A multi-machine-tool feeding and discharging-oriented industrial robot adaptive transfer system

Abstract

The application belongs to the technical field of industrial automation control, and discloses a kind of industrial robot adaptive transfer systems for multi-machine tool feeding and discharging, including mobile bearing module, multi-source perception data acquisition module, machine tool access parameter generation module, collaborative path trajectory generation module and safety obstacle avoidance control module.AGV car carries industrial robot and moves between multiple machine tools, and the multi-source perception data acquisition module obtains target machine tool space data, field obstacle data, AGV car pose data and material pose data.The machine tool access parameter generation module generates the parking parameters, operation reference parameters and avoidance boundary parameters corresponding to the target machine tool.The collaborative path trajectory generation module generates the AGV car moving path and the industrial robot clamping transfer trajectory.The safety obstacle avoidance control module corrects the moving path and clamping transfer trajectory, thereby improving the machine tool adaptation capability, transfer flexibility and operation safety in the multi-machine tool feeding and discharging scene.

Description

Technical Field

[0001] This invention relates to the field of industrial automation control technology, and in particular to an adaptive transfer system for industrial robots for loading and unloading multiple machine tools. Background Technology

[0002] With the development of automated production lines, industrial robots have been widely used in scenarios such as machine tool loading and unloading, material handling, and process connection. In existing machine tool loading and unloading systems, industrial robots are usually fixedly set up near a single machine tool or a fixed workstation, and the picking, transferring, and unloading motion paths are determined through pre-teaching to complete the loading and unloading operations of the corresponding machine tool.

[0003] However, in machining sites with multiple machine tools, the layout of different machine tools, the location of loading and unloading ports, the placement of materials, and the surrounding passage space often vary. When the same industrial robot needs to serve multiple machine tools, or when machine tools are added or replaced on-site, it is usually necessary to manually redetermine the docking position between the robot and the machine tools, and to teach and debug the transfer path and motion trajectory item by item. This method involves a large amount of debugging work and has poor adaptability to changes in site layout and flexible loading and unloading scenarios with multiple machine tools.

[0004] Therefore, improving the machine tool adaptability and transfer control flexibility of industrial robots in multi-machine tool loading and unloading scenarios is a technical problem that needs to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive transfer system for industrial robots that is designed for loading and unloading multiple machine tools. This system has the advantages of improving the machine tool adaptability and transfer control flexibility of industrial robots in multi-machine tool loading and unloading scenarios.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: An adaptive transfer system for industrial robots for loading and unloading multiple machine tools includes a mobile carrying module, a multi-source perception data acquisition module, a machine tool access parameter generation module, a cooperative path trajectory generation module, and a safety obstacle avoidance control module. The mobile carrying module includes an AGV trolley and an industrial robot mounted on the AGV trolley. The AGV trolley is used to carry the industrial robot to move between multiple machine tools, and the industrial robot is used to grip, transfer or place materials. The multi-source sensing data acquisition module is used to acquire target machine tool space data, on-site obstacle data, AGV trolley pose data, and material pose data. The machine tool access parameter generation module is used to generate machine tool access parameters corresponding to the target machine tool based on the target machine tool space data. The machine tool access parameters include the target machine tool's docking parameters, operating reference parameters, and avoidance boundary parameters. The collaborative path trajectory generation module is used to generate a movement path for the AGV to move from its current position to the corresponding docking area of ​​the target machine tool based on the machine tool access parameters, the AGV's pose data and the material's pose data, and to generate a clamping and transfer trajectory for the industrial robot to perform material gripping, transfer or placement at the target machine tool. The safety obstacle avoidance control module is used to correct the movement path and the clamping and transfer trajectory based on the obstacle data on site, and to control the AGV and the industrial robot to perform the material transfer task corresponding to the target machine tool according to the corrected movement path and clamping and transfer trajectory.

[0007] Furthermore, the machine tool access parameter generation module is configured with a machine tool access status triggering strategy; The machine tool access status triggering strategy is used to determine whether the target machine tool is in the first access state or the position change state based on the target machine tool space data, and when the target machine tool is in the first access state or the position change state, the machine tool access parameter generation module is triggered to extract access features from the target machine tool space data. The access features include the spatial location of the loading and unloading ports of the target machine tool, the permitted docking area, the robot operation reference point, and the avoidance area around the machine tool; The machine tool access parameter generation module is used to determine the operation reference parameters of the target machine tool based on the spatial position of the loading and unloading ports and the robot operation reference point, determine the docking parameters of the target machine tool based on the allowed docking area, and determine the avoidance boundary parameters of the target machine tool based on the avoidance area around the machine tool, so as to generate the machine tool access parameters corresponding to the target machine tool.

[0008] Furthermore, the collaborative path trajectory generation module is configured with a docking operation collaborative mapping strategy; The docking operation collaborative mapping strategy is used to determine the target docking pose of the AGV vehicle corresponding to the target machine tool based on the docking parameters in the machine tool access parameters, and to determine the vehicle body docking reference of the AGV vehicle relative to the target machine tool based on the target docking pose. The docking operation collaborative mapping strategy is also used to establish a coordinate mapping relationship between the AGV vehicle's body coordinate system, the industrial robot's robot base coordinate system, and the target machine tool's machine tool station coordinate system based on the vehicle docking reference, the industrial robot's preset installation reference on the AGV vehicle, the operation reference parameters in the machine tool access parameters, and the loading and unloading port spatial position of the target machine tool. The collaborative path trajectory generation module is used to generate a movement path for the AGV to move from its current position to the corresponding docking area of ​​the target machine tool based on the target docking pose, and to generate a clamping and transfer trajectory for the industrial robot to perform material gripping, transfer or placement at the target machine tool based on the coordinate mapping relationship, so that the movement path and the clamping and transfer trajectory are matched together with the docking position and loading / unloading position of the target machine tool.

[0009] Furthermore, the collaborative path trajectory generation module is also configured with a docking pose deviation compensation strategy; The parking posture deviation compensation strategy is used to determine the actual parking posture of the AGV based on the AGV posture data after the AGV reaches the parking area corresponding to the target parking posture, and compare the actual parking posture with the target parking posture to obtain the parking deviation including position deviation and posture deviation. The docking posture deviation compensation strategy is also used to correct the docking reference of the AGV relative to the target machine tool according to the docking deviation, and update the coordinate mapping relationship between the AGV body coordinate system, the robot base coordinate system of the industrial robot and the machine tool station coordinate system of the target machine tool based on the corrected docking reference. The collaborative path trajectory generation module is used to perform position and attitude compensation on the approach, pick-up and drop-off sections of the corresponding target machine tool loading and unloading ports in the clamping and transfer trajectory according to the updated coordinate mapping relationship, so as to generate a compensated clamping and transfer trajectory.

[0010] Furthermore, the safety obstacle avoidance control module is configured with a dynamic safety envelope construction strategy; The dynamic safety envelope construction strategy is used to determine the driving state of the AGV, the working state of the industrial robot, and the transfer posture of the clamped material according to the current material transfer task, and to obtain the outer contour of the AGV, the current posture of the industrial robot, the range of motion of the industrial robot, the size of the gripper, and the size of the clamped material. The dynamic safety envelope construction strategy is also used to generate a vehicle safety area based on the vehicle outline and driving state of the AGV, generate a robotic arm motion safety area based on the current posture, range of motion and working state of the industrial robot, and generate an end-grip safety area based on the gripper size, the size of the gripped material and the transfer posture of the gripped material. The safety obstacle avoidance control module is used to combine the vehicle body safety area, the robotic arm movement safety area and the end clamping safety area according to the current material transfer task execution stage to generate a dynamic safety envelope under the corresponding execution stage, and to perform at least one of spatial overlap judgment or safety distance judgment between the dynamic safety envelope and the on-site obstacle data.

[0011] Furthermore, the safety obstacle avoidance control module is also configured with a risk area graded obstacle avoidance strategy; The risk area hierarchical obstacle avoidance strategy is used to determine the corresponding obstacle avoidance correction object according to the area to which the risk location belongs when there is a risk of spatial overlap between the dynamic safety envelope and the on-site obstacle data or when the safety distance is insufficient. When the risky location is within the AGV's driving area, the safety obstacle avoidance control module performs deceleration correction, detour correction, or pause correction on the movement path; When the risk location is located in the industrial robot's operating area, the safety obstacle avoidance control module performs pause correction, backtracking correction, or partial replanning correction on the clamping and transfer trajectory; When the risky location simultaneously affects both the AGV's driving area and the industrial robot's working area, the safety obstacle avoidance control module first controls the AGV to stop, and then controls the industrial robot to maintain its movement or perform a reversal action based on the industrial robot's current posture, in order to perform joint obstacle avoidance correction.

