A method and system for dynamic allocation of communication resources for robot fast payload swapping

Abstract

This application discloses a method and system for dynamic allocation of communication resources for robot quick-change payloads, relating to the field of robot communication and control technology. The method includes: acquiring heterogeneous communication link status data after the target quick-change payload is connected to the robot's quick-change interface; generating medium reliability parameters corresponding to each heterogeneous communication link; determining at least one end-effector error amplification direction under the robot's current configuration; identifying multiple communication data streams corresponding to the target quick-change payload and determining the error suppression contribution of each communication data stream to the end-effector error amplification direction; generating communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameters and error suppression contribution; and performing cross-link redundant transmission or fragmented transmission on communication data streams whose error suppression contribution meets preset conditions. This application improves communication stability, control accuracy, and operational safety during quick-change payload operation.

Description

Technical Field

[0001] This application relates to the field of robot communication and control technology, and in particular to a method and system for dynamic allocation of communication resources for robot fast load changing. Background Technology

[0002] As industrial robots are increasingly used in welding, assembly, handling, and inspection, robot end effectors typically need to connect to different types of quick-change payloads via quick-change interfaces, such as grippers, welding torches, vision inspection components, and force control actuators. To meet the control, feedback, and sensing data transmission requirements of different payloads, quick-change interfaces may simultaneously configure multiple heterogeneous communication links, including electrical contact links, wireless communication links, and optical communication links. The stability of different communication links varies in actual operating environments. For example, welding arcs may affect wireless communication, dust or obstructions may affect optical communication, and robot end effector vibration may affect the contact stability of electrical contacts.

[0003] Current communication resource allocation methods for rapid payload changing in robots typically rely on fixed priorities, fixed channels, or conventional link quality. This makes it difficult to consider the robot's current joint state, end-effector posture, payload mass distribution, and target trajectory to determine which communication data streams have a greater impact on end-effector motion errors. When the robot is under eccentric loading, with its arm extended, or in contact operation, delays, frame drops, or verification failures in some communication data streams can amplify end-effector motion errors, affecting operational accuracy and safety.

[0004] Therefore, there is an urgent need for a method and system for dynamic allocation of communication resources for robot fast payload changing that can combine the reliability of heterogeneous communication links, interference from the working environment, and the error amplification characteristics of the robot end effector. Summary of the Invention

[0005] This application provides a method and system for dynamic allocation of communication resources for robot quick load changing, which improves communication stability, control accuracy and operational safety during quick load changing operations.

[0006] This application provides the following solution: According to a first aspect, a method for dynamically allocating communication resources for robot quick-change payloads is provided, comprising: acquiring heterogeneous communication link status data after the target quick-change payload is connected to the robot's quick-change interface, wherein the heterogeneous communication links include electrical contact links, wireless communication links, and optical communication links; generating medium reliability parameters corresponding to each heterogeneous communication link based on the heterogeneous communication link status data and current operating environment interference data; acquiring the robot's current joint state, end-effector posture, mass distribution state of the target quick-change payload, and target operating trajectory, and determining at least one end-effector error amplification direction under the robot's current configuration; identifying multiple communication data streams corresponding to the target quick-change payload, and determining the error suppression contribution of each communication data stream to the end-effector error amplification direction; generating communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameters and the error suppression contribution; allocating each communication data stream to the corresponding heterogeneous communication link according to the communication resource allocation weights, and performing cross-link redundant transmission or fragmented transmission on communication data streams whose error suppression contribution meets preset conditions.

[0007] According to one achievable method in an embodiment of this application, generating media reliability parameters corresponding to each heterogeneous communication link based on the heterogeneous communication link status data and current operating environment interference data includes: extracting or calculating link quality indicators corresponding to electrical contact links, wireless communication links, and optical communication links based on the heterogeneous communication link status data, wherein the link quality indicators include at least one of bit error rate, frame loss rate, signal strength, retransmission count, optical power attenuation, and terminal voltage fluctuation; determining the basic reliability value corresponding to each heterogeneous communication link based on the link quality indicators; determining the current main interference type from the current operating environment interference data, wherein the current main interference type includes arc interference, metal obstruction, dust obstruction, or end vibration; determining the interference correction coefficient corresponding to each heterogeneous communication link based on the current main interference type, wherein arc interference corresponds to the interference correction coefficient of the wireless communication link, dust obstruction corresponds to the interference correction coefficient of the optical communication link, and end vibration corresponds to the interference correction coefficient of the electrical contact link; and correcting the basic reliability value of the corresponding heterogeneous communication link using the interference correction coefficient to obtain the media reliability parameters corresponding to each heterogeneous communication link.

[0008] According to one achievable method in the embodiments of this application, after generating the medium reliability parameters corresponding to each heterogeneous communication link, the method further includes: sorting the electrical contact link, wireless communication link, and optical communication link in descending order of the medium reliability parameters; determining the heterogeneous communication link with the highest medium reliability parameter as the primary bearer link, and determining the heterogeneous communication link with the second highest medium reliability parameter as the backup bearer link; and forming a link combination for cross-link redundant transmission or fragmented transmission based on the primary bearer link and the backup bearer link.

[0009] According to one achievable method in an embodiment of this application, determining at least one end-effector error amplification direction under the current robot configuration includes: constructing an error propagation matrix corresponding to the current robot configuration based on the current joint state and end-effector posture; determining the load centroid offset direction and eccentric moment direction based on the mass distribution state of the target quick-change load; mapping the motion direction, load centroid offset direction, and eccentric moment direction corresponding to the target working trajectory to the error propagation matrix to generate error propagation gains corresponding to different end-effector directions; determining whether there is an end-effector direction whose error propagation gain satisfies a preset amplification condition; if so, determining the end-effector direction that satisfies the preset amplification condition as the end-effector error amplification direction; if not, selecting at least one end-effector direction from different end-effector directions as the end-effector error amplification direction in descending order of error propagation gain.

[0010] According to one achievable method in this application embodiment, the step of identifying multiple communication data streams corresponding to the target quick-change load and determining the error suppression contribution of each communication data stream to the end-effector error amplification direction includes: for each communication data stream, determining the number of times the communication data stream is invoked by the robot controller within a preset control period; reading the end-effector position correction, attitude correction, or contact force correction generated after the communication data stream is invoked; projecting the end-effector position correction, attitude correction, or contact force correction onto the end-effector error amplification direction to obtain the cumulative direction correction; when the communication data stream experiences delay, frame loss, or verification failure within the preset control period, statistically analyzing the direction error growth along the end-effector error amplification direction; and calculating the error suppression contribution corresponding to the communication data stream based on the number of invocations, the cumulative direction correction, and the direction error growth.

[0011] According to one achievable method in an embodiment of this application, generating communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameter and the error suppression contribution includes: determining the basic weight of each communication data stream based on the error suppression contribution corresponding to each communication data stream; for each communication data stream, multiplying the basic weight of the data stream by the medium reliability parameter corresponding to the electrical contact link, wireless communication link, and optical communication link respectively to obtain the candidate allocation value of the communication data stream on each heterogeneous communication link; and normalizing the multiple candidate allocation values ​​corresponding to the communication data stream to obtain the communication resource allocation weight of the communication data stream on different heterogeneous communication links.

[0012] According to one achievable method in an embodiment of this application, the cross-link redundant transmission or fragmented transmission of the communication data stream whose error suppression contribution meets the preset conditions includes: dividing the communication data stream whose error suppression contribution meets the preset conditions into a main control segment, a verification segment, and a status confirmation segment; allocating the main control segment to a heterogeneous communication link with the highest medium reliability parameter; allocating the verification segment and the status confirmation segment to heterogeneous communication links different from the main control segment; and performing integrity verification and action consistency confirmation on the main control segment at the receiving end based on the verification segment and the status confirmation segment.

