CN109940611A - Trajectory reproducing method, system and terminal device - Google Patents
Trajectory reproducing method, system and terminal device Download PDFInfo
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- CN109940611A CN109940611A CN201910140924.4A CN201910140924A CN109940611A CN 109940611 A CN109940611 A CN 109940611A CN 201910140924 A CN201910140924 A CN 201910140924A CN 109940611 A CN109940611 A CN 109940611A
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- robot
- movement instruction
- multiple movement
- point coordinate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
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- Evolutionary Computation (AREA)
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- Mathematical Physics (AREA)
- Software Systems (AREA)
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Abstract
The present invention is suitable for technical field of robot control, discloses a kind of trajectory reproducing method, system and terminal device, comprising: obtains the motion profile that user draws；Motion profile is converted into multiple movement instructions, multiple movement instructions have sequencing；Multiple movement instructions are sent to robot, multiple movement instructions are used to indicate robot and successively execute multiple movement instructions according to sequencing.The present invention can reduce the operation difficulty of robot, and user only input motion track, robot will need to realize automatically trajectory reproducing in terminal device, so that user needs not move through complicated training and can quickly manipulate to robot.
Description
Technical field
The invention belongs to technical field of robot control more particularly to a kind of trajectory reproducing methods, system and terminal device.
Background technique
With the development of science and technology, robot gradually applies in all trades and professions, labour can be saved, improves work effect
Rate.Currently, trajectory reproducing may be implemented in robot.
Traditional trajectory reproducing is that specific trajectory path is prestored in robot, and robot is according to the track road prestored
Diameter realizes trajectory reproducing, but this method can only make robot realize trajectory reproducing to specific trajectory path, if wanting to allow machine
Device people realizes trajectory reproducing to other trajectory paths, needs track drafting path in advance, and the trajectory path of drafting is saved
In robot, cause operation difficulty higher.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of trajectory reproducing method, system and terminal device, it is existing to solve
In technology, robot can only realize trajectory reproducing to specific trajectory path, if wanting to make robot real to other trajectory paths
Existing trajectory reproducing, needs track drafting path in advance, and the trajectory path of drafting is stored in robot, leads to operation difficulty
Higher problem.
The first aspect of the embodiment of the present invention provides a kind of trajectory reproducing method, comprising:
Obtain the motion profile that user draws；
Motion profile is converted into multiple movement instructions, multiple movement instructions have sequencing；
Multiple movement instructions are sent to robot, multiple movement instructions are used to indicate robot according to sequencing successively
Execute multiple movement instructions.
The second aspect of the embodiment of the present invention provides a kind of trajectory reproducing system, comprising:
Module is obtained, for obtaining the motion profile of user's drafting；
Motion profile is converted to multiple movement instructions by conversion module, and multiple movement instructions have sequencing；
Sending module, for multiple movement instructions to be sent to robot, multiple movement instructions be used to indicate robot by
Multiple movement instructions are successively executed according to sequencing.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In memory and the computer program that can run on a processor, processor are realized when executing computer program such as first aspect institute
The step of stating trajectory reproducing method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, computer readable storage medium
It is stored with computer program, trajectory reproducing as described in relation to the first aspect is realized when computer program is executed by one or more processors
The step of method.
Existing beneficial effect is the embodiment of the present invention compared with prior art: the embodiment of the present invention obtains user first and draws
Then motion profile is converted to multiple movement instructions by the motion profile of system, multiple movement instructions have sequencing, finally will
Multiple movement instructions are sent to robot, and multiple movement instructions are used to indicate robot and successively execute multiple fortune according to sequencing
Dynamic instruction, can reduce the operation difficulty of robot, and user only input motion track, robot need to will oneself in terminal device
It is dynamic to realize trajectory reproducing, so that user needs not move through complicated training and can quickly manipulate to robot.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram for the trajectory reproducing method that one embodiment of the invention provides；
Fig. 2 is the schematic block diagram for the trajectory reproducing system that one embodiment of the invention provides；
Fig. 3 is the schematic block diagram for the terminal device that one embodiment of the invention provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Fig. 1 is the implementation process schematic diagram for the trajectory reproducing method that one embodiment of the invention provides, for ease of description, only
Show part related to the embodiment of the present invention.The executing subject of the embodiment of the present invention can be terminal device.