[0012] Further configuration includes a task recording and adaptive update module, which is configured with a dedicated transit trajectory update strategy. This dedicated transit trajectory update strategy includes: After the AGV and the industrial robot complete the material transfer task corresponding to the target machine tool, record the machine tool access parameters, the actual parking posture of the AGV, the clamping and transfer trajectory, the obstacle avoidance correction result, and the material transfer task execution result. The actual parking position of the AGV is compared with the parking parameters in the machine tool access parameters to obtain the parking correction information corresponding to the target machine tool, and the parking parameters corresponding to the target machine tool are updated according to the parking correction information. Based on the obstacle avoidance correction result, determine the trajectory segment in the clamping and transfer trajectory where obstacle avoidance correction occurred, and determine whether the trajectory segment meets the material clamping, transfer or placement requirements based on the material transfer task execution result; If the trajectory segment meets the requirements for material gripping, transfer, or placement, the obstacle avoidance correction result is written into the dedicated transfer trajectory data corresponding to the target machine tool. If the trajectory segment does not meet the requirements for material clamping, transfer, or placement, the trajectory segment in the clamping and transfer trajectory that has not undergone obstacle avoidance correction is retained, and the trajectory segment that has undergone obstacle avoidance correction is marked as a trajectory segment to be replanned, so as to serve as an obstacle avoidance constraint when the clamping and transfer trajectory is generated again.

[0013] Furthermore, the task recording and adaptive update module is also configured with a historical trajectory recall correction strategy, which includes: When a material transfer task corresponding to the same target machine tool is received again, the historical dedicated transfer trajectory corresponding to the target machine tool and the machine tool access parameters corresponding to the historical dedicated transfer trajectory are retrieved from the dedicated transfer trajectory data according to the machine tool number of the target machine tool. The current machine tool access parameters are generated based on the target machine tool space data currently acquired, and the consistency of the current machine tool access parameters with the machine tool access parameters corresponding to the historical dedicated transfer trajectory is verified. If the current machine tool access parameters are consistent with the machine tool access parameters corresponding to the historical dedicated transfer trajectory, then the historical dedicated transfer trajectory is used as the basic transfer trajectory for the current material transfer task. If the current machine tool access parameters are inconsistent with the machine tool access parameters corresponding to the historical dedicated transfer trajectory, the historical dedicated transfer trajectory is corrected based on the currently acquired target machine tool space data, AGV trolley pose data and on-site obstacle data to obtain the corrected transfer trajectory corresponding to the current material transfer task. The basic transfer trajectory or the modified transfer trajectory is output as a trajectory generation constraint to the collaborative path trajectory generation module to correct the movement path and clamping transfer trajectory corresponding to the current material transfer task.

[0014] Further features include a machine tool operation permit interlock module; The machine tool operation permission interlock module is used to obtain the machine tool operating status of the target machine tool, which includes processing status, machine tool door status, fixture status, workpiece arrival status, and machine tool alarm status. The machine tool operation permission interlocking module is also used to determine the set of allowed loading and unloading states corresponding to the target machine tool according to the preset machine tool loading and unloading interlocking rules and the machine tool access parameters, and to match the machine tool operation state with the set of allowed loading and unloading states; If the machine tool operating status meets the set of allowed loading and unloading statuses, the machine tool operation permission interlocking module outputs a loading and unloading permission signal to the collaborative path trajectory generation module, so that the industrial robot executes the clamping and transfer trajectory corresponding to the target machine tool. If the machine tool's operating status does not meet the set of allowed loading and unloading statuses, the machine tool operation permission interlock module restricts the industrial robot from entering the loading and unloading operation area of ​​the target machine tool and generates a waiting instruction, a return buffer instruction, or a target machine tool switching instruction.

[0015] Further configurations include a multi-machine tool task queue scheduling module; The multi-machine tool task queue scheduling module is used to obtain material transfer requests corresponding to multiple candidate machine tools. The material transfer requests include at least one of loading requests, unloading requests, and process connection requests. The multi-machine tool task queue scheduling module is also used to obtain the machine tool operating status corresponding to each candidate machine tool. The machine tool operating status includes the processing status of the candidate machine tool, the machine tool door status, the fixture status, the workpiece arrival status, and the machine tool alarm status. The multi-machine tool task queue scheduling module is also used to generate task priorities for each candidate machine tool based on the waiting time, processing cycle time, material transfer request type, the moving distance between the current position of the AGV and the candidate machine tool, and the machine tool operating status corresponding to the candidate machine tool. The multi-machine tool task queue scheduling module is also used to determine the path reachability status of the corresponding parking area of ​​each candidate machine tool based on the on-site obstacle data and the AGV trolley pose data. The multi-machine tool task queue scheduling module is also used to determine the current target machine tool from multiple candidate machine tools based on the task priority and the path reachability status; When the machine tool operating status of the current target machine tool does not meet the preset loading and unloading execution conditions, or when the movement path corresponding to the current target machine tool is unreachable, the multi-machine tool task queue scheduling module will adjust the current target machine tool to a suspended task and re-determine a new current target machine tool from the other candidate machine tools. The preset loading and unloading conditions include at least the following: the current target machine tool is in a non-processing state, the machine tool door is in the open position, the fixture is in the released state, the workpiece is in the position, and the current target machine tool is not in an alarm state.

[0016] In summary, the present invention has the following beneficial effects: This invention uses AGVs to carry industrial robots that move between multiple machine tools. Based on the spatial data of the target machine tool, it generates corresponding docking parameters, operating reference parameters, and avoidance boundary parameters. This enables the industrial robot to automatically form the corresponding docking basis for different machine tools, reducing the need for manual determination of docking positions, item-by-item teaching, and repeated debugging in existing multi-machine tool loading and unloading scenarios. It also improves the system's adaptability to new machine tools, moving machine tools, and different types of machine tools.

[0017] This invention uses a collaborative path trajectory generation module to associate and generate the movement path of the AGV and the clamping and transfer trajectory of the industrial robot. When there is a deviation between the actual parking posture of the AGV and the target parking posture, the coordinate mapping relationship and the clamping and transfer trajectory are compensated. This allows the industrial robot to still align with the loading and unloading position of the target machine tool even when there is a parking error on the moving base, thereby improving the transfer accuracy and control flexibility in the flexible loading and unloading process of multiple machine tools.

[0018] This invention uses a safety obstacle avoidance control module to form a dynamic safety envelope based on the AGV, industrial robot, gripper, and gripped material. Combined with a risk area classification obstacle avoidance strategy, the system corrects the movement path and gripping and transfer trajectory, enabling the system to adapt to changes in the on-site environment of personnel, equipment, or temporary obstacles. This reduces the risk of collisions between the AGV, industrial robot, and personnel or equipment, and improves the safety and continuity of multi-machine loading and unloading operations.

[0019] This invention records the machine tool access parameters, clamping and transfer trajectories, obstacle avoidance correction results, and task execution results of different target machine tools through a task recording and adaptive update module. When the same target machine tool performs a material transfer task again, the historical dedicated transfer trajectory is called and corrected, reducing the generation of repeated paths and repeated debugging work. At the same time, combined with the machine tool operation permission interlocking module and the multi-machine tool task queue scheduling module, the loading and unloading permission status of machine tools and the task priority of multiple candidate machine tools are judged, which improves the task scheduling efficiency and operational reliability when one industrial robot serves multiple machine tools. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the system architecture of an embodiment. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings. Example

[0022] like Figure 1 As shown, this embodiment provides an adaptive transfer system for industrial robots used in multi-machine tool loading and unloading, applicable to processing sites with multiple machine tools. The multiple machine tools can be arranged at different processing stations, each with a corresponding loading and unloading position. The materials to be transferred can be workpieces to be processed, already processed workpieces, or intermediate materials that need to be transferred between different processes.

[0023] In this embodiment, the industrial robot is mounted on an AGV (Automated Guided Vehicle), which carries the industrial robot to move between multiple machine tools. When a target machine tool requires material transfer, the system determines the machine tool access parameters corresponding to the target machine tool based on the target machine tool's spatial data, AGV's pose data, material's pose data, and on-site obstacle data. It then generates the AGV's movement path and the industrial robot's gripping and transfer trajectory, allowing the AGV to move to the target machine tool's corresponding parking area, where the industrial robot performs material gripping, transfer, or placement.

