time at the moment the previous process is triggered); then, we can use the relationship between the target speed and the maximum speed to plan the reference speed at different motion moments.

[0066] Specifically, if the target speed is less than or equal to the maximum speed, the pickup robot can accelerate at the maximum acceleration for the entire remaining time after the current end; correspondingly, the reference speed at each moment of motion is the second product of the maximum acceleration and the moment of motion.

[0067] However, if the target speed is greater than the maximum speed, the pickup robot needs to accelerate to the maximum speed with maximum acceleration first, and then move at a constant maximum speed to ensure that the robot's speed does not exceed the maximum speed. Correspondingly, the target time required for the pickup robot to accelerate to the maximum speed with maximum acceleration should be determined first. Then, at each first moment of motion within this target time, the reference speed is the fourth product of the maximum acceleration and the first moment of motion. At each second moment of motion after the target time, the reference speed is the maximum speed.

[0068] The target duration is the ratio of maximum speed to maximum acceleration, meaning that each first motion moment is less than or equal to this ratio, and the second moment is greater than this ratio.

[0069] For ease of understanding, please refer to the following formulas for determining the reference velocity at each moment of motion:

[0070] In the formula, This indicates the remaining time until the previous process ends at the moment the part-picking motion is triggered. Indicates the target speed. This indicates the maximum speed of the pickup robot. The value represents the maximum acceleration of the pickup robot, and t represents the moment of motion. The reference velocity at the moment of motion. It represents the ratio of maximum speed to maximum acceleration.

[0071] Understandably, in some embodiments, the target speed can also be the fifth product of the maximum acceleration and the current movement time of the retrieval robot at the moment the retrieval movement is triggered. The reference speed for different movement moments is planned based on the relationship between this target speed and the maximum speed. In other embodiments, the reference speed can also be planned according to the current movement distance of the retrieval robot. Specifically, if the current movement distance of the retrieval robot at the moment the retrieval movement is triggered is less than or equal to the maximum speed distance, then the reference speed for each movement moment is the second product of the maximum acceleration and the movement time; if the current movement distance of the retrieval robot at the moment the retrieval movement is triggered is greater than the maximum speed distance, then the reference speed for each movement moment in the first time period is the second product of the maximum acceleration and the movement time, and the reference speed for each movement moment in the second time period is the maximum speed.

[0072] S13: In response to the pickup robot reaching the pickup preparation point, control the pickup robot to continue moving to the workpiece placement point to pick up the workpiece.

[0073] In this embodiment, when the picking robot arrives at the picking preparation point, the previous process has been completed, so the picking robot does not need to wait and can continue to move until it reaches the workpiece placement point to pick up the workpiece.

[0074] In the above scheme, the picking robot starts moving during the execution of the previous process, and by the time it reaches the picking preparation point, the previous process has already ended. The picking robot does not need to stop and wait at the picking preparation point, but continues to move to the workpiece placement point to pick up the part. It can be seen that the picking robot maintains a continuous state of motion from the start of movement to the completion of picking up the part, without stopping or waiting, thus ensuring the picking efficiency of the picking robot.

[0075] Please see Figure 3 , Figure 3 This is a flowchart illustrating an embodiment of determining the remaining time before the current end, provided in this application. In this embodiment, determining the remaining time before the current end includes: S31: Based on the real-time component motion parameters of the target component at the current moment, determine the time required for the target component to move to the position of the second component, and use it as the current predicted remaining time.

[0076] In one embodiment, the real-time component motion parameters include the real-time component position and real-time component velocity of the target component. In another embodiment, the real-time component position and real-time component velocity are obtained in real time from a displacement sensor and a velocity sensor mounted on the target component, respectively.

[0077] In this embodiment, the current predicted remaining time is calculated based on the target component's real-time position and velocity at the current moment, as well as the position of the second component. The specific calculation method can be found in the following formula:

[0078] In the formula, This represents the predicted remaining time at time t. This represents the real-time component speed at time t. This represents the real-time component position at time t. Indicates the location of the second component. Indicates a small displacement Time required.

[0079] In another embodiment, in order to ensure the accuracy of the current prediction of the remaining time, an acceleration sensor can be set on the target component, and the real-time component acceleration can be used as a parameter in the real-time component motion parameters. Then, the real-time component position, real-time component velocity, real-time acceleration, and second component position at the current moment can be used to calculate the result.