[0013] According to one achievable method in this application embodiment, after allocating each communication data stream to the corresponding heterogeneous communication link based on the communication resource allocation weight, the method further includes: collecting the actual end motion error during the operation of the target fast-switch payload and the real-time communication quality of each heterogeneous communication link; when the actual end motion error increases in the end error amplification direction, determining the target communication data stream with a higher error suppression contribution; increasing the communication resource allocation weight of the target communication data stream on the heterogeneous communication link with a higher medium reliability parameter; and reducing the communication resource allocation weight corresponding to the heterogeneous communication link when the real-time communication quality of a certain heterogeneous communication link is lower than a preset communication quality threshold.

[0014] According to one achievable method in an embodiment of this application, the cross-link redundant transmission or fragmented transmission of the communication data stream whose error suppression contribution meets the preset conditions includes: obtaining a link combination formed by the primary bearer link and the backup bearer link; when the communication data stream to be transmitted is a control command stream or a security feedback stream, sending the main data frame in the communication data stream through the primary bearer link, and sending the corresponding verification data frame or acknowledgment data frame through the backup bearer link; when the communication data stream to be transmitted is a sensing data stream or a diagnostic data stream, splitting the communication data stream into multiple data fragments according to the communication resource allocation weights corresponding to the primary bearer link and the backup bearer link, and sending them respectively through the primary bearer link and the backup bearer link; and performing integrity verification on the received communication data stream at the receiving end based on the verification data frame, the acknowledgment data frame, or the multiple data fragments.

[0015] According to the second aspect, a dynamic allocation system for communication resources of robot quick-change payloads is provided, comprising: a link status acquisition module, used to acquire heterogeneous communication link status data after the target quick-change payload is connected to the robot's quick-change interface, wherein the heterogeneous communication links include electrical contact links, wireless communication links, and optical communication links; a media reliability generation module, used to generate media reliability parameters corresponding to each heterogeneous communication link based on the heterogeneous communication link status data and current operating environment interference data; and an error amplification direction determination module, used to acquire the robot's current joint state, end effector posture, mass distribution state of the target quick-change payload, and target operating trajectory, and determine the robot's current... The configuration includes at least one end-point error amplification direction; an error suppression contribution determination module, used to identify multiple communication data streams corresponding to the target fast-switch load and determine the error suppression contribution of each communication data stream to the end-point error amplification direction; a resource weight generation module, used to generate communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameters and the error suppression contribution; and a dynamic allocation module, used to allocate each communication data stream to the corresponding heterogeneous communication link according to the communication resource allocation weight, and to perform cross-link redundant transmission or fragmented transmission on communication data streams whose error suppression contribution meets preset conditions.

[0016] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application simultaneously acquires the status of heterogeneous communication links, operational environment interference, robot current configuration, and quick-change payload status to comprehensively determine the medium reliability parameters of each link and the error suppression contribution of each communication data stream. Based on this, it generates communication resource allocation weights, enabling dynamic allocation of control command streams, safety feedback streams, and sensing data streams according to actual link reliability and end-effector error sensitivity. For data streams with high error suppression contributions, cross-link redundant transmission or fragmented transmission is used to improve transmission reliability, thereby reducing the impact of communication anomalies on end-effector motion errors and payload action deviations, and improving communication stability, control accuracy, and operational safety during quick-change payload operations.

[0017] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1A flowchart of a robot fast-change payload communication resource dynamic allocation method provided in an embodiment of this application; Figure 2 A flowchart for generating media reliability parameters provided in the embodiments of this application; Figure 3 This is a schematic diagram of cross-link redundant transmission or fragmented transmission provided in the embodiments of this application; Figure 4 This is a structural block diagram of a robot fast-load-changing communication resource dynamic allocation system provided in an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0021] Figure 1 This is a flowchart illustrating a method for dynamically allocating communication resources for robot fast payload swapping, provided in an embodiment of this application. Figure 1 As shown, the method may include the following steps: Step 101: Obtain the heterogeneous communication link status data after the target quick-change load is connected to the robot quick-change interface. The heterogeneous communication link includes an electrical contact link, a wireless communication link, and an optical communication link.

[0022] Step 102: Generate medium reliability parameters corresponding to each heterogeneous communication link based on the heterogeneous communication link status data and the current operating environment interference data.

[0023] Step 103: Obtain the robot's current joint state, end effector posture, mass distribution of the target quick-change load, and target operation trajectory, and determine at least one end effector error amplification direction under the robot's current configuration.

[0024] Step 104: Identify multiple communication data streams corresponding to the target fast-switch load, and determine the contribution of each communication data stream to error suppression in the end-point error amplification direction.

[0025] Step 105: Based on the medium reliability parameters and the error suppression contribution, generate the communication resource allocation weights for each communication data stream on different heterogeneous communication links.

[0026] Step 106: Based on the communication resource allocation weight, allocate each communication data stream to the corresponding heterogeneous communication link, and perform cross-link redundant transmission or fragmented transmission on the communication data stream whose error suppression contribution meets the preset conditions.

[0027] As can be seen from the above process, this application simultaneously acquires the heterogeneous communication link status, operational environment interference, robot current configuration, and quick-change load status to comprehensively determine the medium reliability parameters of each link and the error suppression contribution of each communication data stream. Based on this, it generates communication resource allocation weights, enabling control command streams, safety feedback streams, and sensing data streams to be dynamically allocated according to actual link reliability and end-effector error sensitivity. For data streams with high error suppression contributions, cross-link redundant transmission or fragmented transmission improves transmission reliability, thereby reducing the impact of communication anomalies on end-effector motion errors and load action deviations, and improving communication stability, control accuracy, and operational safety during quick-change load operations.

[0028] The following describes in detail each step of the above process and the effects that can be further produced, with reference to the embodiments.

[0029] Step 101 specifically involves: obtaining the heterogeneous communication link status data after the target quick-change load is connected to the robot quick-change interface, wherein the heterogeneous communication link includes an electrical contact link, a wireless communication link, and an optical communication link.

[0030] After the target quick-change payload is connected to the robot's quick-change interface, the robot controller or quick-change interface controller first detects the established or available communication link between the target quick-change payload and the robot body to obtain heterogeneous communication link status data. The target quick-change payload can be a functional payload such as a gripper, welding torch, grinding head, vision inspection component, force control actuator, etc., installed on the robot's end effector via the quick-change interface. Connection can include connection after mechanical locking is completed, or connection after payload identification is completed and the communication initialization phase begins.

[0031] Heterogeneous communication links refer to multiple communication channels between the target quick-change payload and the robot control system, formed by using different communication media or methods. Heterogeneous communication links include at least electrical contact links, wireless communication links, and optical communication links. Electrical contact links can be implemented through conductive contacts, flexible pins, or plug-in terminals in quick-change interfaces, used for transmitting control commands, status feedback, or safety confirmation data. Wireless communication links can be implemented through industrial wireless modules, short-range wireless modules, or other wireless communication units, used for transmitting status data, sensing data, or auxiliary control data. Optical communication links can be implemented through fiber optic interfaces, infrared communication units, or short-range optical communication components, used for transmitting data streams with strong electromagnetic interference resistance or large-capacity sensing data.

[0032] Heterogeneous communication link status data is used to characterize the availability and transmission stability of each communication link after the target quick-switch load is connected. For electrical contact links, data such as terminal voltage fluctuation, contact jitter parameters, communication bit error rate, and link handshake success status can be collected; for wireless communication links, data such as signal strength, retransmission count, frame loss rate, and communication latency can be collected; for optical communication links, data such as optical power attenuation, link obstruction status, alignment deviation, and optical received intensity can be collected. The above data can be acquired by the robot controller, quick-switch interface controller, load controller, or communication management module.