[0024] The system comprises a mobile support module, a multi-source sensing data acquisition module, a machine tool access parameter generation module, a collaborative path trajectory generation module, and a safety obstacle avoidance control module. The mobile support module forms the support base for the industrial robot to move between multiple machine tools; the multi-source sensing data acquisition module acquires the field data required for system operation; the machine tool access parameter generation module generates the docking parameters, operating reference parameters, and avoidance boundary parameters corresponding to the target machine tool; the collaborative path trajectory generation module generates the AGV's movement path and the industrial robot's gripping and transport trajectory; and the safety obstacle avoidance control module corrects the movement path and gripping and transport trajectory for obstacle avoidance.

[0025] In a further embodiment, the system also includes a task recording and adaptive update module, a machine tool operation permit interlocking module, and a multi-machine tool task queue scheduling module. The task recording and adaptive update module is used to record the machine tool access parameters, actual docking posture, clamping and transfer trajectory, and task execution results corresponding to the target machine tool, and form dedicated transfer trajectory data corresponding to the target machine tool; the machine tool operation permit interlocking module is used to verify whether the target machine tool meets the loading and unloading conditions before the industrial robot performs loading and unloading actions; the multi-machine tool task queue scheduling module is used to determine the current target machine tool when multiple candidate machine tools have material transfer requests.

[0026] In this embodiment, the mobile carrier module includes an AGV (Automated Guided Vehicle) and an industrial robot mounted on the AGV. The AGV serves as a mobile carrier platform for the industrial robot, used to move between multiple machine tools and transport the industrial robot to the docking area corresponding to the target machine tool. The industrial robot is used to grip, transfer, or place materials after the AGV arrives at the target machine tool.

[0027] AGVs can achieve autonomous movement using laser navigation, visual navigation, QR code navigation, or a combination of these methods. Each AGV has a vehicle coordinate system, which represents its position and attitude in the environment and serves as the basis for subsequent path generation, docking posture determination, and coordinate mapping. AGVs can also be configured with drive mechanisms, steering mechanisms, power supply components, and control units to enable movement, positioning, docking, and operational status feedback.

[0028] The industrial robot is mounted on the carrying area of ​​the AGV (Automated Guided Vehicle). The AGV has a robot mounting base, through which the industrial robot is fixed. The robot mounting base has a preset installation datum relative to the AGV's body coordinate system. This preset datum determines the relative relationship between the industrial robot's base coordinate system and the AGV's body coordinate system. By setting the preset installation datum, a unified coordinate transformation basis can be provided for generating the industrial robot's gripping and transfer trajectory when the AGV is docked at different target machine tools.

[0029] The end effector of an industrial robot is equipped with a gripper used to grasp materials to be transferred. Depending on the material shape and processing scenario, the gripper can be a parallel jaw, a vacuum suction gripper, a magnetic gripper, or a composite gripper. Based on the gripping and transfer trajectory output by the collaborative path trajectory generation module, the industrial robot controls the gripper to perform actions such as approaching the material, grasping the material, transferring the material, placing the material, and exiting the loading / unloading area of ​​the target machine tool.

[0030] In this embodiment, the AGV (Automated Guided Vehicle) mainly undertakes large-scale movement tasks between multiple machine tools, while the industrial robot mainly undertakes precise loading and unloading tasks at the target machine tool. The two coordinate through the vehicle coordinate system, the robot base coordinate system, and the subsequently established machine tool workstation coordinate system, enabling the mobile support module to not only facilitate the movement of the industrial robot between different machine tools but also provide the structural foundation for the industrial robot's precise loading and unloading operations at the target machine tool.

[0031] In this embodiment, the multi-source sensing data acquisition module is set on the AGV and / or industrial robot to acquire target machine tool space data, on-site obstacle data, AGV pose data and material pose data, providing a data foundation for subsequent machine tool access parameter generation, movement path generation, clamping and transfer trajectory generation and safety obstacle avoidance control.

[0032] In one embodiment, the multi-source sensing data acquisition module includes at least one of a vision sensor, a lidar, a depth camera, and a safety scanning sensor. The vision sensor is used to acquire image data of the target machine tool's appearance, loading / unloading port area, material placement area, and clamping reference area; the lidar is used to acquire distance data, obstacle contour data, and passage space data around the AGV; the depth camera is used to acquire depth information of the target machine tool's loading / unloading port, material surface, and clamping area; and the safety scanning sensor is used to detect whether personnel, mobile devices, or temporary obstacles have entered the AGV's driving area or the industrial robot's operating area.

[0033] The target machine tool spatial data includes the target machine tool's location, loading and unloading port locations, permitted docking areas, machine tool boundaries, and surrounding avoidance areas. On-site obstacle data includes personnel locations, equipment boundaries, temporary obstacle locations, and the status of passageways. AGV cart pose data includes the AGV cart's location, orientation, and docking posture in the on-site environment. Material pose data includes the material's location, orientation, and clamping posture.

[0034] The multi-source perception data acquisition module outputs the above data to the machine tool access parameter generation module, the collaborative path trajectory generation module, and the safety obstacle avoidance control module. Specifically, the target machine tool spatial data is used to generate the corresponding machine tool access parameters; the AGV cart pose data and material pose data are used to generate the AGV cart's movement path and the industrial robot's gripping and transfer trajectory; and the on-site obstacle data is used to determine whether there is a collision risk on the movement path and gripping and transfer trajectory, and serves as the basis for the safety obstacle avoidance control module to make obstacle avoidance corrections.

[0035] In this embodiment, the machine tool access parameter generation module is used to generate machine tool access parameters corresponding to the target machine tool based on the target machine tool spatial data output by the multi-source sensing data acquisition module. The machine tool access parameters include the target machine tool's docking parameters, operating reference parameters, and obstacle avoidance boundary parameters, which provide a parameter basis for AGV docking, industrial robot loading and unloading operations, and subsequent obstacle avoidance control.

[0036] The machine tool access parameter generation module is configured with a machine tool access status triggering strategy. This strategy determines whether the target machine tool is in its first access state or a position change state. If the system does not store historical machine tool access parameters corresponding to the target machine tool, or if the currently identified target machine tool number does not exist in the system's recorded machine tool data, the target machine tool is determined to be in its first access state. If the system has stored historical machine tool access parameters corresponding to the target machine tool, but there is a positional difference, attitude difference, or loading / unloading port space difference between the currently acquired target machine tool spatial data and the historical target machine tool spatial data that exceeds a preset range, the target machine tool is determined to be in a position change state.

[0037] When the target machine tool is in its initial connection state or a position change state, the machine tool connection parameter generation module extracts connection features from the target machine tool's spatial data. These connection features include the spatial positions of the target machine tool's loading and unloading ports, permitted docking areas, robot operation reference points, and the machine tool's surrounding avoidance areas. Specifically, the loading and unloading port spatial positions characterize the spatial position of the industrial robot entering or approaching the target machine tool's loading and unloading areas; the permitted docking areas characterize the areas where the AGV can dock and meet the industrial robot's operating range requirements; the robot operation reference points characterize the spatial reference points when the industrial robot performs gripping, placing, or transferring actions; and the machine tool's surrounding avoidance areas characterize the areas around the target machine tool where AGVs or industrial robots are not allowed to enter.

[0038] When generating machine tool access parameters, the machine tool access parameter generation module determines the target machine tool's operation reference parameters based on the spatial location of the loading and unloading ports and the robot's operation reference point, determines the target machine tool's docking parameters based on the allowed docking area, and determines the target machine tool's avoidance boundary parameters based on the machine tool's surrounding avoidance area. The docking parameters can include the AGV's target docking position and target docking posture; the operation reference parameters can include the reference position, reference posture, and working direction corresponding to the industrial robot's gripping, transferring, or placing actions; the avoidance boundary parameters can include the machine tool's outer contour boundary, the loading and unloading port boundary, the machine tool door's moving area boundary, and the surrounding equipment avoidance boundary.

[0039] With the above settings, the machine tool access parameter generation module can automatically generate machine tool access parameters that match the spatial state of the target machine tool when the target machine tool is first accessed or when the position of the target machine tool changes. This allows the system to provide basic parameters for subsequent movement path generation and clamping and transfer trajectory generation without having to manually teach each machine tool item by item.

[0040] In this embodiment, the collaborative path trajectory generation module is used to generate a movement path for the AGV to move from its current position to the corresponding docking area of ​​the target machine tool based on the machine tool access parameters, AGV trolley pose data and material pose data, and to generate a clamping and transfer trajectory for the industrial robot to perform material gripping, transfer or placement at the target machine tool.