[0080] S32: Using the reference completion cycle of the previous process, calibrate the current predicted remaining time to obtain the current end time. The reference completion cycle includes at least one of the historical completion cycle and the theoretical completion cycle of the previous process.

[0081] In one embodiment, the reference completion cycle includes the historical completion cycle of the previous process and the theoretical completion cycle.

[0082] In this embodiment, the current predicted remaining time is calibrated using the reference completion cycle of the previous process to obtain the current end time. This includes: determining the correction amount for the current predicted remaining time based on the relationship between the historical completion cycle and the theoretical completion cycle; and correcting the current predicted remaining time using the correction amount or a correction amount weighted by a preset weighting coefficient to obtain the end time. Specifically, if the historical completion cycle is greater than the theoretical completion cycle, the correction amount is used to increase the current predicted remaining time; if the historical completion cycle is less than the theoretical completion cycle, the correction amount is used to decrease the current predicted remaining time.

[0083] In one specific embodiment, the formula for determining the remaining time at the end can be referred to as follows:

[0084] In the formula, Indicates the remaining time until the current end. Indicates the current forecast of the remaining time. This indicates the historical completion cycle (e.g., the average of historical cycles). Indicates the theoretical completion period, Used to characterize the magnitude relationship between historical completion cycles and theoretical completion cycles. Indicates the correction amount. This indicates the preset weighting coefficient.

[0085] In one specific embodiment, referring to the above formula, the correction amount for the current predicted remaining time is determined by utilizing the relationship between the historical completion period and the theoretical completion period, including: first obtaining the period ratio between the historical completion period and the theoretical completion period; then obtaining the first product of the period ratio and the current predicted remaining time, and using the difference between the first product and the current predicted remaining time as the correction amount.

[0086] Among them, the theoretical completion cycle is the ideal reference time of the target component under the condition of no external disturbance, and the historical completion cycle is the actual statistical value under real production disturbance. The cycle ratio can be used to quantify the overall working condition offset of the target component, which is conducive to eliminating the cumulative calculation deviation caused by real-time speed fluctuations and mechanical aging of the target component, and achieving stable calibration.

[0087] In another specific embodiment, the difference between the historical completion period and the theoretical completion period can also be obtained, and the difference can be used as a fixed duration offset. This fixed duration offset is then added to the current predicted remaining time (e.g., the two are weighted) to compensate for the prediction deviation caused by the relevant disturbance factors of the target component (component mechanical aging, speed fluctuation).

[0088] In some embodiments, after the previous process is actually completed, the current completion cycle of the previous process is obtained, and then the historical completion cycle is updated using the current completion cycle.

[0089] Understandably, this approach is beneficial for adaptively tracking the slow changes in the completion cycle caused by factors such as mechanical aging of the target component.

[0090] In one specific embodiment, updating the historical completion period using the current completion period includes: taking the weighted result of the historical completion period and the current completion period as the updated historical completion period.

[0091] In one implementation, the updated historical completion period can be determined by weighting the historical completion period and the current completion period using the following formula:

[0092] In the formula, Indicates the updated historical completion period. Indicates the current completion period. The β value represents the historical completion cycle, and the β value represents the forgetting factor (with a value of 0 to 1), typically 0.7 to 0.9.

[0093] In some embodiments, after controlling the picking robot to continue moving to the workpiece placement point for picking up the workpiece in step S13, the method further includes: controlling the picking robot to move to the picking target point after picking up the workpiece, and detecting whether the picking robot has moved to a safe position after picking up the workpiece. When it is detected that the picking robot has moved to a safe position after picking up the workpiece, the start process of the next workpiece is initiated. (See reference...) Figure 2 The robot shown leaves the pre-painting distance.

[0094] The destination point for picking up the item is the location or area that the picking robot should return to after picking up the item; for example, the location or area where the workpiece should be placed after it is taken out.

[0095] In one embodiment, the robot's movement distance can be detected in real time after it retrieves the item, and if the movement distance is greater than a preset distance, it can be determined that the robot has moved to a safe position after retrieving the item. The preset distance is, for example, the distance between the workpiece placement point and the safe position.

[0096] In another embodiment, a positioning sensor can be installed at a safe location to detect whether the retrieval robot has moved to the safe location.