[0033] Since different communication links are sensitive to interference from the operating environment to varying degrees, obtaining the above status data can provide basic data support for the subsequent generation of media reliability parameters, determination of the primary and backup bearer links, and execution of cross-link redundant transmission or fragmented transmission of critical communication data streams.

[0034] Step 102 specifically involves generating media reliability parameters for each heterogeneous communication link based on the heterogeneous communication link status data and the current operating environment interference data.

[0035] After obtaining heterogeneous communication link status data, the robot controller or quick-switch interface controller can extract or calculate link quality indicators corresponding to electrical contact links, wireless communication links, and optical communication links based on this data. The heterogeneous communication link status data can be raw status data collected during communication initialization and operation, such as the number of transmitted frames, the number of received frames, the number of verification failures, the number of retransmission requests, the received signal strength, the optical received power, the terminal voltage sampling value, and the link handshake result. The system can calculate indicators such as bit error rate, frame loss rate, and retransmission count based on the above raw status data, or it can directly read indicators such as signal strength, optical power attenuation, and terminal voltage fluctuation. Through the above processing, the link status under different communication media can be uniformly converted into link quality indicators that can participate in reliability evaluation.

[0036] Figure 2 This document presents a flowchart for generating media reliability parameters in an embodiment of this application. After determining the link quality indicators, the system determines the basic reliability values ​​for electrical contact links, wireless communication links, and optical communication links based on these indicators. For negative indicators such as bit error rate, frame loss rate, retransmission count, optical power attenuation, and terminal voltage fluctuation, higher values ​​indicate poorer link stability and lower basic reliability values. For positive indicators such as signal strength, optical received power, and handshake success rate, higher values ​​indicate better link condition and higher basic reliability values. The basic reliability values ​​can be determined through normalization calculation, weighted summation, or table lookup, and are used to characterize the communication reliability of each heterogeneous communication link without considering the impact of current environmental interference.

[0037] Since robot quick-change payloads typically operate in complex environments such as welding, grinding, assembly, and inspection, relying solely on the link's own status is insufficient to accurately reflect its true availability under current conditions. Therefore, the system also identifies the primary interference types from current environmental interference data. This data can originate from the robot controller, payload controller, environmental sensors, or production line control system. Primary interference types may include arc interference, metal obstruction, dust obstruction, or end-effector vibration. For example, during welding operations, the welding arc may generate strong electromagnetic interference on the wireless communication link; in environments with dense metal workpieces or significant robot posture changes, metal obstruction may affect the wireless or optical communication link; in grinding, spraying, or dusty work scenarios, dust obstruction may lead to a decrease in the received power of the optical communication link; and during high-speed or heavy-load eccentric motion, end-effector vibration may affect the contact stability of electrical contact links.

[0038] The system determines the interference correction coefficients for each heterogeneous communication link based on the current primary interference type. Different interference types correspond to different sensitive communication media. Specifically, arcing interference mainly corresponds to the interference correction coefficient for wireless communication links, dust obstruction mainly corresponds to the interference correction coefficient for optical communication links, and end-point vibration mainly corresponds to the interference correction coefficient for electrical contact links. The interference correction coefficient can be used to represent the degree to which the current environment weakens the reliability of the corresponding communication link. The stronger the interference, the lower the interference correction coefficient of the corresponding link; the weaker the interference, the closer the interference correction coefficient of the corresponding link is to the normal value.

[0039] After obtaining the basic reliability value and interference correction coefficient, the system uses the interference correction coefficient to correct the basic reliability value of the corresponding heterogeneous communication link, thus obtaining the medium reliability parameter for each heterogeneous communication link. This medium reliability parameter reflects both the link's own communication status and the impact of the current operating environment on the link, and can serve as the basis for subsequent communication resource allocation weight calculations, primary bearer link selection, backup bearer link selection, and cross-link redundant transmission or fragmented transmission. In this way, this application avoids relying solely on fixed link priorities or single link quality indicators for resource allocation, enabling communication resources to be dynamically adjusted according to the actual operating environment and link status.

[0040] After obtaining the media reliability parameters corresponding to each heterogeneous communication link, the robot controller or quick-switch interface controller can sort the electrical contact links, wireless communication links, and optical communication links according to these media reliability parameters. By sorting them in descending order of media reliability parameters, the system can determine the priority order for using each heterogeneous communication link at the current moment.

[0041] After sorting, the system determines the heterogeneous communication link with the highest media reliability parameter as the primary bearer link. This primary bearer link is used to prioritize the transmission of data content with high requirements for real-time performance, integrity, or security, such as main data frames in the control command stream, critical status frames in the security feedback stream, and key feature data in the sensing data stream. The primary bearer link is currently the most reliable link; prioritizing the transmission of critical data through this link helps reduce the risk of transmission failures due to link interference, bit errors, or frame loss.

[0042] The system also identifies the heterogeneous communication link with the second-highest media reliability parameter as the backup bearer link. The backup bearer link is not limited to use only when the primary bearer link fails; it can also be used to transmit verification data frames, acknowledgment data frames, redundant data frames, or sensing data segments when the primary bearer link is working normally.

[0043] After determining the primary and backup bearer links, the system can form link combinations for cross-link redundant transmission or fragmented transmission. For data streams with high reliability requirements, such as control command streams and security feedback streams, the primary bearer link can be used to send the main data frame, while the backup bearer link can be used to send verification or acknowledgment data frames, allowing the receiving end to perform integrity verification and action consistency confirmation on the main data frame. For data streams with large data volumes, such as sensing data streams and diagnostic data streams, the data stream can be split into multiple data segments and sent separately according to the communication resource allocation weights of the primary and backup bearer links, thereby improving overall transmission efficiency.

[0044] Through the above methods, this application can automatically determine the primary bearer link and backup bearer link based on the current link reliability, so that cross-link redundant transmission or fragmented transmission has a clear link selection basis.

[0045] Step 103 specifically involves: acquiring the robot's current joint state, end effector posture, mass distribution of the target quick-change load, and target operation trajectory, and determining at least one end effector error amplification direction under the robot's current configuration.

[0046] During the robot's quick-load change operation, the robot's current joint state, end effector posture, the mass distribution of the target quick-load changer, and the target work trajectory all collectively affect the amplification of end effector errors. The current joint state can include information such as the angles, velocities, accelerations, or joint torques of each joint. The end effector posture can include the robot's end effector position, attitude angles, and attitude change trends in the base coordinate system or tool coordinate system. The mass distribution of the target quick-load changer can include the load mass, the load's center of mass position, the load's offset distance relative to the quick-load interface center, and the load's inertia distribution. The target work trajectory can include the robot's end effector's motion direction, trajectory curvature, target contact direction, or target work point position. By acquiring the above data, the robot's sensitivity to errors in different directions under the current configuration and current task can be determined.

[0047] When determining the direction of end-effector error amplification, the robot controller can first construct an error propagation matrix corresponding to the current robot configuration based on the current joint state and end-effector posture. This error propagation matrix represents the amplification relationship when robot joint side errors, load disturbances, or posture disturbances propagate to the end-effector in different directions. The error propagation matrix can be obtained from the robot's kinematic model, Jacobian matrix, offline calibration data, or historical operation data. For the same robot, the error propagation relationship may differ under different joint postures. For example, when the robot is in a long-arm extended state, end-effector position errors in certain directions are more easily amplified; when the robot is in a contact operation state, normal errors may have a more significant impact on operation quality than tangential errors.

[0048] After the target quick-change load is connected to the robot's end effector, its mass distribution will also affect the direction of error amplification. The robot controller can determine the direction of load center of mass offset and eccentric torque direction based on the mass distribution of the target quick-change load. When the load center of mass does not coincide with the center of the quick-change interface or the center of the end effector flange, an eccentric torque will be generated during robot movement, acceleration, deceleration, or attitude changes. This eccentric torque may further amplify the end effector position error or attitude error in certain directions.