[0041] In one implementation, the collaborative path generation module includes an AGV movement path generation unit and a robot trajectory generation unit. The AGV movement path generation unit generates the movement path of the AGV from its current position to the corresponding docking area of ​​the target machine tool; the robot trajectory generation unit generates the clamping and transfer trajectory for the industrial robot to perform material picking, transferring, or placing after the AGV arrives at the corresponding docking area of ​​the target machine tool. By collaboratively generating the AGV movement path and the industrial robot clamping and transfer trajectory in the same module, the docking position of the AGV can be matched with the reachable working range of the industrial robot.

[0042] The collaborative path trajectory generation module is configured with a docking operation collaborative mapping strategy. This strategy determines the target docking pose of the AGV (Automated Guided Vehicle) relative to the target machine tool based on the docking parameters in the machine tool access parameters, and then determines the AGV's docking reference relative to the target machine tool based on that target docking pose. The target docking pose includes the AGV's target docking position and target docking posture in the field coordinate system, while the docking reference characterizes the relative spatial relationship between the AGV and the target machine tool after docking.

[0043] For ease of description, this embodiment sets the on-site coordinate system as W, the AGV vehicle's body coordinate system as A, the industrial robot's base coordinate system as R, and the target machine tool's workstation coordinate system as M. The preset installation reference for the industrial robot on the AGV is represented as... A T R , which is the pose transformation matrix of the robot base coordinate system R relative to the AGV vehicle body coordinate system A.

[0044] The pose transformation matrix of the target machine tool's station coordinate system relative to the field coordinate system is represented as follows: W T M The pose transformation matrix of the AGV's target parking pose relative to the field coordinate system is represented as follows: .

[0045] After determining the target docking pose of the AGV, the docking operation collaborative mapping strategy establishes a coordinate mapping relationship between the AGV's body coordinate system, the industrial robot's base coordinate system, and the target machine tool's workstation coordinate system based on the vehicle docking reference, the industrial robot's preset installation reference on the AGV, the operating reference parameters in the machine tool access parameters, and the spatial position of the target machine tool's loading and unloading ports. This coordinate mapping relationship can be expressed as:

[0046] in, This represents the coordinate mapping relationship between the robot base coordinate system R and the machine tool station coordinate system M of the target machine tool under the target docking pose; W T M This represents the pose transformation matrix of the machine tool station coordinate system M relative to the field coordinate system W; This represents the pose transformation matrix of the AGV vehicle in the target parking pose, relative to the field coordinate system W. A T R This represents the preset installation reference for the robot base coordinate system R relative to the AGV vehicle body coordinate system A.

[0047] Under the above coordinate mapping relationship, the spatial positions of the target machine tool's loading and unloading ports, the robot's operating reference point, and the material pose data can be uniformly transformed into the robot base coordinate system. Let P be the coordinate of the target machine tool's loading and unloading port spatial position in the machine tool station coordinate system. m Its coordinates, when transformed to the robot base coordinate system, are P. r Then it can be expressed as:

[0048] Among them, P m P represents the coordinates of the loading and unloading ports of the target machine tool in the machine tool station coordinate system M; r This indicates the coordinates of the loading and unloading ports after their spatial positions have been transformed into the robot base coordinate system R. This indicates the reverse transformation relationship from the machine tool station coordinate system to the robot base coordinate system.

[0049] The AGV movement path generation unit generates the movement path of the AGV based on the target docking pose. Let the current position of the AGV be Q0, and the target position corresponding to the target docking pose be Q. t The AGV movement path can then be represented as:

[0050] Among them, L A This represents the movement path of the AGV from its current position to the corresponding docking area of ​​the target machine tool; Q0 represents the current position of the AGV; Q1, Q2, ... represent intermediate path points in the movement path; Q t This indicates the target position corresponding to the target's docking pose.

[0051] The robot trajectory generation unit generates the industrial robot's gripping and transport trajectory based on coordinate mapping relationships and the transformed spatial positions of the loading and unloading ports. The gripping and transport trajectory can include an approach segment, a pick-and-place segment, and an exit segment, represented as follows:

[0052] Among them, L R Represents the gripping and transport trajectory of an industrial robot; R a R represents the set of approach trajectory points of an industrial robot as it approaches a material or loading / unloading port; g R represents the set of material handling trajectory points for an industrial robot to perform a gripping action; p R represents the set of material placement trajectory points for the industrial robot to perform the placement action; e This represents the set of trajectory points for the exit segment when the industrial robot exits the loading and unloading area of ​​the target machine tool.

[0053] In this way, the collaborative path trajectory generation module can unify the target parking posture of the AGV, the preset installation reference of the industrial robot on the AGV, the operation reference parameters of the target machine tool, and the spatial position of the loading and unloading ports into a coordinate mapping relationship. This allows the AGV's movement path and the industrial robot's clamping and transfer trajectory to match the parking and loading / unloading positions of the target machine tool, reducing the amount of manual teaching work caused by differences in the spatial positions of different machine tools.

[0054] In this embodiment, the collaborative path trajectory generation module is also configured with a docking posture deviation compensation strategy. This strategy compensates for the gripping and transfer trajectory based on the AGV's actual docking posture after the AGV reaches the docking area corresponding to the target docking posture, thereby reducing the impact of AGV docking errors on the industrial robot's material handling accuracy.

[0055] Specifically, after the AGV arrives at the docking area corresponding to the target machine tool, the multi-source perception data acquisition module acquires the actual docking pose of the AGV. The actual docking pose includes the actual docking position and actual docking posture of the AGV in the field coordinate system. The collaborative path trajectory generation module compares the actual docking pose with the target docking pose to obtain the docking deviation, which includes position deviation and posture deviation.

[0056] Let the target stopping position of the AGV be (x t y t The target docking attitude angle is θ. t The actual parking position of the AGV is (x a y a The actual docking attitude angle is θ. a The position deviation and attitude deviation are expressed as follows:

[0057]

[0058] Where Δp represents the translational deviation of the actual parking position of the AGV relative to the target parking position, and Δθ represents the angular deviation of the actual parking posture of the AGV relative to the target parking posture.

[0059] After obtaining the docking deviation, the collaborative path trajectory generation module corrects the AGV's docking reference relative to the target machine tool based on the position and attitude deviations. After the docking reference is corrected, the AGV's actual docking pose is used to update the coordinate mapping relationship between the AGV's body coordinate system, the industrial robot's robot base coordinate system, and the target machine tool's workstation coordinate system.

[0060] Let the pose transformation matrix of the target machine tool's station coordinate system relative to the field coordinate system be: W T M The pose transformation matrix of the AGV's actual parking pose corresponding to the vehicle coordinate system relative to the field coordinate system is: The preset installation reference for the robot base coordinate system of the industrial robot relative to the AGV vehicle body coordinate system is: A T R The updated coordinate mapping relationship is then expressed as:

[0061] in, This represents the coordinate mapping relationship between the robot base coordinate system and the machine tool station coordinate system of the target machine tool when the AGV is actually parked.

[0062] After obtaining the updated coordinate mapping, the collaborative path trajectory generation module re-determines the target operation point of the industrial robot in the robot base coordinate system based on the spatial position of the loading and unloading port of the target machine tool, and thus obtains the position compensation amount of the clamping and transfer trajectory. Let the position compensation amount be ΔP. r Then, clamp any trajectory point R in the transfer trajectory. i The compensation result can be expressed as:

[0063] Among them, R i This indicates the trajectory points in the pre-compensation clamping and transfer trajectory. Denotes the compensated trajectory points, ΔP r This represents the compensation amount for the target operation point position obtained based on the updated coordinate mapping relationship.

[0064] Furthermore, the collaborative path trajectory generation module performs position and attitude compensation on the approach, pick-up and drop-off sections of the corresponding target machine tool loading and unloading ports in the clamping and transfer trajectory based on the position compensation amount and attitude deviation, thereby generating the compensated clamping and transfer trajectory.

[0065] In this way, when there is a deviation between the actual parking position of the AGV and the target parking position, the system can correct the parking reference of the vehicle body based on the parking deviation, and further update the coordinate mapping relationship and compensate the clamping and transfer trajectory, so that the industrial robot can still complete the material clamping, transfer or placement operation by aligning with the loading and unloading port of the target machine tool without re-teaching by humans.

[0066] In this embodiment, the safety obstacle avoidance control module is configured with a dynamic safety envelope construction strategy. The dynamic safety envelope construction strategy is used to generate a dynamic safety envelope corresponding to the AGV, industrial robot, gripper, and gripped material based on the current execution stage of the material transfer task.

[0067] Specifically, the dynamic safety envelope construction strategy determines the driving status of the AGV, the operating status of the industrial robot, and the transfer posture of the clamped material based on the current material transfer task, and obtains the outer contour of the AGV, the current posture of the industrial robot, the range of motion of the industrial robot, the size of the gripper, and the size of the clamped material.