[0097] In one implementation scenario, the starting process for the next workpiece is the process of spraying a release agent.

[0098] In one embodiment, the process of spraying the release agent can be performed by a separate spraying device. This spraying device can be, for example, a spraying machine fixed to a die-casting machine, or it can be a spraying robot. Alternatively, in one embodiment, the spraying process can also be performed by a part-retrieving robot.

[0099] To facilitate understanding of the above solution, the part removal control method provided in this application is described below in conjunction with the die casting manufacturing process and related embodiments: The die casting manufacturing process involves several steps, including mold closing (moving mold fitting tightly against fixed mold), die casting, mold opening (the process of separating the mold after the workpiece is made, which requires moving the moving mold, after which the die casting remains on the moving mold side), part removal, and spraying of release agent to begin the next workpiece process.

[0100] The mold-opening process is the process of separating the moving mold from the fixed mold after the workpiece is manufactured, and it is also the process preceding the part removal process. Please refer to the relevant documentation. Figure 2In this process, the moving mold needs to move away from the fixed mold to the second component position (the mold opening position). After moving to the second component position, it provides space for the picking robot to enter the workpiece placement point to pick up the workpiece. The picking robot can use this space to take out the workpiece and put it back to the picking destination point.

[0101] The first real-time state parameter of the previous process is the first real-time state parameter of the moving model (including real-time position and real-time speed), and the second real-time state parameter of the picking robot includes the real-time position and motion constraint parameters of the picking robot; using the first real-time state parameter of the moving model and the second real-time state parameter of the picking robot, the trigger time of the picking motion is determined, including the following steps: First, using the following formula, based on the current real-time position P of the moving template... mold(t) and real-time speed V mold(t) Predicting mold opening completion (reaching the mold opening endpoint P) mold_end The remaining time T) remaining_mold_1 (t):

[0102] For example, P mold(t) =600mm, V mold(t) =150mm / s, P mold_end =1200mm, based on this formula, the remaining mold opening time T is predicted. remaining_mold_1(t) =4s.

[0103] Then, to eliminate theoretical calculation errors caused by factors such as speed fluctuations, hydraulic system response lag, and mold wear during the mold opening process, a historical cycle period T is introduced. cycle_avg and theoretical period T cycle_raw Perform dynamic calibration to obtain the remaining mold opening time after calibration. The formula is as follows:

[0104] In the formula, This represents the amount of correction to the current forecast of the remaining time. This indicates the preset weighting coefficient. This indicates the remaining time for mold opening after correction.

[0105] For example, 0.3, T cycle_avg =7.9s, T cycle_raw =8s, and the calibrated mold opening remaining time T is obtained according to this formula. remaining_mold(t) =3.98s.

[0106] The calculation robot starts from its current position P robot(t) At maximum speed V robot_max and maximum acceleration A robot_maxMove to pickup preparation point P gate The shortest time required for (the entrance to the main road) (corresponding to the current movement time mentioned above) T min_robot-to_gate :

[0107] For example, P robot(t) =2200mm, V robot_max =800mm / s, A robot_max =120mm / s² P gate =1300mm, calculate T using the above formula min_robot-to_gate =3.87s.

[0108] To ensure the safe operation of the pickup robot and to prevent it from waiting during operation, the time T at which the pickup robot arrives at the pickup preparation point (the entrance of the main gate) needs to be determined. arrive_gate It should not be earlier than the time T after mold opening is completed (i.e., the cavity is safely opened). mold_open Furthermore, to achieve optimal efficiency, it should be made as close as possible to the minimum required time (T) to eliminate waiting time. This means the shortest time (T) T required for the robot to reach the pickup preparation point (the entrance to the main gate) from its current position. min_robot-to_gate Equal to the remaining time T for mold opening remaining_mold(t) The latest safe start time T latest_start This latest safe start time corresponds to the item retrieval movement trigger time mentioned above.

[0109] To accurately determine the trigger moment of the picking motion, T can be calculated and compared in real time during each control cycle (e.g., 10ms-50ms). remaining_mold(t) and T min_robot-to_gate Once T remaining_mold(t) ≤T min_robot-to_gate The current moment is determined as the trigger moment for the pick-up movement. The pick-up robot is immediately controlled to start its movement, ensuring that the pick-up robot reaches the safe entry point at the moment the mold is opened.