[0049] The robot controller maps the motion direction, load centroid offset direction, and eccentric moment direction corresponding to the target trajectory to the error propagation matrix, obtaining the error propagation gain for different end-effector directions. The end-effector direction can include translation and rotation directions in the end-effector coordinate system. The error propagation gain characterizes the degree to which joint errors, load disturbances, or trajectory disturbances are amplified after being transmitted to the robot's end-effector in the corresponding direction. A larger error propagation gain indicates that small disturbances in that direction are more likely to cause significant end-effector position, attitude, or contact force deviations.

[0050] After obtaining the error propagation gain corresponding to different end-effector directions, the robot controller determines whether there exists an end-effector direction whose error propagation gain satisfies a preset amplification condition. The preset amplification condition can be that the error propagation gain is greater than a preset gain threshold, or that the deviation of the error propagation gain from the average gain of each direction exceeds a preset proportion. If an end-effector direction satisfies the preset amplification condition, that end-effector direction is designated as the end-effector error amplification direction. If multiple end-effector directions satisfy the preset amplification condition, all of them can be designated as end-effector error amplification directions for subsequent calculation of the contribution to error suppression in the communication data stream.

[0051] If no end-effector direction has an error propagation gain that satisfies the preset amplification condition, it indicates that the error amplification difference in each direction is not significant under the current robot configuration. To ensure that the subsequent communication resource allocation process still has a clear error control target, the robot controller can select at least one end-effector direction as the end-effector error amplification direction from different end-effector directions in descending order of error propagation gain. In this way, even in the absence of obviously high-risk directions, the system can select a relatively sensitive end-effector direction as the reference direction for communication resource allocation, avoiding the inability to execute subsequent error suppression contribution calculations and communication resource weight allocation.

[0052] Through the above processing, this application can incorporate the robot's current configuration, quick-change payload mass distribution, and target operation trajectory into the process of determining the end-effector error amplification direction. Subsequently, when determining the importance of communication data streams, it no longer relies solely on the type of communication data or fixed priority, but rather on whether the communication data stream helps suppress errors in the current end-effector error amplification direction, thereby improving the matching degree between communication resource allocation and the robot's actual control requirements.

[0053] Step 104 specifically involves: identifying multiple communication data streams corresponding to the target fast-switch load, and determining the error suppression contribution of each communication data stream to the end error amplification direction.

[0054] After determining the direction of end-effector error amplification, the robot controller further identifies multiple communication data streams corresponding to the target quick-change load. These communication data streams can include control command streams, safety feedback streams, status feedback streams, force feedback streams, visual perception streams, and diagnostic data streams. Different communication data streams have varying degrees of impact on the robot's end-effector error. For example, force feedback streams may directly affect contact force correction, visual perception streams may affect end-effector position correction, and safety feedback streams may affect load action confirmation and motion protection.

[0055] For each communication data stream, the robot controller counts the number of times that communication data stream is invoked within a preset control cycle. Invocation refers to the robot controller reading and using data from the communication data stream to participate in control calculations when performing trajectory tracking, posture adjustment, contact force control, or load motion control.

[0056] After the communication data stream is invoked, the robot controller reads the end-effector position correction, attitude correction, or contact force correction triggered or generated by that data stream. To ensure that different types of corrections can be used uniformly to evaluate the end-effector error suppression effect, the system projects these corrections onto the end-effector error amplification direction to obtain the cumulative directional correction. If the end-effector error amplification direction is represented as a unit direction vector... , will the The terminal correction vector generated after the next call is represented as follows: Then the direction correction amount corresponding to this call It can be represented as: Cumulative amount of directional correction corresponding to multiple calls It can be represented as: The larger the cumulative amount of directional correction, the more significant the deviation correction effect on the direction of the end error amplification when the communication data stream is called normally.

[0057] Simultaneously, the robot controller also detects whether the communication data stream experiences delays, frame drops, or verification failures within a preset control cycle. When such communication anomalies occur, the system statistically analyzes the increase in directional error along the end-effector error amplification direction. The increase in directional error can be determined by the change in the actual end-effector error before and after the anomaly occurs. If the error in the end-effector error amplification direction before the anomaly occurs is... The error along the direction of error amplification at the end after the anomaly occurs is The increase in directional error It can be represented as: When the terminal error does not increase after a communication anomaly, the directional error increase is zero. When the terminal error increases after a communication anomaly, the directional error increase is used to characterize the adverse effect of the communication data stream anomaly on the direction of terminal error amplification. The larger the directional error increase, the greater the impact on control accuracy when the communication data stream is missing or abnormal.

[0058] After obtaining the number of calls, the cumulative amount of orientation correction, and the increase in orientation error, the robot controller can calculate the error suppression contribution corresponding to this communication data stream. Let the... The number of times each communication data stream is invoked within a preset control period is: The cumulative amount of directional correction is The increase in directional error is Then the error suppression contribution of the corresponding communication data stream It can be represented as: in, This indicates normalization processing. These represent the weighting coefficients corresponding to the number of calls, the cumulative amount of direction correction, and the increase in direction error, respectively. These weighting coefficients can be preset based on the target quick-change load type, robot operation mode, or safety level, or configured by the robot controller based on historical operation data. For operations with high real-time control requirements, the weight corresponding to the increase in direction error can be increased; for operations with high precision correction requirements, the weight corresponding to the cumulative amount of direction correction can be increased.

[0059] In this way, the error suppression contribution can simultaneously reflect the degree of control participation in the communication data stream, the correction effect on the terminal error during normal transmission, and the degree of impact on the terminal error during abnormal transmission.

[0060] Step 105 specifically involves generating communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameters and the error suppression contribution.

[0061] After obtaining the medium reliability parameters corresponding to each heterogeneous communication link and the error suppression contribution of each communication data stream, the robot controller can further generate the communication resource allocation weights of each communication data stream on different heterogeneous communication links.

[0062] For each communication data stream, the system first determines the basic weight of the data stream based on its error suppression contribution. A higher error suppression contribution indicates a more significant error correction effect in the direction of end-point error amplification, or that the data stream is more likely to cause an increase in end-point error when an anomaly occurs. Therefore, this data stream should receive a higher basic weight. The basic weight of the data stream can be determined through normalization or by using a pre-defined mapping table.

[0063] After determining the basic weights of the data streams, the system multiplies each basic weight by the corresponding medium reliability parameters of the electrical contact link, wireless communication link, and optical communication link to obtain the candidate allocation values ​​for that data stream on each heterogeneous communication link. The candidate allocation values ​​characterize the suitability of a particular data stream when carried by a specific heterogeneous communication link. For the same data stream, if the medium reliability parameter of a heterogeneous communication link is higher, the candidate allocation value for that data stream on that link is higher, indicating that the link is more suitable for carrying the data stream.

[0064] The system normalizes multiple candidate allocation values ​​corresponding to the communication data stream to obtain the communication resource allocation weight of the communication data stream on different heterogeneous communication links. In practical applications, the basic weight of the data stream can be used to determine the resource priority of the communication data stream in the overall communication resources, while the normalized communication resource allocation weight can be used to determine the allocation ratio of the communication data stream among different heterogeneous communication links. For example, for control command streams or security feedback streams with high error suppression contribution, the system can assign a higher basic weight and prioritize their allocation to links with higher medium reliability parameters; for diagnostic data streams or ordinary sensing data streams with low error suppression contribution, the system can assign a lower basic weight and transmit them according to the link's idle status.

[0065] In this way, the present application can combine the impact of communication data stream on robot end effector error with the reliability of different communication links in the current environment, avoiding the allocation of communication resources based solely on fixed priority or single link quality.