[0068] In the k-th execution phase of the current material transfer task, the safety obstacle avoidance control module generates the vehicle body safety area, the robotic arm movement safety area, and the end effector gripping safety area. The vehicle body safety area is determined based on the AGV's external outline and driving status; the robotic arm movement safety area is determined based on the industrial robot's current posture, range of motion, and operating status; and the end effector gripping safety area is determined based on the gripper size, the size of the gripped material, and the material's transfer posture.

[0069] The dynamic safety envelope in the kth execution phase can be represented as:

[0070] Among them, E k E represents the dynamic safety envelope in the k-th execution phase; A (k) represents the vehicle safety zone during the k-th execution phase; E R (k) represents the safe movement area of ​​the robotic arm during the k-th execution phase; E G (k) represents the end-clamping safety region in the k-th execution phase.

[0071] The obstacle avoidance control module performs at least one of the following checks: spatial overlap determination or safe distance determination, based on the dynamic safety envelope and on-site obstacle data. Let the on-site obstacle region in the k-th execution phase be O. k The minimum distance between the dynamic safety envelope and the obstacle region is d(E). k O k The preset safe distance threshold is d. minThe risk assessment result can then be expressed as:

[0072] Among them, Risk k =1 indicates that there is obstacle avoidance risk in the k-th execution phase; Risk k =0 indicates that no obstacle avoidance risk was detected in the k-th execution phase.

[0073] With the above settings, the safety obstacle avoidance control module can dynamically update the safety envelope during different execution stages, such as AGV driving, industrial robot approaching the target machine tool, clamping materials, transferring materials, and exiting the loading and unloading area of ​​the target machine tool. It can also determine whether obstacle avoidance correction is needed based on the spatial relationship between the dynamic safety envelope and the obstacles on site.

[0074] In this embodiment, the safety obstacle avoidance control module is also configured with a risk area hierarchical obstacle avoidance strategy. The risk area hierarchical obstacle avoidance strategy is used to determine the corresponding obstacle avoidance correction object according to the area to which the risk location belongs when there is a risk of spatial overlap between the dynamic safety envelope and the on-site obstacle data or when the safety distance is insufficient, and to make targeted corrections to the movement path of the AGV or the gripping and transfer trajectory of the industrial robot.

[0075] Specifically, when the safety obstacle avoidance control module determines that the risk location is within the AGV's travel area, it indicates that the current risk primarily affects the AGV's safe movement within the on-site passageway. At this time, the safety obstacle avoidance control module performs obstacle avoidance correction on the AGV's movement path. Obstacle avoidance correction can include deceleration correction, detour correction, or pause correction. Deceleration correction is applicable when the obstacle is in front of the AGV but there is still safe passage space; detour correction is applicable when the original movement path is blocked by an obstacle but there are alternative routes nearby; pause correction is applicable when personnel, mobile equipment, or temporary obstacles enter the AGV's current travel area and detour is temporarily impossible.

[0076] When the safety obstacle avoidance control module determines that the risk location is within the industrial robot's operating area, it indicates that the current risk primarily affects the safety of the industrial robot performing material gripping, transfer, or placement actions at the target machine tool. At this time, the safety obstacle avoidance control module performs obstacle avoidance correction on the industrial robot's gripping and transfer trajectory. Obstacle avoidance correction can include pause correction, backtracking correction, or partial replanning correction. Pause correction is suitable when the risky object briefly enters the robot's range of motion but has not yet affected the stability of material gripping; backtracking correction is suitable when the end effector of the industrial robot or the gripped material is close to an obstacle, requiring the robot to retreat in a safe direction; partial replanning correction is suitable when a local segment of the original gripping and transfer trajectory conflicts with an obstacle area, but the operation can still be completed by adjusting the approach angle, transfer height, or retreat direction.

[0077] When a risky location simultaneously affects both the AGV's travel area and the industrial robot's working area, the safety obstacle avoidance control module performs joint obstacle avoidance correction. In this case, the system first stops the AGV to prevent further reduction in the distance between the AGV body, robot base, or gripped material and obstacles. Then, based on the industrial robot's current posture, gripping state, and material position, the system controls the industrial robot to maintain its current position or perform a reversal. When the industrial robot is in a stable gripping state and continuing its movement will not increase the risk of collision, it can maintain its current posture. When the end effector of the industrial robot or the gripped material approaches the risky area, the system controls the industrial robot to perform a reversal, causing it to exit the target machine tool's loading / unloading area or return to a safe posture.

[0078] After obstacle avoidance correction is completed, the safety obstacle avoidance control module outputs the corrected movement path or clamping and transfer trajectory to the AGV and industrial robot, enabling them to continue executing the material transfer task corresponding to the target machine tool according to the corrected control results. If the risk persists, the system can remain paused and wait for the obstacle to be removed or for the multi-machine task queue scheduling module to re-determine a new current target machine tool.

[0079] In this embodiment, the system also includes a task recording and adaptive update module. The task recording and adaptive update module is configured with a dedicated transfer trajectory update strategy, used to record the execution data of the task after the material transfer task corresponding to the target machine tool is completed, and to update the dedicated transfer trajectory data corresponding to the target machine tool based on the execution result.

[0080] Specifically, after the AGV and industrial robot complete the material transfer task corresponding to the target machine tool, the task recording and adaptive update module records the machine tool access parameters, the actual parking posture of the AGV, the clamping and transfer trajectory, the obstacle avoidance correction result, and the material transfer task execution result. Among these, the machine tool access parameters characterize the parking parameters, operating reference parameters, and obstacle avoidance boundary parameters of the target machine tool in this task; the actual parking posture of the AGV characterizes the actual position and attitude of the AGV after arriving at the parking area of ​​the target machine tool; the clamping and transfer trajectory characterizes the trajectory of the industrial robot performing approach, pick-up, and exit actions in this task; the obstacle avoidance correction result characterizes the path or trajectory adjustments caused by obstacles on-site in this task; and the material transfer task execution result characterizes whether the material clamping, transfer, or placement requirements of this task have been met.

[0081] The task recording and adaptive update module compares the actual parking posture of the AGV with the parking parameters in the machine tool access parameters to obtain the parking correction information corresponding to the target machine tool. If the AGV has similar parking deviations in similar directions or magnitudes when performing material transfer tasks on the same target machine tool multiple times, the parking parameters corresponding to the target machine tool can be updated based on the parking correction information, so that the actual parking deviation of the target machine tool in the field environment can be taken into account in advance when generating the target parking posture.

[0082] Furthermore, the task recording and adaptive update module determines the trajectory segment in the clamping and transfer trajectory where obstacle avoidance correction occurred based on the obstacle avoidance correction results, and judges whether the trajectory segment meets the material clamping, transfer, or placement requirements in conjunction with the material transfer task execution results. The trajectory segment where obstacle avoidance correction occurred can be at least one of the approach segment, pick-and-place segment, transfer segment, or exit segment.

[0083] If the trajectory segment after obstacle avoidance correction still meets the requirements for material gripping, transfer, or placement, it indicates that the obstacle avoidance correction result is reusable in the current target machine tool scenario. The task recording and adaptive update module writes the obstacle avoidance correction result into the dedicated transfer trajectory data corresponding to the target machine tool. Therefore, when executing a material transfer task for the same target machine tool again, the system can use the verified and effective obstacle avoidance correction result as a trajectory generation reference, reducing redundant planning and correction.

[0084] If a trajectory segment undergoing obstacle avoidance correction does not meet the requirements for material gripping, transfer, or placement, it indicates that while the obstacle avoidance correction mitigated the risk, it failed to meet the operational requirements of the current transfer task. In this case, the task record and adaptive update module retains the trajectory segments in the gripping and transfer trajectory that did not undergo obstacle avoidance correction, and marks the trajectory segments that underwent obstacle avoidance correction but still do not meet the operational requirements as trajectory segments to be replanned. These replanned trajectory segments serve as obstacle avoidance constraints when the gripping and transfer trajectory is subsequently generated, preventing the system from repeatedly using trajectory segments unsuitable for the current target machine tool's operational requirements.

[0085] In this embodiment, the task recording and adaptive update module is also configured with a historical trajectory recall and correction strategy. The historical trajectory recall and correction strategy is used to recall the dedicated transfer trajectory data already formed by the target machine tool when the same target machine tool generates a material transfer task again, and to verify or correct the historical dedicated transfer trajectory by combining the current machine tool space status, AGV trolley pose status and on-site obstacle status.