[0110] For example, compare the remaining time T for mold opening. remaining_mold(t) =3.98s, the robot's shortest motion time T min_robot-to_gate =3.87s, not reaching T remaining_mold(t) ≤T min_robot-to_gate Under the given conditions, continue real-time prediction with a period of 10ms. Approximately 0.1s later, T will be reached. remaining_mold(t) =T min_robot-to_gate When the conditions are met and the item retrieval motion trigger time is reached, a pre-motion start command is sent to the robot. Upon receiving the command, the robot begins its pre-motion (please refer to [reference needed]). Figure 2 ).

[0111] In addition, to avoid the shock and delay caused by the sudden start of the pickup robot from a standstill, a smooth, uninterrupted dynamic look-ahead speed curve V can be pre-planned. robot_ref(t) Its objective function is: under the kinematic constraints (maximum speed, maximum acceleration) and safety distance constraints of the picking robot, minimize the time it takes for the robot to move from the standby point to the mold opening point, and ensure that the speed of the picking robot when it reaches the entry point is at a relatively high value.

[0112] To ensure that the robot does not exceed its travel range or interfere with the mold, the reference speed of the robot at each moment of movement can be determined as follows:

[0113] For example, V robot_max =800mm / s, A robot_max =120mm / s², T remaining_mold(t0) =3.87s, T remaining_mold(t) =2.12s, t=T remaining_mold(t0) -T remaining_mold(t) That is, t is the difference between the remaining time of mold opening at the moment when the part removal movement is triggered and the remaining time of mold opening at the current moment.

[0114] Using the above formula to determine the reference velocity at the current moment, and applying the formula under the first condition, the final reference velocity at the current moment is V. robot_ref(t) =120×1.75=210mm / s.

[0115] For a detailed explanation of this formula, please refer to the previous text; it will not be repeated here.

[0116] The above scheme determines the trigger time for the part-picking motion before mold opening is completed. The part-picking preparation point is the entrance of the die-casting machine's main shaft. Starting from the trigger time, the part-picking robot moves to the part-picking preparation point according to the reference speed at each motion moment. By the time the mold opening is complete, the part-picking robot does not need to stop and continues to move directly to the workpiece placement point to pick up the part. In short, by using the reference speeds at each motion moment determined by the above method, the part-picking robot can move continuously (without stopping) during the part-picking process, and the movement speed is smooth.

[0117] Furthermore, after the item is retrieved, during the return process of the retrieval robot, the robot's travel distance D can be calculated based on the robot's real-time position. clear(t) When the distance D is moved clear(t)When the distance exceeds the preset limit, it indicates that the part-retrieving robot has moved to a safe position (e.g., a safe point outside the main frame). At this point, the process of spraying the release agent is initiated. If a start spraying signal is output to the die-casting machine, the die-casting machine begins spraying preparation or early spraying actions. This process does not require waiting for the part-retrieving robot to completely leave; instead, it is dynamically advanced based on the real-time status, further reducing the die-casting machine's waiting time. In addition, the original robot positioning sensor and integrity detection signal should be retained simultaneously. When the system experiences signal abnormalities, it should automatically switch to the traditional trigger mode to ensure production continuity.

[0118] For example, the moving distance D of the pickup robot is calculated in real time. clear(t) (Distance between the pickup point and the pickup robot), and then the distance D between the pickup point and the outer edge of the large lever. stat_safe In contrast, when D clear(t) ≥D stat_safe This indicates that the pickup robot has moved to a safe position.

[0119] Furthermore, after this mold-making process is completed, the completion cycle of this mold-making process will be utilized. The historical completion period T is updated using the sliding window averaging method. cycle_avg The update method can be found as follows:

[0120] In the formula, β is the forgetting factor (value 0~1), with a typical value of 0.7~0.9.

[0121] For example, T cycle_actual =7.95s, T cycle_avg =7.92s, β=0.7, determine the updated T cycle_avg =7.92s.

[0122] Figure 4 This is a schematic diagram of a framework of an embodiment of the control device provided in this application. In this embodiment, the control device 40 includes a memory 41 and a processor 42 that are coupled to each other.