[0066] Step 106 specifically involves: allocating each communication data stream to the corresponding heterogeneous communication link according to the communication resource allocation weight, and performing cross-link redundant transmission or fragmented transmission on the communication data streams whose error suppression contribution meets the preset conditions.

[0067] After generating communication resource allocation weights for each communication data stream on different heterogeneous communication links, the robot controller or quick-switch interface controller can allocate each communication data stream to the corresponding heterogeneous communication link according to the communication resource allocation weights. For data streams with low error suppression contribution, a single link can be selected for transmission according to the communication resource allocation weights, or normal allocation can be performed when the link is idle. For data streams whose error suppression contribution meets preset conditions, it indicates that the communication data stream has a significant impact on error correction, action confirmation, or safety protection in the direction of end-effector error amplification. If the data stream experiences delays, frame drops, or verification failures, it may cause increased deviations in the robot's end-effector motion or inconsistent quick-switch load actions. Therefore, it is necessary to adopt cross-link redundant transmission or fragmented transmission methods to improve transmission reliability.

[0068] For communication data streams whose error suppression contribution meets preset conditions, the system can divide them into main control segments, verification segments, and status confirmation segments. The main control segment carries the core control content or key status content of the communication data stream, such as load action commands, motion correction commands, force control adjustment commands, and safety feedback status. The verification segment carries verification information corresponding to the main control segment, such as checksum, frame number, timestamp, digest value, or consistency identifier. The status confirmation segment carries confirmation information from the load side or robot side regarding the execution status of the main control segment, such as whether the load has received the command, whether the load has entered the target action state, whether the quick-change locking state is normal, and whether the end effector is consistent with the command.

[0069] During link allocation, the system assigns the main control segment to the heterogeneous communication link with the highest media reliability parameter. The link with the highest media reliability parameter can be understood as the most stable and suitable communication medium for carrying critical data under the current operating environment. By prioritizing the allocation of the main control segment to this link, the probability of bit errors, frame loss, or delays during transmission of critical control content can be reduced, ensuring that critical control information between the robot controller and the target fast-change payload can be transmitted preferentially and stably.

[0070] Simultaneously, the system allocates the verification segment and status confirmation segment to heterogeneous communication links different from the main control segment. This arrangement aims to prevent the main control segment, verification segment, and status confirmation segment from all relying on the same communication medium. When the link containing the main control segment experiences momentary interference or a local communication anomaly, the receiving end can still receive the verification segment or status confirmation segment through another heterogeneous communication link, thereby determining whether the main control segment is complete, expired, or consistent with the actual operating state of the payload.

[0071] At the receiving end, the robot controller, quick-change interface controller, or target quick-change load controller can perform integrity checks and action consistency verification on the main control segment based on the verification segment and the status confirmation segment. Integrity checks determine if the main control segment has any missing, duplicate, out-of-order, or verification failure issues. Action consistency verification determines whether the control content represented by the main control segment is consistent with the current feedback state of the load or the actual action state of the robot's end effector. For example, when the main control segment is a gripper closing command, the receiving end can determine whether the gripper has entered the closed state based on the status confirmation segment; when the main control segment is a force control adjustment command, the receiving end can determine whether the contact force feedback is consistent with the command target based on the status confirmation segment.

[0072] If the receiving end determines that the main control segment is complete and valid based on the verification segment, and determines that the action status is consistent based on the status confirmation segment, it can continue to execute the corresponding control process. If the receiving end determines that the main control segment is incomplete, the verification fails, or the action status is inconsistent, it can trigger retransmission, link switching, reduce payload action speed, suspend payload action, or enter the security protection process.

[0073] As an implementable approach, after allocating each communication data stream to the corresponding heterogeneous communication link based on the communication resource allocation weight, the method further includes: collecting the actual motion error of the end point during the operation of the target fast-switch payload and the real-time communication quality of each heterogeneous communication link; when the actual motion error of the end point increases in the direction of the end point error amplification, determining the target communication data stream with a higher contribution to error suppression; increasing the communication resource allocation weight of the target communication data stream on the heterogeneous communication link with a higher medium reliability parameter; and reducing the communication resource allocation weight corresponding to the heterogeneous communication link when the real-time communication quality of a certain heterogeneous communication link is lower than a preset communication quality threshold.

[0074] After allocating links for each communication data stream according to the communication resource allocation weights, the robot controller or quick-switch interface controller does not maintain a fixed allocation state. Instead, it continues to collect the actual end-effector motion error and the real-time communication quality of each heterogeneous communication link during the operation of the target quick-switch payload. The actual end-effector motion error can be obtained by the deviation between the robot's actual end-effector trajectory and the target working trajectory, or it can be determined based on data such as end-effector position error, attitude error, and contact force error. Real-time communication quality can include data such as real-time bit error rate, real-time frame loss rate, real-time retransmission count, communication latency, link jitter, signal strength, optical received power, or terminal voltage stability.

[0075] When the system detects that the actual motion error of the end effector increases in the direction of the end effector error amplification, it indicates that the current communication resource allocation may not have adequately guaranteed the transmission of data streams related to error correction in that direction. In this case, the system can identify a target communication data stream with a higher contribution to error suppression from multiple communication data streams. The target communication data stream typically refers to a data stream that has a significant impact on end effector position correction, attitude correction, or contact force correction, such as force feedback streams, attitude feedback streams, visual positioning streams, safety feedback streams, or control confirmation streams.

[0076] After determining the target communication data stream, the system increases the weight of this target communication data stream in the communication resource allocation of heterogeneous communication links with higher medium reliability parameters. When a certain communication data stream has a strong effect on suppressing terminal errors, but the current terminal error shows an increasing trend, the system will prioritize transferring or preferentially allocating this communication data stream to one or more links with higher medium reliability parameters, such as electrical contact links, wireless communication links, or optical communication links.

[0077] Simultaneously, the system also adjusts the communication resource allocation weights in reverse based on the real-time communication quality of each heterogeneous communication link. When the real-time communication quality of a certain heterogeneous communication link falls below a preset communication quality threshold, it indicates that the link may be affected by environmental interference, poor contact, obstruction, or communication congestion at the current moment, and is not suitable to continue carrying a large amount of communication data. In this case, the system reduces the communication resource allocation weight corresponding to the heterogeneous communication link to reduce the dependence of critical communication data streams on that link, and transfers some communication resources to other heterogeneous communication links with better real-time communication quality.

[0078] Through the aforementioned dynamic adjustment method, this application enables the formation of a closed-loop communication resource allocation mechanism based on end-effector error feedback and link quality feedback during the rapid payload change operation. When the robot's end-effector error increases, the system prioritizes data streams that contribute significantly to error suppression; when the quality of a link deteriorates, the system promptly reduces the resource occupancy ratio of that link. This avoids the communication resource allocation remaining fixed for a long period after payload access, improving the communication stability, control accuracy, and operational safety of the robot's rapid payload change in complex operating environments.

[0079] Preferably, Figure 3 This is a schematic diagram of cross-link redundant transmission or fragmented transmission provided in an embodiment of this application. Performing cross-link redundant transmission or fragmented transmission on communication data streams whose error suppression contribution meets preset conditions includes: obtaining a link combination formed by the primary bearer link and the backup bearer link; when the communication data stream to be transmitted is a control command stream or a security feedback stream, sending the main data frame in the communication data stream through the primary bearer link and sending the corresponding verification data frame or acknowledgment data frame through the backup bearer link; when the communication data stream to be transmitted is a sensing data stream or a diagnostic data stream, splitting the communication data stream into multiple data fragments according to the communication resource allocation weights corresponding to the primary bearer link and the backup bearer link, and sending them respectively through the primary bearer link and the backup bearer link; and performing integrity verification on the received communication data stream at the receiving end based on the verification data frame, acknowledgment data frame, or multiple data fragments.