[0086] Specifically, when the system receives a material transfer task for the same target machine tool again, the task record and adaptive update module retrieves the historical dedicated transfer trajectory corresponding to that target machine tool from the dedicated transfer trajectory data, based on the machine tool number of the target machine tool, as well as the machine tool access parameters corresponding to that historical dedicated transfer trajectory. The historical dedicated transfer trajectory may include historical movement paths, historical clamping transfer trajectories, historical docking parameters, historical obstacle avoidance correction results, and corresponding task execution results.

[0087] After retrieving the historical dedicated transfer trajectory, the system generates the current machine tool access parameters based on the currently acquired target machine tool space data, and performs a consistency check between the current machine tool access parameters and the machine tool access parameters corresponding to the historical dedicated transfer trajectory. The consistency check can include docking parameter consistency check, operation reference parameter consistency check, and avoidance boundary parameter consistency check. Specifically, docking parameter consistency is used to determine whether the target machine tool's allowed docking area has changed; operation reference parameter consistency is used to determine whether the spatial positions of the loading / unloading ports and the robot's operation reference points have changed; and avoidance boundary parameter consistency is used to determine whether the avoidance area around the machine tool or the equipment boundary has changed.

[0088] If the current machine tool access parameters are consistent with the machine tool access parameters corresponding to the historical dedicated transfer trajectory, it indicates that the spatial state and access conditions of the target machine tool have not changed significantly. At this time, the task record and adaptive update module calls the historical dedicated transfer trajectory as the basic transfer trajectory for the current material transfer task. The basic transfer trajectory can be directly used as a reference for the collaborative path trajectory generation module to generate the current movement path and clamping transfer trajectory, thereby reducing redundant calculations and repeated teaching.

[0089] If the current machine tool access parameters are inconsistent with the machine tool access parameters corresponding to the historical dedicated transfer trajectory, it indicates that the target machine tool's docking conditions, loading / unloading positions, or surrounding avoidance boundaries have changed. In this case, the task recording and adaptive update module corrects the historical dedicated transfer trajectory based on the currently acquired target machine tool space data, AGV cart pose data, and on-site obstacle data, obtaining the corrected transfer trajectory corresponding to the current material transfer task. Corrections may include adjusting the historical docking position, offsetting the robot's approach trajectory, correcting the pick-and-place posture, or replacing trajectory segments that conflict with the current obstacle area.

[0090] Subsequently, the task recording and adaptive update module outputs the basic or modified transfer trajectory as a trajectory generation constraint to the collaborative path trajectory generation module. When generating the movement path and clamping transfer trajectory corresponding to the current material transfer task, the collaborative path trajectory generation module prioritizes referencing the basic or modified transfer trajectory and makes final corrections based on the current on-site obstacle data and AGV pose data.

[0091] In this embodiment, the system also includes a machine tool operation permission interlock module. This module verifies the current operating status of the target machine tool before the industrial robot enters its loading / unloading area and determines whether the robot is permitted to execute the corresponding clamping and transfer trajectory based on the verification result. This module primarily prevents the industrial robot from directly entering the target machine tool's operating area if the machine tool is still processing, the clamps are not released, the machine tool door is not fully open, or an alarm is detected.

[0092] Specifically, the machine tool operation permission interlock module acquires the machine tool operating status of the target machine tool. The machine tool operating status includes processing status, machine tool door status, fixture status, workpiece arrival status, and machine tool alarm status. Specifically, the processing status indicates whether the target machine tool is still in the processing phase; the machine tool door status indicates whether the target machine tool door is fully open; the fixture status indicates whether the fixtures inside the target machine tool are in a released or detachable state; the workpiece arrival status indicates whether the workpiece to be retrieved or processed inside the target machine tool is in a preset position; and the machine tool alarm status indicates whether there are any abnormal alarms on the target machine tool that affect loading and unloading operations.

[0093] The machine tool operation permission interlocking module determines the set of allowed loading and unloading states for the target machine tool based on preset machine tool loading and unloading interlocking rules and machine tool access parameters. The machine tool loading and unloading interlocking rules can be pre-configured according to the loading and unloading requirements of different types of machine tools. For example, for machine tools that require door opening for loading and unloading, the set of allowed loading and unloading states must include at least the machine tool being in a non-processing state, the machine tool door being fully opened, the fixture being released, and the workpiece being in place without machine tool alarms. For machine tools with automatic doors or automatic fixtures, the set of allowed loading and unloading states may also include an automatic door opening completion signal, a fixture release completion signal, or a worktable being in place signal.

[0094] After obtaining the machine tool's operating status, the machine tool operation permission interlock module matches the machine tool's operating status with the set of allowed loading and unloading statuses. If the machine tool's operating status meets the set of allowed loading and unloading statuses, it means that the target machine tool currently meets the conditions for the industrial robot to enter the loading and unloading operation area. The machine tool operation permission interlock module outputs a loading and unloading permission signal to the collaborative path trajectory generation module, enabling the industrial robot to perform material gripping, transfer, or placement actions according to the gripping and transfer trajectory corresponding to the target machine tool.

[0095] If the machine tool's operating status does not meet the allowed loading / unloading conditions, it indicates that the target machine tool currently does not meet the safe loading / unloading conditions. In this case, the machine tool operation permission interlock module restricts the industrial robot from entering the target machine tool's loading / unloading operation area and generates a waiting instruction, a return to buffer instruction, or a target machine tool switching instruction. The waiting instruction applies when the target machine tool can quickly return to a allowed loading / unloading state; the return to buffer instruction applies when the industrial robot has approached the target machine tool but the target machine tool is temporarily not allowed to perform loading / unloading actions; and the target machine tool switching instruction applies when the current target machine tool does not meet the loading / unloading conditions for an extended period and other candidate machine tools have material transfer requests.

[0096] In one implementation, the machine tool operation permission interlocking module can be linked with the multi-machine tool task queue scheduling module. When the target machine tool does not meet the set of allowed loading and unloading states, the machine tool operation permission interlocking module feeds back the unexecutable state of the target machine tool to the multi-machine tool task queue scheduling module, which then adjusts the target machine tool to a suspended task and re-determines a new current target machine tool from the remaining candidate machine tools.

[0097] In this embodiment, the system also includes a multi-machine tool task queue scheduling module. This module determines the current target machine tool based on the task urgency, machine tool operating status, AGV's current position, and path reachability of each candidate machine tool when multiple candidate machine tools simultaneously have material transfer requests. This module addresses the task sequencing and target switching issues when one industrial robot serves multiple machine tools.

[0098] Specifically, the multi-machine task queue scheduling module obtains material transfer requests corresponding to multiple candidate machine tools. Material transfer requests include at least one of the following: loading requests, unloading requests, and process connection requests. Loading requests indicate that a candidate machine tool needs to replenish materials to be processed; unloading requests indicate that a candidate machine tool has already processed materials that need to be removed; and process connection requests indicate that materials need to be transferred from one machine tool or buffer area to the next processing station.

[0099] The multi-machine tool task queue scheduling module also acquires the machine tool operating status corresponding to each candidate machine tool. The machine tool operating status includes the candidate machine tool's processing status, machine tool door status, fixture status, workpiece arrival status, and machine tool alarm status. By acquiring the machine tool operating status, the system can determine whether the candidate machine tool has the basic conditions for performing the current loading and unloading task, avoiding prioritizing machine tools that do not meet the loading and unloading execution conditions as the current target machine tool.

[0100] When generating task priorities, the multi-machine task queue scheduling module comprehensively scores each candidate machine tool based on its waiting time, processing cycle time, material transfer request type, the distance between the current position of the AGV and the candidate machine tool, and the machine tool operating status corresponding to the candidate machine tool.

[0101] Let the task priority of the i-th candidate machine tool be P. i Then it can be expressed as:

[0102] Among them, T i T represents the waiting time score for the i-th candidate machine tool. The longer the waiting time, the higher the score. i The larger; C i C represents the machining cycle time urgency score of the i-th candidate machine tool. The more urgent the machining cycle time, the higher the score. i The larger; Q i D represents the material transfer request type score for the i-th candidate machine tool; i S represents the distance traveled between the current position of the AGV and the i-th candidate machine tool; i represents the machine tool operating status score of the i-th candidate machine tool; w1, w2, w3, w4, and w5 represent the weight coefficients of the corresponding factors.