[0123] The memory 41 stores program instructions, and the processor 42 executes the program instructions stored in the memory 41 to implement the steps of any of the above-described method implementations. In a specific implementation scenario, the control device 40 may include, but is not limited to, a microcomputer or a server. In addition, the control device 40 may also include mobile devices such as laptops and tablets, which are not limited here.

[0124] Specifically, processor 42 controls itself and memory 41 to implement the steps of any of the above embodiments. Processor 42 may also be referred to as a CPU (Central Processing Unit). Processor 42 may be an integrated circuit chip with signal processing capabilities. Processor 42 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor. Furthermore, processor 42 may be implemented using integrated circuit chips.

[0125] In one specific embodiment, the control device 40 is a PLC main control unit.

[0126] Please see Figure 5 , Figure 5 This is a schematic diagram of a framework of an embodiment of the workpiece manufacturing system provided in this application. In this embodiment, the workpiece manufacturing system 50 includes a workpiece manufacturing equipment 51, a control device 52, and a workpiece picking robot 53. The workpiece manufacturing equipment 51 is used to manufacture workpieces, and the control device 52 is used to control the workpiece picking robot 53 to perform workpiece picking operations (such as controlling the start and stop of the workpiece picking robot 53 and its movement according to a reference speed). The control device 52 corresponds to... Figure 4 Control device 40 in the corresponding embodiment.

[0127] The control device 52 can be a separate device that is communicatively connected to the pick-up robot 53 and the workpiece manufacturing equipment 51; of course, the control device 52 can also be integrated into the workpiece manufacturing equipment 51.

[0128] In one implementation scenario, the workpiece manufacturing equipment 51 is a die casting machine used to manufacture die castings, and the part removal robot 53 is used to remove the manufactured die castings.

[0129] In some embodiments, the workpiece manufacturing system 50 further includes at least one of an information acquisition device 54, a spraying robot (not shown), and a safety door interlock device (not shown). The information acquisition device 54 is electrically connected to the control device 52. The information acquisition device 54 is used to acquire real-time status parameters of the workpiece manufacturing equipment 51 and the pick-up robot 53. The spraying robot is used to spray a release agent onto the workpiece mold in the workpiece manufacturing equipment 51 in response to the instructions of the control device 52. The safety door interlock device is used to cut off the action of the pick-up robot 53 or the spraying robot in case of system malfunction.

[0130] The information acquisition device 54 includes a system for collecting real-time status data of the die-casting machine and the part-retrieving robot 53. This information acquisition device 54 can be configured independently, or it can include sensors installed on the die-casting machine and sensors installed on the part-retrieving robot 53, or it can be integrated into the control device 52.

[0131] In one embodiment, the control device 52 is also used to control the implementation of other processes in manufacturing the workpiece. For example, the control device 52 is also used to inject the material for manufacturing the workpiece into a cavity.

[0132] In one embodiment, the modules in the workpiece manufacturing system 50 communicate via wired or wireless means to enable real-time signal interaction between the modules and ensure the smooth progress of the workpiece manufacturing process.

[0133] Please see Figure 6 , Figure 6 This is a schematic diagram of the framework of the computer-readable storage medium provided in this application. The computer-readable storage medium 60 of this application embodiment stores program instructions 61, which, when executed, implement the methods provided in any embodiment or any non-conflicting combination of the above-described methods. The program instructions 61 can form a program file and be stored in the computer-readable storage medium 60 in the form of a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) can execute all or part of the steps of the methods of various embodiments of this application. The aforementioned computer-readable storage medium 60 includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0134] In the above scheme, the picking robot starts moving during the execution of the previous process, and when it reaches the picking preparation point, the previous process has already ended. The picking robot does not need to stop and wait at the picking preparation point and can continue moving to the workpiece placement point to pick up the part. It can be seen that the picking robot maintains a continuous movement state from the start of movement to the completion of picking up the part, without stopping or waiting, thus ensuring the picking efficiency of the picking robot.

[0135] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0136] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or electrical connection shown or discussed may be through some interfaces, and the indirect coupling or electrical connection of devices or units may be electrical, mechanical, or other forms.