As shown in Figure 1, this method may comprise steps of:
Step S101: the motion profile that user draws is obtained.
In embodiments of the present invention, user can draw motion profile on the screen of terminal device with hand or stylus.
Specifically, the application program (Application, APP) for Manipulation of the machine people can be installed, user can be in terminal device
The APP is opened, and draws motion profile in the designated position of APP.
The motion profile that user draws can be any track for wanting to allow robot motion.Illustratively, user draws
Motion profile can be Chinese character.
Terminal device can also save the movement rail that the user draws after obtaining the motion profile that user draws
Mark.
Optionally, the motion profile that user draws is obtained, may include: the motion profile for obtaining user's input, alternatively, obtaining
Take the motion profile that family is selected from the motion profile of preservation.
Step S102: motion profile is converted into multiple movement instructions, multiple movement instructions have sequencing.
In embodiments of the present invention, terminal device can use existing method, motion profile is converted to multiple with first
The movement instruction of sequence afterwards.
Wherein, each movement instruction may include a set of coordinates, which includes starting point coordinate and terminal point coordinate.It should
Movement instruction is used to indicate robot and moves to terminal point coordinate from starting point coordinate.
Step S103: multiple movement instructions are sent to robot, multiple movement instructions are used to indicate robot according to elder generation
Sequence successively executes multiple movement instructions afterwards.
In embodiments of the present invention, multiple movement instructions with sequencing of conversion are sent to machine by terminal device
People.Robot is after receiving multiple movement instructions with sequencing, according to the sequencing, successively executes multiple
Movement instruction.
Optionally, multiple movement instructions are sent to robot, multiple movement instructions are used to indicate robot according to successive
Sequence successively executes multiple movement instructions, may include:
Multiple movement instructions are sent to the control terminal of robot, multiple movement instructions are used to indicate the control terminal of robot
The mechanical arm of robot is controlled according to sequencing, successively executes multiple movement instructions.
Wherein, the control terminal of robot can be located at robot interior.
Illustratively, the motion profile that user draws can be Chinese character, the movement rail that robot can be drawn according to user
Mark realizes trajectory reproducing, realizes robot writing of Chinese characters.
Seen from the above description, the motion profile that the embodiment of the present invention is drawn by obtaining user, motion profile is converted
For multiple movement instructions, multiple movement instructions have sequencing, multiple movement instructions are sent to robot, multiple movements refer to
Order is used to indicate robot and successively executes multiple movement instructions according to sequencing, can reduce the operation difficulty of robot, uses
Family only input motion track, robot will need to realize automatically trajectory reproducing in terminal device, so that user needs not move through again
Miscellaneous training can quickly manipulate robot；Meanwhile user can control robot by terminal device and carry out track
Reproduction, can be improved the interactivity of robot manipulation, so that the work that control robot carries out trajectory reproducing becomes more human nature
Change.
In one embodiment of the invention, " motion profile is converted to multiple movement instructions " in step S102, can
To include:
Based on the first preset coordinate system, motion profile is converted into multiple movements comprising starting point coordinate and terminal point coordinate and is referred to
It enables.
Wherein, the first preset coordinate system can be based on the region for drawing motion profile for user, pre-set original
Point, rectangular coordinate system horizontally and vertically.
It illustratively, can be with a left side for the rectangular area if the region for drawing motion profile for user is rectangular area
Inferior horn is origin, with a length of horizontal axis of the rectangular area, using the width of the rectangular area as the longitudinal axis, determines the first preset coordinate system.
It is of course also possible to which choosing other vertex is origin, etc..
In embodiments of the present invention, terminal device can be based on the first preset coordinate system, the motion profile that user is drawn
Using existing method, multiple movement instructions comprising starting point coordinate and terminal point coordinate are converted to.