[0103] Wherein, the distance of movement D i The above formula uses negative weighting, meaning that, all other things being equal, candidate machine tools that are closer to the current position of the AGV have higher task priority. Machine tool operating status score S i The status score can be determined based on whether the candidate machine tool meets the preset loading and unloading execution conditions. When the candidate machine tool meets the preset loading and unloading execution conditions, a higher status score is assigned. When the candidate machine tool is in the process of processing, the machine tool door is not open, the fixture is not released, the workpiece is not in place, or the alarm state is in effect, a lower status score is assigned.

[0104] Furthermore, the multi-machine task queue scheduling module determines the path reachability status of each candidate machine tool's corresponding docking area based on on-site obstacle data and AGV pose data. If a passable path exists between the AGV's current position and the docking area of ​​a candidate machine tool, the path reachability status of that candidate machine tool is reachable; if the corresponding passage is continuously occupied by personnel, equipment, or temporary obstacles, or if the docking area is occupied, the path reachability status of that candidate machine tool is unreachable.

[0105] After completing task priority calculation and path reachability determination, the multi-machine tool task queue scheduling module determines the current target machine tool from multiple candidate machine tools based on task priority and path reachability. Specifically, the system prioritizes selecting the candidate machine tool with the highest task priority from the path-reachable candidate machine tools as the current target machine tool; if the path corresponding to the candidate machine tool with the highest task priority is unreachable, the candidate machine tool is temporarily deferred, and a new target machine tool is selected from the remaining path-reachable candidate machine tools.

[0106] When the current target machine tool's operating status does not meet the preset loading / unloading execution conditions, or the corresponding movement path of the current target machine tool is unreachable, the multi-machine task queue scheduling module will adjust the current target machine tool to a suspended task and re-determine a new current target machine tool from the remaining candidate machine tools. The preset loading / unloading execution conditions include at least the following: the current target machine tool is in a non-processing state, the machine tool door is in the open position, the fixture is in the released state, the workpiece is in the position, and the current target machine tool is not in an alarm state.

[0107] With the above settings, the multi-machine task queue scheduling module can comprehensively consider task waiting time, processing cycle time, request type, movement distance, machine tool operating status and path reachability when multiple machine tools have loading and unloading needs at the same time, and determine the target machine tool that is more suitable for the current execution, thereby improving the task scheduling efficiency and on-site adaptability when one industrial robot serves multiple machine tools.

[0108] In one optional implementation, the system further includes a voice control module. The voice control module receives voice commands input by the operator and parses these commands into control instructions such as task start, task pause, task resume, target machine tool switching, material type switching, or return to standby point.

[0109] After receiving a voice command, the voice control module determines whether the command is a query command or a motion control command. For query commands such as querying the current position of the target machine tool, AGV, industrial robot operation status, or machine tool running status, the system outputs the corresponding status information.

[0110] For motion control commands involving AGV movement or industrial robot actions, the voice control module sends the parsed control commands to the safety obstacle avoidance control module and the machine tool operation permission interlock module for verification. The safety obstacle avoidance control module determines whether there is an obstacle risk in the current movement path or clamping and transfer trajectory, while the machine tool operation permission interlock module determines whether the target machine tool meets the allowed loading and unloading status set.

[0111] When there is no obstacle avoidance risk and the target machine tool meets the loading and unloading permission conditions, the system executes the control action corresponding to the voice command; when there is an obstacle avoidance risk or the target machine tool does not meet the loading and unloading permission conditions, the system refuses to execute the corresponding control action and outputs a prompt message.

[0112] In summary, this embodiment uses an AGV (Automated Guided Vehicle) to carry an industrial robot that moves between multiple machine tools. A multi-source sensing data acquisition module acquires relevant data on the target machine tool, materials, the AGV, and obstacles on-site. Based on this, a machine tool access parameter generation module generates the target machine tool's docking parameters, operating reference parameters, and obstacle avoidance boundary parameters. A collaborative path trajectory generation module generates the AGV's movement path and the industrial robot's clamping and transfer trajectory based on these parameters, compensating for deviations in the AGV's actual docking posture. A safety obstacle avoidance control module performs risk assessment and graded obstacle avoidance correction on the movement path and clamping and transfer trajectory based on a dynamic safety envelope. A task recording and adaptive update module records, updates, and retrieves task execution results, obstacle avoidance correction results, and dedicated transfer trajectory data. A machine tool operation permit interlocking module and a multi-machine tool task queue scheduling module determine the target machine tool's loading / unloading permit status and the task priorities of multiple candidate machine tools. A voice control module serves as an optional human-machine interface, executing corresponding control commands after safety verification.

[0113] This embodiment enables adaptive access to target machine tools, collaborative generation of movement paths and clamping and transfer trajectories, docking deviation compensation, safety obstacle avoidance, reuse of historical trajectories, and multi-machine tool task scheduling in multi-machine tool loading and unloading scenarios, thereby improving the adaptability, transfer efficiency, and operational safety of industrial robots when serving multiple machine tools.

[0114] The above embodiments do not constitute a limitation on the scope of protection of this technical solution. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the above embodiments should be included within the scope of protection of this technical solution.

Claims

1. An adaptive transfer system for industrial robots used in multi-machine tool loading and unloading, characterized in that, It includes a mobile carrier module, a multi-source sensing data acquisition module, a machine tool access parameter generation module, a collaborative path trajectory generation module, and a safety obstacle avoidance control module; The mobile carrying module includes an AGV trolley and an industrial robot mounted on the AGV trolley. The AGV trolley is used to carry the industrial robot to move between multiple machine tools, and the industrial robot is used to grip, transfer or place materials. The multi-source sensing data acquisition module is used to acquire target machine tool space data, on-site obstacle data, AGV trolley pose data, and material pose data. The machine tool access parameter generation module is used to generate machine tool access parameters corresponding to the target machine tool based on the target machine tool space data. The machine tool access parameters include the target machine tool's docking parameters, operating reference parameters, and avoidance boundary parameters. The collaborative path trajectory generation module is used to generate a movement path for the AGV to move from its current position to the corresponding docking area of ​​the target machine tool based on the machine tool access parameters, the AGV's pose data and the material's pose data, and to generate a clamping and transfer trajectory for the industrial robot to perform material gripping, transfer or placement at the target machine tool. The safety obstacle avoidance control module is used to correct the movement path and the clamping and transfer trajectory based on the obstacle data on site, and to control the AGV and the industrial robot to perform the material transfer task corresponding to the target machine tool according to the corrected movement path and clamping and transfer trajectory.

2. The industrial robot adaptive transfer system for loading and unloading multiple machine tools according to claim 1, characterized in that, The machine tool access parameter generation module is configured with a machine tool access status triggering strategy; The machine tool access status triggering strategy is used to determine whether the target machine tool is in the first access state or the position change state based on the target machine tool space data, and when the target machine tool is in the first access state or the position change state, the machine tool access parameter generation module is triggered to extract access features from the target machine tool space data. The access features include the spatial location of the loading and unloading ports of the target machine tool, the permitted docking area, the robot operation reference point, and the avoidance area around the machine tool; The machine tool access parameter generation module is used to determine the operation reference parameters of the target machine tool based on the spatial position of the loading and unloading ports and the robot operation reference point, determine the docking parameters of the target machine tool based on the allowed docking area, and determine the avoidance boundary parameters of the target machine tool based on the avoidance area around the machine tool, so as to generate the machine tool access parameters corresponding to the target machine tool.

3. The adaptive transfer system for industrial robots for loading and unloading multiple machine tools according to claim 2, characterized in that, The collaborative path trajectory generation module is configured with a docking operation collaborative mapping strategy; The docking operation collaborative mapping strategy is used to determine the target docking pose of the AGV vehicle corresponding to the target machine tool based on the docking parameters in the machine tool access parameters, and to determine the vehicle body docking reference of the AGV vehicle relative to the target machine tool based on the target docking pose. The docking operation collaborative mapping strategy is also used to establish a coordinate mapping relationship between the AGV vehicle's body coordinate system, the industrial robot's robot base coordinate system, and the target machine tool's machine tool station coordinate system based on the vehicle docking reference, the industrial robot's preset installation reference on the AGV vehicle, the operation reference parameters in the machine tool access parameters, and the loading and unloading port spatial position of the target machine tool. The collaborative path trajectory generation module is used to generate a movement path for the AGV to move from its current position to the corresponding docking area of ​​the target machine tool based on the target docking pose, and to generate a clamping and transfer trajectory for the industrial robot to perform material gripping, transfer or placement at the target machine tool based on the coordinate mapping relationship, so that the movement path and the clamping and transfer trajectory are matched together with the docking position and loading / unloading position of the target machine tool.