[0138] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0139] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0140] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0141] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling the retrieval of items, characterized in that, The method is applied to the part-removal process in the workpiece manufacturing process, wherein the part-removal process involves a part-removal robot taking out the workpiece after it has been manufactured; the method includes: During the execution of the previous process of the picking process, the picking motion trigger time is determined based on the first real-time state parameter of the previous process and the second real-time state parameter of the picking robot. The picking motion trigger time indicates that the previous process has ended when the picking robot starts moving to the picking preparation point at the picking motion trigger time. At the moment the retrieval movement is triggered, the retrieval robot is controlled to move to the retrieval preparation point; In response to the retrieval robot reaching the retrieval preparation point, the robot is controlled to continue moving to the placement point of the workpiece to retrieve it.

2. The method according to claim 1, characterized in that, The determination of the item retrieval motion trigger time based on the first real-time state parameters of the previous process and the second real-time state parameters of the item retrieval robot includes: Based on the first real-time status parameter of the previous process at the current moment, the remaining time for the previous process to end is determined, and based on the second real-time status parameter of the picking robot at the current moment, the current movement time of the picking robot to the picking preparation point is determined. In response to the current remaining time being less than or equal to the current movement time, the current moment is determined as the trigger moment for the item retrieval movement; and / or, in response to the current remaining time being greater than the current movement time, the above steps are re-executed after a preset time interval.

3. The method according to claim 2, characterized in that, The preceding process is the process of moving the target component from the first component position to the second component position. After the target component moves to the second component position, space can be provided for the picking robot to enter the placement point to pick up the component. The first real-time status parameter includes the real-time component motion parameters of the target component. Determining the remaining time of the previous process based on the first real-time status parameter of the previous process at the current moment includes: Based on the real-time component motion parameters of the target component at the current moment, the time required for the target component to move to the position of the second component is determined, and this time is used as the current predicted remaining time. The current predicted remaining time is calibrated using the reference completion cycle of the previous process to obtain the current remaining time to end. The reference completion cycle includes at least one of the historical completion cycle and the theoretical completion cycle of the previous process.

4. The method according to claim 3, characterized in that, The real-time motion parameters of the target component include the real-time position and real-time velocity of the target component; The step of determining the time required for the target component to move to the position of the second component based on the real-time component motion parameters of the target component at the current moment, as the current predicted remaining time, includes: The current predicted remaining time is calculated based on the target component's real-time position and real-time velocity at the current moment, and the second component's position.

5. The method according to claim 3, characterized in that, The reference completion period includes the historical completion period and the theoretical completion period; The step of calibrating the current predicted remaining time using the reference completion cycle of the previous process to obtain the current remaining end time includes: By utilizing the relationship between the historical completion period and the theoretical completion period, a correction amount for the current predicted remaining time is determined. Wherein, if the historical completion period is greater than the theoretical completion period, the correction amount is used to increase the current predicted remaining time; if the historical completion period is less than the theoretical completion period, the correction amount is used to decrease the current predicted remaining time. The current predicted remaining time is corrected using the correction amount or the correction amount weighted by a preset weighting coefficient to obtain the current end remaining time.

6. The method according to claim 5, characterized in that, The step of determining the correction amount for the current predicted remaining time by utilizing the relationship between the historical completion period and the theoretical completion period includes: Obtain the cycle ratio between the historical completion cycle and the theoretical completion cycle; Obtain the first product of the cycle ratio and the current predicted remaining time, and use the difference between the first product and the current predicted remaining time as the correction amount.

7. The method according to any one of claims 3 to 6, characterized in that, The method further includes: After the previous process is completed, obtain the current completion cycle of the previous process. Update the historical completion cycle using the current completion cycle.

8. The method according to claim 7, characterized in that, The step of updating the historical completion period using the current completion period includes: The weighted sum of the historical completion period and the current completion period is used as the updated historical completion period.

9. The method according to any one of claims 3 to 6, characterized in that, The preceding process is the mold separation process after the workpiece is made, and the target component is the moving module containing the mold.

10. The method according to claim 2, characterized in that, The second real-time state parameters of the pickup robot include the real-time position and motion constraint parameters of the pickup robot; The step of determining the current movement time of the pickup robot to the pickup preparation point based on the second real-time state parameter of the pickup robot at the current moment includes: Obtain the current moving distance of the pickup robot from its current position to the pickup preparation point; The time required for the pickup robot to move the current distance according to the target motion pattern is determined as the current movement time, wherein the target motion pattern satisfies the kinematic constraints corresponding to the motion constraint parameters.