[0080] Communication data streams whose error suppression contribution meets preset conditions refer to data streams that have a significant impact on error correction, action confirmation, or safety protection in the direction of robot end-effector error amplification. For such data streams, if they are transmitted through only a single communication link, instantaneous bit errors, frame drops, obstructions, or interference on that link may lead to delays in fast load changing actions, control confirmation failures, or increased end-effector motion errors. Therefore, it is necessary to use two communication links with different media to improve transmission reliability.

[0081] When the communication data stream to be transmitted is a control command stream or a safety feedback stream, the system preferentially adopts a cross-link redundant transmission method. Control command streams typically include gripper opening and closing commands, welding start and stop commands, force control adjustment commands, and load action switching commands; safety feedback streams typically include quick-change locking states, emergency stop states, overload states, and action completion states. These types of data streams usually have a small data volume but require high real-time performance and reliability. Therefore, the system sends the main data frame in this communication data stream through the main bearer link, and sends the corresponding check data frame or acknowledgment data frame through the backup bearer link.

[0082] The master data frame carries the main content of control commands or critical safety feedback, such as action type, target position, target force value, execution time, and safety status indicator. The verification data frame may include a frame sequence number, timestamp, checksum, digest value, or command consistency indicator, used to verify the integrity and validity of the master data frame. The confirmation data frame may include reception confirmation, action completion confirmation, status consistency confirmation, or safety status confirmation, used to indicate that the target quick-change load or robot controller has correctly received and executed the corresponding information. Because the master data frame and the verification or confirmation data frame are transmitted through different communication links, even if one link experiences a short-term anomaly, the receiving end can still obtain verification or confirmation evidence using the other link.

[0083] When the communication data stream to be transmitted is a sensing data stream or a diagnostic data stream, the system can adopt a segmented transmission method. Sensing data streams may include image data, point cloud data, distance detection data, force sampling data, or target recognition results; diagnostic data streams may include temperature data, current data, operation logs, fault codes, and maintenance status data. These types of data streams are typically large in volume, with some content having a strong impact on real-time control, while other content is mainly used for recording or auxiliary analysis. Therefore, the system can divide this communication data stream into multiple data segments according to the communication resource allocation weights corresponding to the primary and backup bearer links, and send them separately through the primary and backup bearer links.

[0084] During fragmented transmission, the system can determine the fragmentation ratio based on the communication resource allocation weights of each link. When the primary bearer link has a higher communication resource allocation weight, it can carry more data fragments or higher-priority data fragments; conversely, when the backup bearer link has a lower communication resource allocation weight, it can carry fewer data fragments or auxiliary data fragments. For example, for visual perception data streams, target recognition results, key area images, or low-latency feature data can be sent through the primary bearer link, while complete image frames, background area data, or auxiliary diagnostic data can be sent through the backup bearer link. This approach ensures timely transmission of critical perception information while improving the overall transmission efficiency of large-capacity data.

[0085] At the receiving end, the robot controller, quick-change interface controller, or target quick-change payload controller performs integrity verification on the received communication data stream based on the verification data frame, acknowledgment data frame, or multiple data segments. For control command streams or safety feedback streams, the receiving end can determine whether the main data frame is missing, out of order, duplicated, or has failed verification based on the verification data frame, and determine whether the corresponding control action or safety status is consistent with the content of the main data frame based on the acknowledgment data frame. For sensing data streams or diagnostic data streams, the receiving end can reassemble multiple data segments based on the segment number, timestamp, data length, and checksum, and determine whether the reassembled data stream is complete and valid.

[0086] This application can select different cross-link transmission strategies based on the differences in the type of communication data stream. For control command streams and security feedback streams, a method of transmitting main data frames and check data frames or acknowledgment data frames separately on the link is adopted to improve the reliability and acknowledgment of critical small data streams; for sensing data streams and diagnostic data streams, a method of fragmented transmission based on communication resource allocation weights is adopted to improve the transmission efficiency and link utilization of large-capacity data streams.

[0087] To further illustrate the technical effects of the present invention, a specific embodiment and its test results are provided.

[0088] This application's solution is applied to a communication control scenario for a six-axis industrial robot's end effector with a quick-change load. The robot's end effector connects to the welding load via a quick-change interface, which is simultaneously configured with an electrical contact link, a wireless communication link, and an optical communication link. The electrical contact link is used to transmit control commands and status feedback data through the quick-change interface terminals; the wireless communication link is used to transmit auxiliary sensing data and diagnostic data; and the optical communication link is used to transmit critical feedback data with high electromagnetic interference resistance requirements. After detecting the welding load connection and completing load identification, the robot controller collects status data from the three types of heterogeneous communication links, including terminal voltage fluctuations and bit error rate of the electrical contact link, signal strength, retransmission count, and frame loss rate of the wireless communication link, and optical power attenuation and link obstruction status of the optical communication link. Simultaneously, the robot controller obtains current operating environment interference data from the welding power controller and environmental detection module, determines that the main interference type is arc interference, and accordingly reduces the interference correction coefficient corresponding to the wireless communication link.

[0089] In this implementation, the robot controller calculates the basic reliability value based on the quality indicators of each link and obtains the medium reliability parameters of each heterogeneous communication link using an interference correction coefficient. Before the welding operation begins, the medium reliability parameters of the electrical contact link, wireless communication link, and optical communication link are 0.86, 0.72, and 0.91, respectively. After the welding arc is generated, the wireless communication link is interfered with, and its medium reliability parameter drops to 0.48, while the electrical contact link and optical communication link remain at 0.84 and 0.89, respectively. Based on this, the system determines the optical communication link as the primary bearer link, the electrical contact link as the backup bearer link, and reduces the proportion of control command flow and safety feedback flow carried by the wireless communication link.

[0090] To verify the effectiveness of the proposed solution, a rapid-change communication test platform for robotic welding loads was built, and the proposed method was compared with a fixed-link allocation method. Three typical interference conditions were set up during the test: no significant interference, welding arc interference, and end-effector vibration interference. In each condition, 100 weld seam tracking actions were performed continuously. In the fixed-link allocation method, control command streams and safety feedback streams are transmitted via electrical contact links, visual perception streams are transmitted via wireless communication links, and optical communication links are used only as backup links. In the proposed method, communication data streams are dynamically allocated according to medium reliability parameters and error suppression contribution, and cross-link redundant transmission is performed for critical data streams.

[0091] Test results show that, under conditions without significant interference, both the proposed method and the fixed link allocation method can achieve fast load switching communication control. The average control data confirmation delay of the proposed method is 8.6 ms, while that of the fixed link allocation method is 9.1 ms, with little difference between the two. Under welding arc interference conditions, the fixed link allocation method results in an increased frame loss rate in the wireless communication link, increased delays in some sensing data and auxiliary feedback data, and an average trajectory error in the end-effector normal direction of 0.82 mm. The proposed method can reduce the proportion of critical feedback data carried by the wireless communication link and transfer the welding torch attitude feedback stream and welding current status stream to a combination of optical communication link and electrical contact link for transmission. The average trajectory error in the end-effector normal direction is reduced to 0.46 mm, and the number of control confirmation anomalies is reduced from 11 out of every 100 actions to 3.

[0092] Under end-effector vibration interference conditions, the fixed link allocation method experiences increased short-term bit errors and retransmissions in the electrical contact links, occasional confirmation delays in the safety feedback stream, and triggers 9 out of every 100 end-effector actions to pause or slow down. This application's method, upon detecting a decline in the real-time communication quality of the electrical contact links, reduces the communication resource allocation weight corresponding to that link and transfers some critical status confirmation data to the optical communication link for redundant transmission, reducing the number of action pauses or slowdowns to 3 and increasing the pass rate of critical control data integrity verification from 96.2% to 99.1%. Based on the combined test results of the three operating conditions, this application's solution can dynamically adjust communication resource allocation according to the reliability of heterogeneous links, environmental interference, and the direction of end-effector error amplification, improving the stability of the robot's fast payload change communication process and the reliability of critical data transmission, while reducing the impact of communication anomalies on end-effector operation accuracy.