4. The industrial robot adaptive transfer system for multi-machine tool loading and unloading as described in claim 3, characterized in that, The collaborative path trajectory generation module is also configured with a docking posture deviation compensation strategy. The parking posture deviation compensation strategy is used to determine the actual parking posture of the AGV based on the AGV posture data after the AGV reaches the parking area corresponding to the target parking posture, and compare the actual parking posture with the target parking posture to obtain the parking deviation including position deviation and posture deviation. The docking posture deviation compensation strategy is also used to correct the docking reference of the AGV relative to the target machine tool according to the docking deviation, and update the coordinate mapping relationship between the AGV body coordinate system, the robot base coordinate system of the industrial robot and the machine tool station coordinate system of the target machine tool based on the corrected docking reference. The collaborative path trajectory generation module is used to perform position and attitude compensation on the approach, pick-up and drop-off sections of the corresponding target machine tool loading and unloading ports in the clamping and transfer trajectory according to the updated coordinate mapping relationship, so as to generate a compensated clamping and transfer trajectory.

5. The industrial robot adaptive transfer system for loading and unloading multiple machine tools according to claim 1, characterized in that, The safety obstacle avoidance control module is configured with a dynamic safety envelope construction strategy; The dynamic safety envelope construction strategy is used to determine the driving state of the AGV, the working state of the industrial robot, and the transfer posture of the clamped material according to the current material transfer task, and to obtain the outer contour of the AGV, the current posture of the industrial robot, the range of motion of the industrial robot, the size of the gripper, and the size of the clamped material. The dynamic safety envelope construction strategy is also used to generate a vehicle safety area based on the vehicle outline and driving state of the AGV, generate a robotic arm motion safety area based on the current posture, range of motion and working state of the industrial robot, and generate an end-grip safety area based on the gripper size, the size of the gripped material and the transfer posture of the gripped material. The safety obstacle avoidance control module is used to combine the vehicle body safety area, the robotic arm movement safety area and the end clamping safety area according to the current material transfer task execution stage to generate a dynamic safety envelope under the corresponding execution stage, and to perform at least one of spatial overlap judgment or safety distance judgment between the dynamic safety envelope and the on-site obstacle data.

6. The industrial robot adaptive transfer system for loading and unloading multiple machine tools according to claim 5, characterized in that, The safety obstacle avoidance control module is also configured with a risk area graded obstacle avoidance strategy; The risk area hierarchical obstacle avoidance strategy is used to determine the corresponding obstacle avoidance correction object according to the area to which the risk location belongs when there is a risk of spatial overlap between the dynamic safety envelope and the on-site obstacle data or when the safety distance is insufficient. When the risky location is within the AGV's driving area, the safety obstacle avoidance control module performs deceleration correction, detour correction, or pause correction on the movement path; When the risk location is located in the industrial robot's operating area, the safety obstacle avoidance control module performs pause correction, backtracking correction, or partial replanning correction on the clamping and transfer trajectory; When the risky location simultaneously affects both the AGV's driving area and the industrial robot's working area, the safety obstacle avoidance control module first controls the AGV to stop, and then controls the industrial robot to maintain its movement or perform a reversal action based on the industrial robot's current posture, in order to perform joint obstacle avoidance correction.

7. The adaptive transfer system for industrial robots for loading and unloading multiple machine tools according to claim 1, characterized in that, It also includes a task recording and adaptive update module, which is configured with a dedicated transit trajectory update strategy, including: After the AGV and the industrial robot complete the material transfer task corresponding to the target machine tool, record the machine tool access parameters, the actual parking posture of the AGV, the clamping and transfer trajectory, the obstacle avoidance correction result, and the material transfer task execution result. The actual parking position of the AGV is compared with the parking parameters in the machine tool access parameters to obtain the parking correction information corresponding to the target machine tool, and the parking parameters corresponding to the target machine tool are updated according to the parking correction information. Based on the obstacle avoidance correction result, determine the trajectory segment in the clamping and transfer trajectory where obstacle avoidance correction occurred, and determine whether the trajectory segment meets the material clamping, transfer or placement requirements based on the material transfer task execution result; If the trajectory segment meets the requirements for material gripping, transfer, or placement, the obstacle avoidance correction result is written into the dedicated transfer trajectory data corresponding to the target machine tool. If the trajectory segment does not meet the requirements for material clamping, transfer, or placement, the trajectory segment in the clamping and transfer trajectory that has not undergone obstacle avoidance correction is retained, and the trajectory segment that has undergone obstacle avoidance correction is marked as a trajectory segment to be replanned, so as to serve as an obstacle avoidance constraint when the clamping and transfer trajectory is generated again.

8. An adaptive transfer system for industrial robots for loading and unloading multiple machine tools according to claim 7, characterized in that, The task recording and adaptive update module is also configured with a historical trajectory recall correction strategy, which includes: When a material transfer task corresponding to the same target machine tool is received again, the historical dedicated transfer trajectory corresponding to the target machine tool and the machine tool access parameters corresponding to the historical dedicated transfer trajectory are retrieved from the dedicated transfer trajectory data according to the machine tool number of the target machine tool. The current machine tool access parameters are generated based on the target machine tool space data currently acquired, and the consistency of the current machine tool access parameters with the machine tool access parameters corresponding to the historical dedicated transfer trajectory is verified. If the current machine tool access parameters are consistent with the machine tool access parameters corresponding to the historical dedicated transfer trajectory, then the historical dedicated transfer trajectory is used as the basic transfer trajectory for the current material transfer task. If the current machine tool access parameters are inconsistent with the machine tool access parameters corresponding to the historical dedicated transfer trajectory, the historical dedicated transfer trajectory is corrected based on the currently acquired target machine tool space data, AGV trolley pose data and on-site obstacle data to obtain the corrected transfer trajectory corresponding to the current material transfer task. The basic transfer trajectory or the modified transfer trajectory is output as a trajectory generation constraint to the collaborative path trajectory generation module to correct the movement path and clamping transfer trajectory corresponding to the current material transfer task.

9. An adaptive transfer system for industrial robots used in multi-machine tool loading and unloading according to claim 1, characterized in that, It also includes a machine tool operation permit interlock module; The machine tool operation permission interlock module is used to obtain the machine tool operating status of the target machine tool, which includes processing status, machine tool door status, fixture status, workpiece arrival status, and machine tool alarm status. The machine tool operation permission interlocking module is also used to determine the set of allowed loading and unloading states corresponding to the target machine tool according to the preset machine tool loading and unloading interlocking rules and the machine tool access parameters, and to match the machine tool operation state with the set of allowed loading and unloading states; If the machine tool operating status meets the set of allowed loading and unloading statuses, the machine tool operation permission interlocking module outputs a loading and unloading permission signal to the collaborative path trajectory generation module, so that the industrial robot executes the clamping and transfer trajectory corresponding to the target machine tool. If the machine tool's operating status does not meet the set of allowed loading and unloading statuses, the machine tool operation permission interlock module restricts the industrial robot from entering the loading and unloading operation area of ​​the target machine tool and generates a waiting instruction, a return buffer instruction, or a target machine tool switching instruction.

10. An adaptive transfer system for industrial robots for loading and unloading multiple machine tools according to claim 1, characterized in that, It also includes a multi-machine tool task queue scheduling module; The multi-machine tool task queue scheduling module is used to obtain material transfer requests corresponding to multiple candidate machine tools. The material transfer requests include at least one of loading requests, unloading requests, and process connection requests. The multi-machine tool task queue scheduling module is also used to obtain the machine tool operating status corresponding to each candidate machine tool. The machine tool operating status includes the processing status of the candidate machine tool, the machine tool door status, the fixture status, the workpiece arrival status, and the machine tool alarm status. The multi-machine tool task queue scheduling module is also used to generate task priorities for each candidate machine tool based on the waiting time, processing cycle time, material transfer request type, the moving distance between the current position of the AGV and the candidate machine tool, and the machine tool operating status corresponding to the candidate machine tool. The multi-machine tool task queue scheduling module is also used to determine the path reachability status of the corresponding parking area of ​​each candidate machine tool based on the on-site obstacle data and the AGV trolley pose data. The multi-machine tool task queue scheduling module is also used to determine the current target machine tool from multiple candidate machine tools based on the task priority and the path reachability status; When the machine tool operating status of the current target machine tool does not meet the preset loading and unloading execution conditions, or when the movement path corresponding to the current target machine tool is unreachable, the multi-machine tool task queue scheduling module will adjust the current target machine tool to a suspended task and re-determine a new current target machine tool from the other candidate machine tools. The preset loading and unloading conditions include at least the following: the current target machine tool is in a non-processing state, the machine tool door is in the open position, the fixture is in the released state, the workpiece is in the position, and the current target machine tool is not in an alarm state.

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