11. The method according to claim 1, characterized in that, The control of the retrieval robot to move to the retrieval preparation point includes: The retrieval robot is controlled to move to the retrieval preparation point according to the target motion mode, wherein the target motion mode satisfies the kinematic constraints corresponding to the motion constraint parameters of the retrieval robot.

12. The method according to claim 10 or 11, characterized in that, The motion constraint parameters include the maximum acceleration and maximum speed of the pickup robot. The target motion mode is that the pickup robot first accelerates at the maximum acceleration, and if the pickup robot does not reach the pickup preparation point when it accelerates to the maximum speed, it moves to the pickup preparation point at the maximum speed.

13. The method according to claim 12, characterized in that, Determining the time required for the pickup robot to travel the current distance according to the target motion pattern, as the current movement time, includes: In response to the current moving distance being less than or equal to the maximum speed distance, the time required for the pickup robot to perform a first acceleration motion is obtained as the current moving time, wherein the maximum speed distance is the distance the pickup robot moves to the maximum speed by accelerating at the maximum acceleration, and the first acceleration motion is the movement by accelerating at the maximum acceleration and the movement distance is the current moving distance; In response to the current moving distance being greater than the maximum speed distance, the first time required for the picking robot to perform the second acceleration movement and the second time required for the uniform speed movement are obtained, and the sum of the first time and the second time is taken as the current moving time. The second acceleration movement is moving to the maximum acceleration at the maximum acceleration, and the uniform speed movement is moving at the maximum speed at a constant speed. The total moving distance of the second acceleration movement and the uniform speed movement is the current moving distance.

14. The method according to claim 12, characterized in that, The control of the pickup robot to move to the pickup preparation point according to the target motion pattern includes: The robot is controlled to move to the pickup preparation point at different times of movement according to the corresponding reference speed. Wherein, when the target speed is less than or equal to the maximum speed, the reference speed corresponding to each of the motion moments is the second product of the maximum acceleration and the motion moment, and the target speed is the third product of the maximum acceleration and the current remaining time of the previous process at the moment when the picking motion is triggered; When the target speed is greater than the maximum speed, the reference speed at each first moment of motion is the fourth product of the maximum acceleration and the first moment of motion, and the reference speed at each second moment of motion is the maximum speed. The first moment of motion is less than or equal to the ratio of the maximum speed to the maximum acceleration, and the second moment of motion is greater than the ratio.

15. The method according to claim 1, characterized in that, After controlling the picking robot to continue moving to the workpiece placement point to pick up the workpiece, the method further includes: After the robot retrieves the item, it moves to the designated retrieval point. Once it is detected that the picking robot has moved to a safe position after picking up a part, the start process for the next workpiece is initiated.

16. The method according to claim 15, characterized in that, The starting process is the process of spraying a release agent; And / or, detecting that the pickup robot has moved to a safe position after picking up the item includes: The robot was detected to have moved a distance greater than a preset distance after retrieving the item.

17. A control device, characterized in that, Including interconnected memory and processor, The memory stores program instructions; The processor is configured to execute program instructions stored in the memory to implement the method according to any one of claims 1-16.

18. A workpiece manufacturing system, characterized in that, The device includes workpiece manufacturing equipment, a control device, and a part-retrieving robot. The workpiece manufacturing equipment is used to manufacture workpieces, and the control device is used to control the part-retrieving robot to perform a part-retrieving process of the workpiece. The control device is the control device as described in claim 17.

19. The system according to claim 18, characterized in that, It also includes at least one of an information acquisition device, a spraying robot, and a safety door interlocking device. The information acquisition device is used to collect real-time status parameters of the workpiece manufacturing equipment and the part-retrieving robot. The spraying robot is used to spray a release agent onto the workpiece mold in the workpiece manufacturing equipment in response to the instructions of the control device. The safety door interlocking device is used to cut off the action of the part-retrieving robot or the spraying robot in the event of a system malfunction.

20. The system according to claim 18, characterized in that, The workpiece manufacturing equipment is a die-casting machine.

21. The system according to claim 18, characterized in that, The control device is also used to control the implementation of other processes in the manufacturing of the workpiece.

22. The system according to claim 18, characterized in that, The modules in the workpiece manufacturing system communicate with each other via wired or wireless means.

23. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program instructions that can be executed by a processor to implement the method of any one of claims 1-16.

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