Specifically, the straight line portion in motion profile drawn for user can be converted to one for each straight line
The movement instruction of the terminal point coordinate of a starting point coordinate comprising the straight line and the straight line, robot when executing the movement instruction,
It can be linearly moved to the terminal point coordinate from the starting point coordinate, the straight line can be obtained；In the motion profile drawn for user
Curved portion multiple movement instructions can be converted to for each curve, each movement instruction indicates extremely short in the curve
A part, robot, can be according to sequencing, successively from each fortune when executing the corresponding multiple movement instructions of the curve
The starting point coordinate of dynamic instruction is linearly moved to the terminal point coordinate of the movement instruction, to obtain the curve.
Optionally, movement instruction may include starting point coordinate, terminal point coordinate and motion mode, wherein motion mode includes
Linear motion or curvilinear motion, if motion mode is curvilinear motion, then motion mode can also include the curvature of curvilinear motion.
Optionally, " motion profile is converted to multiple movement instructions " in step S102 may include:
Based on the first preset coordinate system, motion profile is converted to multiple comprising starting point coordinate, terminal point coordinate and movement side
The movement instruction of formula.
In one embodiment of the invention, step S103 may include:
Multiple movement instructions comprising starting point coordinate and terminal point coordinate are sent to robot, it is multiple comprising starting point coordinate and
The movement instruction of terminal point coordinate is used to indicate robot in the second preset coordinate system, according to sequencing, successively according to each
Starting point coordinate and terminal point coordinate in movement instruction are moved.
In embodiments of the present invention, multiple movement instructions comprising starting point coordinate and terminal point coordinate are sent to by terminal device
Robot, robot refer to after receiving multiple movement instructions comprising starting point coordinate and terminal point coordinate according to multiple movements
The sequencing of order successively moves along a straight line from the starting point coordinate of each movement instruction to corresponding in the second preset coordinate system
Terminal point coordinate.
Wherein, the second preset coordinate system can be the moving region based on robot, pre-sets origin, horizontal axis and indulges
The rectangular coordinate system of axis.
Illustratively, if the moving region of robot be rectangular area, can using the lower left corner of the rectangular area as origin,
With a length of horizontal axis of the rectangular area, using the width of the rectangular area as the longitudinal axis, the second preset coordinate system is determined.It is of course also possible to
Choosing other vertex is origin, etc..
Second preset coordinate system can be consistent with the origin of the first preset coordinate system, setting horizontally and vertically, i.e.,
If the first preset coordinate system is using the lower left corner in the region of user's drafting motion profile as origin, a length of horizontal axis, width is the longitudinal axis, then
Also using the lower left corner of the moving region of robot as origin, a length of horizontal axis, width is the longitudinal axis for second preset coordinate system.
Optionally, multiple movement instructions comprising starting point coordinate and terminal point coordinate are sent to robot, it is multiple to include
The movement instruction of point coordinate and terminal point coordinate is used to indicate robot in the second preset coordinate system, according to sequencing, successively
According in each movement instruction starting point coordinate and terminal point coordinate moved, may include:
Multiple movement instructions comprising starting point coordinate and terminal point coordinate are sent to the control terminal of robot, it is multiple to include
The mechanical arm that the movement instruction of point coordinate and terminal point coordinate is used to indicate the control terminal control robot of robot is default second
In coordinate system, according to sequencing, successively according in each movement instruction starting point coordinate and terminal point coordinate moved.
Optionally, if movement instruction includes starting point coordinate, terminal point coordinate and motion mode, step S103 may include:
Multiple movement instructions comprising starting point coordinate, terminal point coordinate and motion mode are sent to robot, it is multiple to include
The movement instruction of starting point coordinate, terminal point coordinate and motion mode is used to indicate robot in the second preset coordinate system, according to elder generation
Sequence afterwards, is successively moved according to starting point coordinate, terminal point coordinate and the motion mode in each movement instruction.