[0093] According to another embodiment, a dynamic allocation system for communication resources for robot quick-change payloads is provided. Figure 4 A schematic block diagram of a robot fast-load-changing communication resource dynamic allocation system is shown according to one embodiment. Figure 4 As shown, the system includes: The link status acquisition module 401 is used to acquire heterogeneous communication link status data after the target quick-change load is connected to the robot quick-change interface. The heterogeneous communication links include electrical contact links, wireless communication links and optical communication links.

[0094] The media reliability generation module 402 is used to generate media reliability parameters corresponding to each heterogeneous communication link based on the heterogeneous communication link status data and the current operating environment interference data.

[0095] The error amplification direction determination module 403 is used to acquire the current joint state of the robot, the end effector posture, the mass distribution state of the target quick-change load and the target operation trajectory, and determine at least one end effector error amplification direction under the current configuration of the robot.

[0096] The error suppression contribution determination module 404 is used to identify multiple communication data streams corresponding to the target fast-switch load and determine the error suppression contribution of each communication data stream to the end error amplification direction.

[0097] The resource weight generation module 405 is used to generate communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameters and the error suppression contribution.

[0098] The dynamic allocation module 406 is used to allocate each communication data stream to the corresponding heterogeneous communication link according to the communication resource allocation weight, and to perform cross-link redundant transmission or fragmented transmission on the communication data stream whose error suppression contribution meets the preset conditions.

[0099] As one possible implementation, when the media reliability generation module 402 generates media reliability parameters corresponding to each heterogeneous communication link based on the heterogeneous communication link status data and the current operating environment interference data, it includes: extracting or calculating link quality indicators corresponding to electrical contact links, wireless communication links, and optical communication links based on the heterogeneous communication link status data, wherein the link quality indicators include at least one of bit error rate, frame loss rate, signal strength, retransmission count, optical power attenuation, and terminal voltage fluctuation; determining the basic reliability value corresponding to each heterogeneous communication link based on the link quality indicators; determining the current main interference type from the current operating environment interference data, wherein the current main interference type includes arc interference, metal obstruction, dust obstruction, or end vibration; determining the interference correction coefficient corresponding to each heterogeneous communication link based on the current main interference type, wherein arc interference corresponds to the interference correction coefficient of the wireless communication link, dust obstruction corresponds to the interference correction coefficient of the optical communication link, and end vibration corresponds to the interference correction coefficient of the electrical contact link; and correcting the basic reliability value of the corresponding heterogeneous communication link using the interference correction coefficient to obtain the media reliability parameters corresponding to each heterogeneous communication link.

[0100] As one possible implementation, after generating the media reliability parameters corresponding to each heterogeneous communication link, the media reliability generation module 402 further includes: sorting the electrical contact link, wireless communication link, and optical communication link in descending order of media reliability parameters; determining the heterogeneous communication link with the highest media reliability parameter as the primary bearer link, and determining the heterogeneous communication link with the second highest media reliability parameter as the backup bearer link; and forming a link combination for cross-link redundant transmission or fragmented transmission based on the primary bearer link and the backup bearer link.

[0101] As one possible implementation, when determining at least one end-effector error amplification direction under the current robot configuration, the error amplification direction determination module 403 includes: constructing an error propagation matrix corresponding to the current robot configuration based on the current joint state and end-effector posture; determining the load centroid offset direction and eccentric moment direction based on the mass distribution state of the target quick-change load; mapping the motion direction, load centroid offset direction, and eccentric moment direction corresponding to the target operation trajectory to the error propagation matrix to generate error propagation gains corresponding to different end-effector directions; determining whether there is an end-effector direction whose error propagation gain satisfies a preset amplification condition; if so, determining the end-effector direction that satisfies the preset amplification condition as the end-effector error amplification direction; if not, selecting at least one end-effector direction from different end-effector directions as the end-effector error amplification direction in descending order of error propagation gain.

[0102] As one possible implementation, the error suppression contribution determination module 404, when identifying multiple communication data streams corresponding to the target quick-change load and determining the error suppression contribution of each communication data stream to the end-effector error amplification direction, includes: for each communication data stream, determining the number of times the communication data stream is invoked by the robot controller within a preset control cycle; reading the end-effector position correction, attitude correction, or contact force correction amount generated after the communication data stream is invoked; projecting the end-effector position correction, attitude correction, or contact force correction amount onto the end-effector error amplification direction to obtain the cumulative direction correction amount; when the communication data stream experiences delay, frame loss, or verification failure within the preset control cycle, statistically analyzing the direction error growth amount generated along the end-effector error amplification direction; and calculating the error suppression contribution corresponding to the communication data stream based on the number of invocations, the cumulative direction correction amount, and the direction error growth amount.

[0103] As one possible implementation, the resource weight generation module 405 generates communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameters and the error suppression contribution. This includes: determining the basic weight of each communication data stream based on the error suppression contribution; multiplying the basic weight of each communication data stream by the medium reliability parameters corresponding to the electrical contact link, wireless communication link, and optical communication link, respectively, to obtain the candidate allocation value of the communication data stream on each heterogeneous communication link; and normalizing the multiple candidate allocation values ​​corresponding to the communication data stream to obtain the communication resource allocation weight of the communication data stream on different heterogeneous communication links.

[0104] As one possible implementation, when the dynamic allocation module 406 performs cross-link redundant transmission or fragmented transmission on communication data streams whose error suppression contribution meets preset conditions, it includes: dividing the communication data streams whose error suppression contribution meets preset conditions into a main control segment, a verification segment, and a status confirmation segment; allocating the main control segment to a heterogeneous communication link with the highest medium reliability parameter; allocating the verification segment and the status confirmation segment to heterogeneous communication links different from the main control segment; and performing integrity verification and action consistency confirmation on the main control segment at the receiving end based on the verification segment and the status confirmation segment.

[0105] As one possible implementation, after allocating each communication data stream to the corresponding heterogeneous communication link according to the communication resource allocation weight, the dynamic allocation module 406 further includes: collecting the actual end motion error during the operation of the target fast-switch load and the real-time communication quality of each heterogeneous communication link; when the actual end motion error increases in the end error amplification direction, determining the target communication data stream with a higher error suppression contribution; increasing the communication resource allocation weight of the target communication data stream on the heterogeneous communication link with a higher medium reliability parameter; and reducing the communication resource allocation weight corresponding to the heterogeneous communication link when the real-time communication quality of a certain heterogeneous communication link is lower than a preset communication quality threshold.

[0106] As one possible implementation, when the dynamic allocation module 406 performs cross-link redundant transmission or fragmented transmission on communication data streams whose error suppression contribution meets preset conditions, it includes: acquiring a link combination formed by a primary bearer link and a backup bearer link; when the communication data stream to be transmitted is a control command stream or a security feedback stream, sending the primary data frame in the communication data stream through the primary bearer link and sending the corresponding verification data frame or acknowledgment data frame through the backup bearer link; when the communication data stream to be transmitted is a sensing data stream or a diagnostic data stream, splitting the communication data stream into multiple data fragments according to the communication resource allocation weights corresponding to the primary bearer link and the backup bearer link, and sending them respectively through the primary bearer link and the backup bearer link; and at the receiving end, performing integrity verification on the received communication data stream based on the verification data frame, acknowledgment data frame, or multiple data fragments.