Specifically, if the motion mode in movement instruction is linear motion, robot is sat from the starting point of the movement instruction
Mark moves along a straight line to the terminal point coordinate of the movement instruction.If the motion mode in movement instruction is curvilinear motion, and the movement refers to
Motion mode in order includes the curvature of curvilinear motion, then robot is according to the curvature, from the starting point coordinate of the movement instruction
Curvilinear motion to the movement instruction terminal point coordinate；If motion mode in movement instruction is curvilinear motion, and the movement instruction
In motion mode do not include curvilinear motion curvature, then robot according to predetermined curvature, is sat from the starting point of the movement instruction
Mark the terminal point coordinate of curvilinear motion to the movement instruction.Wherein, predetermined curvature can be configured according to the actual situation.
In one embodiment of the invention, before step S103, can with the following steps are included:
Communication connection is established with robot；
If establishing communication link failure with robot, the step of establishing communication connection with robot is continued to execute, until
Success establishes communication connection with robot.
In embodiments of the present invention, it before multiple movement instructions are sent to robot, is established first with robot logical
News connection.Wherein, communication connection is a kind of connection type, by the transmission interaction of signal, is constituted between the equipment of connection logical
News.
If being successfully established communication connection with robot, step S103 can be executed；If establishing communication connection with robot
Failure, then repeat the step of establishing communication connection with robot, until success establishes communication connection with robot.
In one embodiment of the invention, after step s 103, can with the following steps are included:
Judge whether multiple movement instructions are all sent to robot；
The not sent movement instruction to robot is then sent to machine by the not sent movement instruction to robot if it exists
People, and continue to execute and the step of whether multiple movement instructions are all sent to robot judged, until multiple movement instructions are whole
It is sent to robot.
In embodiments of the present invention, after multiple movement instructions are sent to robot, judge multiple movement instruction
Whether robot is all sent to.If multiple movement instruction is all sent to robot, process terminates；It does not send out if it exists
It send to the movement instruction of robot, then the not sent movement instruction to robot is sent to robot, and repeat to judge multiple
Whether movement instruction is all sent to robot, until multiple movement instructions are all sent to robot.
Optionally, movement instruction further includes sending mark.Wherein, mark is sent for indicating whether the movement instruction has been sent out
It send to robot, can be not sent or sent.For example, can indicate not sent with 0, use 1 indicates to have sent.
Optionally, " motion profile is converted to multiple movement instructions " in step S102 may include:
Based on the first preset coordinate system, motion profile is converted to multiple comprising starting point coordinate, terminal point coordinate and transmission mark
The movement instruction of knowledge, the transmission mark are initialized as not sent.
After step s 103, can also include:
The transmission for being sent to the movement instruction of robot mark is revised as having sent.
Judge whether multiple movement instructions are all sent to robot, may include:
Judging that the transmission of multiple movement instructions identifies whether is to have sent.
The not sent movement instruction to robot is then sent to machine by the not sent movement instruction to robot if it exists
People, and continue to execute and the step of whether multiple movement instructions are all sent to robot judged, until multiple movement instructions are whole
It is sent to robot, may include:
It sends if it exists and is identified as not sent movement instruction, then transmission is identified as not sent movement instruction and be sent to
The transmission for being sent to the movement instruction of robot mark is revised as having sent by robot, and it is multiple to continue to execute the judgement
The transmission of movement instruction identifies whether to be the step of transmission, until the transmission mark of multiple movement instructions is to have sent.
It in embodiments of the present invention, can be initial for each movement instruction when motion profile being converted to multiple movement instructions
Change and send mark, transmission mark is initialized as not sent.If movement instruction has been sent to robot, by the hair of the movement instruction
Mark is sent to be revised as having sent.
It is to have sent by judging that the transmission of multiple movement instructions identifies whether, whether can determines multiple movement instructions
It has been sent to robot.It sends if it exists and is identified as not sent movement instruction, then transmission is identified as not sent movement
Instruction is sent to robot, and the transmission of movement instruction mark is revised as having sent, and it is multiple to continue to execute the judgement
The transmission of movement instruction identifies whether to be the step of transmission, is to have sent up to the transmission of multiple movement instructions identifies,
I.e. until multiple movement instructions are all sent to robot.
Seen from the above description, the embodiment of the present invention can verify whether multiple movement instructions are all sent to machine
People can specifically be identified by the transmission of movement instruction and determine whether movement instruction has been sent to robot, can prevent from moving
The case where instruction leakage is sent out.
Fig. 2 be one embodiment of the invention provide trajectory reproducing system schematic block diagram, for ease of description, only show with
The relevant part of the embodiment of the present invention.
In embodiments of the present invention, trajectory reproducing system 2 includes:
Module 21 is obtained, for obtaining the motion profile of user's drafting；
Motion profile is converted to multiple movement instructions by conversion module 22, and multiple movement instructions have sequencing；
Sending module 23, for multiple movement instructions to be sent to robot, multiple movement instructions are used to indicate robot
Multiple movement instructions are successively executed according to sequencing.
Optionally, conversion module 22 includes:
Converting unit is converted to motion profile multiple comprising starting point coordinate and end for being based on the first preset coordinate system
The movement instruction of point coordinate.
Optionally, sending module 23 are specifically used for:
Multiple movement instructions comprising starting point coordinate and terminal point coordinate are sent to robot, it is multiple comprising starting point coordinate and
The movement instruction of terminal point coordinate is used to indicate robot in the second preset coordinate system, according to sequencing, successively according to each
Starting point coordinate and terminal point coordinate in movement instruction are moved.
Optionally, trajectory reproducing system 2 further include:
Communication connection establishes module, for establishing communication connection with robot；
Connection failure processing module, if continuing to execute and being built with robot for establishing communication link failure with robot
The step of vertical communication connection, until success establishes communication connection with robot.
Optionally, trajectory reproducing system 2 further include:
Judgment module, for judging whether multiple movement instructions are all sent to robot；
Not sent command process module, for the not sent movement instruction to robot if it exists, then by not sent to machine
The movement instruction of device people is sent to robot, and continues to execute the step for judging whether multiple movement instructions are all sent to robot
Suddenly, until multiple movement instructions are all sent to robot.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of the trajectory reproducing system is divided into different functional unit or module, with
Complete all or part of function described above.Each functional unit in embodiment, module can integrate single in a processing
In member, it is also possible to each unit and physically exists alone, can also be integrated in one unit with two or more units, on
It states integrated unit both and can take the form of hardware realization, can also realize in the form of software functional units.In addition, each
Functional unit, module specific name be also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.On
The specific work process for stating unit in device, module, can refer to corresponding processes in the foregoing method embodiment, no longer superfluous herein
It states.
Fig. 3 is the schematic block diagram for the terminal device that one embodiment of the invention provides.As shown in figure 3, the terminal of the embodiment
Equipment 3 includes: one or more processors 30, memory 31 and is stored in the memory 31 and can be in the processor
The computer program 32 run on 30.The processor 30 realizes above-mentioned each trajectory reproducing when executing the computer program 32
Step in embodiment of the method, such as step S101 to S103 shown in FIG. 1.Alternatively, the processor 30 executes the calculating
The function of each module/unit in above-mentioned trajectory reproducing system embodiment, such as module 21 to 23 shown in Fig. 2 are realized when machine program 32
Function.
Illustratively, the computer program 32 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 31, and are executed by the processor 30, to complete the application.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 32 in the terminal device 3 is described.For example, the computer program 32 can be divided
It is as follows to be cut into acquisition module, conversion module and sending module, the concrete function of modules:
Module is obtained, for obtaining the motion profile of user's drafting；
Motion profile is converted to multiple movement instructions by conversion module, and multiple movement instructions have sequencing；
Sending module, for multiple movement instructions to be sent to robot, multiple movement instructions be used to indicate robot by
Multiple movement instructions are successively executed according to sequencing.
Other modules or unit can refer to the description in embodiment shown in Fig. 2, and details are not described herein.
The terminal device can be mobile phone, tablet computer etc. and calculate equipment.The terminal device 3 includes but are not limited to
Processor 30, memory 31.It will be understood by those skilled in the art that Fig. 3 is only an example of terminal device, do not constitute
Restriction to terminal device 3 may include perhaps combining certain components or different than illustrating more or fewer components
Component, such as the terminal device 3 can also include input equipment, output equipment, network access equipment, bus etc..