[0107] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for dynamically allocating communication resources for robot fast payload switching, characterized in that, include: Acquire the heterogeneous communication link status data after the target quick-change load is connected to the robot quick-change interface. The heterogeneous communication link includes an electrical contact link, a wireless communication link, and an optical communication link. Based on the heterogeneous communication link status data and the current operating environment interference data, generate the medium reliability parameters corresponding to each heterogeneous communication link; Acquire the robot’s current joint state, end-effector posture, mass distribution of the target fast-change load, and target operation trajectory, and determine at least one end-effector error amplification direction under the robot’s current configuration; Identify multiple communication data streams corresponding to the target fast-switch load, and determine the contribution of each communication data stream to error suppression in the end error amplification direction; Based on the medium reliability parameters and the error suppression contribution, the communication resource allocation weights of each communication data stream on different heterogeneous communication links are generated. Based on the communication resource allocation weight, each communication data stream is allocated to the corresponding heterogeneous communication link, and cross-link redundant transmission or fragmented transmission is performed on the communication data stream whose error suppression contribution meets the preset conditions.

2. The method according to claim 1, characterized in that, The step of generating medium reliability parameters for each heterogeneous communication link based on the heterogeneous communication link status data and current operating environment interference data includes: Based on the heterogeneous communication link status data, link quality indicators corresponding to electrical contact links, wireless communication links and optical communication links are extracted or calculated respectively. The link quality indicators include at least one of bit error rate, frame loss rate, signal strength, retransmission count, optical power attenuation, and terminal voltage fluctuation. Determine the basic reliability value corresponding to each heterogeneous communication link based on the link quality index; The current main interference type is determined from the current working environment interference data. The current main interference type includes arc interference, metal obstruction, dust obstruction, or end vibration. Based on the current main interference types, the interference correction coefficients corresponding to each heterogeneous communication link are determined, wherein electric arc interference corresponds to the interference correction coefficient of the wireless communication link, dust obstruction corresponds to the interference correction coefficient of the optical communication link, and end vibration corresponds to the interference correction coefficient of the electrical contact link. The basic reliability value of the corresponding heterogeneous communication link is corrected by the interference correction coefficient to obtain the medium reliability parameter corresponding to each heterogeneous communication link.

3. The method according to claim 2, characterized in that, After generating the medium reliability parameters corresponding to each heterogeneous communication link, the method further includes: The electrical contact links, wireless communication links, and optical communication links are sorted in descending order of the media reliability parameters. The heterogeneous communication link with the highest media reliability parameter is designated as the primary bearer link, and the heterogeneous communication link with the second highest media reliability parameter is designated as the backup bearer link. The link combination is formed when cross-link redundant transmission or fragmented transmission is achieved based on the primary bearer link and the backup bearer link.

4. The method according to claim 1, characterized in that, Determining at least one end-effector error amplification direction under the current robot configuration includes: Construct the error propagation matrix corresponding to the current robot configuration based on the current joint state and end effector posture; The direction of load centroid offset and the direction of eccentric moment are determined based on the mass distribution of the target fast-change load. The motion direction, load centroid offset direction and eccentric moment direction corresponding to the target operation trajectory are mapped to the error propagation matrix to generate error propagation gain corresponding to different end directions; Determine whether there is an error propagation gain that satisfies the preset amplification condition at the end direction; If it exists, the end direction that satisfies the preset amplification condition will be determined as the end error amplification direction; If it does not exist, then at least one end direction is selected from different end directions as the end error amplification direction in descending order of error propagation gain.

5. The method according to claim 1, characterized in that, The process of identifying multiple communication data streams corresponding to the target fast-switch payload and determining the contribution of each communication data stream to error suppression in the direction of end-point error amplification includes: For each communication data stream, determine the number of times the communication data stream is invoked by the robot controller within a preset control cycle; Read the end position correction, attitude correction, or contact force correction that is generated after the communication data stream is invoked; The end position correction, attitude correction, or contact force correction is projected onto the end error amplification direction to obtain the cumulative direction correction. When the communication data stream experiences delay, frame loss, or verification failure within the preset control period, the directional error growth along the terminal error amplification direction is statistically analyzed. The error suppression contribution of the communication data stream is calculated based on the number of calls, the cumulative amount of direction correction, and the amount of direction error growth.

6. The method according to claim 5, characterized in that, The step of generating communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameters and the error suppression contribution includes: The basic weight of each communication data stream is determined based on its error suppression contribution. For each communication data stream, the basic weight of the data stream is multiplied by the medium reliability parameters corresponding to the electrical contact link, wireless communication link, and optical communication link, respectively, to obtain the candidate allocation value of the communication data stream on each heterogeneous communication link; The multiple candidate allocation values ​​corresponding to the communication data stream are normalized to obtain the communication resource allocation weights of the communication data stream on different heterogeneous communication links.

7. The method according to claim 1, characterized in that, The communication data streams whose error suppression contribution meets preset conditions are subjected to cross-link redundant transmission or fragmented transmission, including: The communication data stream whose error suppression contribution meets the preset conditions is divided into the main control segment, the verification segment, and the status confirmation segment. The main control segment is assigned to the heterogeneous communication link with the highest medium reliability parameter; The verification segment and status confirmation segment are assigned to heterogeneous communication links that are different from the main control segment; At the receiving end, the integrity of the main control segment and the consistency of its actions are verified based on the verification segment and the status confirmation segment.

8. The method for dynamic allocation of communication resources for robot fast payload switching according to claim 1, characterized in that, After allocating each communication data stream to the corresponding heterogeneous communication link according to the communication resource allocation weight, the process further includes: The actual motion error at the end of the target fast-change load during operation and the real-time communication quality of each heterogeneous communication link are collected. When the actual motion error of the end increases in the direction of the end error amplification, the target communication data stream with a higher error suppression contribution is determined. Increase the weight of communication resource allocation for the target communication data stream on heterogeneous communication links with high medium reliability parameters; When the real-time communication quality of a heterogeneous communication link is lower than a preset communication quality threshold, the communication resource allocation weight corresponding to that heterogeneous communication link is reduced.

9. The method according to claim 3, characterized in that, The communication data streams whose error suppression contribution meets preset conditions are subjected to cross-link redundant transmission or fragmented transmission, including: Obtain the link combination formed by the primary bearer link and the backup bearer link; When the communication data stream to be transmitted is a control command stream or a security feedback stream, the main data frame in the communication data stream is sent through the main bearer link, and the corresponding verification data frame or confirmation data frame is sent through the backup bearer link. When the communication data stream to be transmitted is a sensing data stream or a diagnostic data stream, the communication data stream is split into multiple data segments according to the communication resource allocation weights corresponding to the main bearer link and the backup bearer link, and sent through the main bearer link and the backup bearer link respectively. At the receiving end, the integrity of the received communication data stream is verified based on the verification data frame, acknowledgment data frame, or multiple data segments.

10. A dynamic allocation system for communication resources in robot fast payload changing, characterized in that, include: The link status acquisition module is used to acquire heterogeneous communication link status data after the target quick-change payload is connected to the robot quick-change interface. The heterogeneous communication links include electrical contact links, wireless communication links, and optical communication links. The media reliability generation module is used to generate media reliability parameters corresponding to each heterogeneous communication link based on the heterogeneous communication link status data and the current operating environment interference data. The error amplification direction determination module is used to acquire the robot's current joint state, end-effector posture, mass distribution of the target fast-change load, and target operation trajectory, and to determine at least one end-effector error amplification direction under the robot's current configuration. The error suppression contribution determination module is used to identify multiple communication data streams corresponding to the target fast-switch load and determine the error suppression contribution of each communication data stream to the end error amplification direction. The resource weight generation module is used to generate communication resource allocation weights for each communication data stream on different heterogeneous communication links based on the medium reliability parameters and the error suppression contribution. The dynamic allocation module is used to allocate each communication data stream to the corresponding heterogeneous communication link according to the communication resource allocation weight, and to perform cross-link redundant transmission or fragmented transmission on the communication data stream whose error suppression contribution meets the preset conditions.

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