The processor 30 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 31 can be the internal storage unit of the terminal device, such as the hard disk or interior of terminal device
It deposits.What the memory 31 was also possible to be equipped on the External memory equipment of the terminal device, such as the terminal device inserts
Connect formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory
Block (Flash Card) etc..Further, the memory 31 can also both include the internal storage unit of terminal device or wrap
Include External memory equipment.The memory 31 is for storing needed for the computer program 32 and the terminal device other
Program and data.The memory 31 can be also used for temporarily storing the data that has exported or will export.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed trajectory reproducing system and method, Ke Yitong
Other modes are crossed to realize.For example, trajectory reproducing system embodiment described above is only schematical, for example, described
The division of module or unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as more
A unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device or
The INDIRECT COUPLING or communication connection of unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the application realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of trajectory reproducing method characterized by comprising
Obtain the motion profile that user draws；
The motion profile is converted into multiple movement instructions, the multiple movement instruction has sequencing；
The multiple movement instruction is sent to robot, the multiple movement instruction is used to indicate the robot according to described
Sequencing successively executes the multiple movement instruction.
2. trajectory reproducing method according to claim 1, which is characterized in that it is described the motion profile is converted to it is multiple
Movement instruction, comprising:
Based on the first preset coordinate system, the motion profile is converted into multiple movements comprising starting point coordinate and terminal point coordinate and is referred to
It enables.
3. trajectory reproducing method according to claim 2, which is characterized in that described to be sent to the multiple movement instruction
Robot, the multiple movement instruction are used to indicate the robot and successively execute the multiple movement according to the sequencing
Instruction, comprising:
The multiple movement instruction comprising starting point coordinate and terminal point coordinate is sent to robot, it is the multiple to be sat comprising starting point
Mark and the movement instruction of terminal point coordinate are used to indicate the robot in the second preset coordinate system, according to the sequencing,
Successively according in each movement instruction starting point coordinate and terminal point coordinate moved.
4. trajectory reproducing method according to claim 1, which is characterized in that send the multiple movement instruction described
To before robot, further includes:
Communication connection is established with the robot；
If establishing communication link failure with the robot, the step that communication connection is established with the robot is continued to execute
Suddenly, until success establishes communication connection with the robot.
5. trajectory reproducing method according to claim 1, which is characterized in that send the multiple movement instruction described
To robot, further includes:
Judge whether the multiple movement instruction is all sent to the robot；
The movement instruction of the robot if it exists then sends out the movement instruction of the robot
It send to the robot, and continues to execute the step for judging the multiple movement instruction and whether being all sent to the robot
Suddenly, until the multiple movement instruction is all sent to the robot.
6. a kind of trajectory reproducing system characterized by comprising
Module is obtained, for obtaining the motion profile of user's drafting；
The motion profile is converted to multiple movement instructions by conversion module, and the multiple movement instruction has sequencing；
Sending module, for the multiple movement instruction to be sent to robot, the multiple movement instruction is used to indicate described
Robot successively executes the multiple movement instruction according to the sequencing.
7. trajectory reproducing system according to claim 6, which is characterized in that the conversion module includes:
Converting unit is converted to the motion profile multiple comprising starting point coordinate and end for being based on the first preset coordinate system
The movement instruction of point coordinate.
8. trajectory reproducing system according to claim 7, which is characterized in that the sending module is specifically used for:
The multiple movement instruction comprising starting point coordinate and terminal point coordinate is sent to robot, it is the multiple to be sat comprising starting point
Mark and the movement instruction of terminal point coordinate are used to indicate the robot in the second preset coordinate system, according to the sequencing,
Successively according in each movement instruction starting point coordinate and terminal point coordinate moved.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 5 when executing the computer program
The step of any one trajectory reproducing method.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer journey
Sequence realizes the trajectory reproducing as described in any one of claim 1 to 5 when the computer program is executed by one or more processors
The step of method.
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| CN114055468A (en) | 2022-02-18 |
| CN114055468B (en) | 2023-08-18 |
| CN109940611B (en) | 2022-01-21 |
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