CN111007857B - Visualization method for robot motion path planning process - Google Patents
Visualization method for robot motion path planning process Download PDFInfo
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- CN111007857B CN111007857B CN201911332155.4A CN201911332155A CN111007857B CN 111007857 B CN111007857 B CN 111007857B CN 201911332155 A CN201911332155 A CN 201911332155A CN 111007857 B CN111007857 B CN 111007857B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000007794 visualization technique Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 230000006837 decompression Effects 0.000 claims abstract 2
- 238000012545 processing Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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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Abstract
The invention discloses a visualization method for a robot motion path planning process, which is characterized by comprising the following steps of: the system comprises a path planning module, a robot control program and a visual program of a PC or mobile equipment; the path planning module comprises a Costmap, a path planning algorithm, a local path and a global path, wherein the Costmap is generated by map information, motion information and sensing detection information; the robot control program selects proper serialization modes comprising Protobuf, json and Yaml according to the data characteristics, packages correct sensing detection data into serialization binary data segments, and the serialization operation can make unified understanding rules for data receiving and transmitting parties; the visualization program of the PC or the mobile equipment comprises decompression data, anti-serialization operation of the data and validity detection of the data; by adopting the scheme of the invention, the path planning algorithm can be quantitatively and accurately evaluated, so that the accurate, real-time and remote robot motion path planning visualization is realized.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a visualization method for a robot motion path planning process.
Background
With the continuous development of modern industry, industrial robots are an indispensable part of the manufacturing production of some high-end industries nowadays; the industrial robot is affected by a plurality of obstacles when working between two points, all the aspects of planning the path of the industrial robot are very necessary, most of current robot motion path planning is integrated in a robot body control program, and if the motion behavior of the robot is only qualitatively observed as closed loop feedback in the debugging process, the influence degree of each influence factor on the planned path cannot be known in time, and the path planning algorithm cannot be quantitatively and accurately evaluated.
Disclosure of Invention
The invention aims to provide a visual method for a robot motion path planning process, which is accurate, real-time and remote-supported.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a visualization method for a robot motion path planning process is characterized by comprising the following steps of: the system comprises a path planning module, a robot control program and a visual program of a PC or mobile equipment;
the path planning module comprises a Costmap generated by map information, motion information and sensing detection information, a path planning algorithm, a local path and a global path;
the robot control program selects proper serialization modes comprising Protobuf, json and Yaml according to data characteristics, packages correct sensing detection data into serialized binary data segments, and the serialization operation can make unified understanding rules for data receiving and transmitting parties so as to improve data transmission rate and compress the serialized sensing data segments into data packets;
the visualization program of the PC or the mobile device comprises decompressed data, deserializing operation is carried out on the data, and validity detection is carried out on the data.
The invention discloses a visualization method for a robot motion path planning process, wherein a robot has autonomous movement capability, and a PC and mobile equipment communicate with the robot by adopting 2G, 3G, 4G and WIFI and a path planning data compression packet processed by adopting a communication protocol UDP or Web Socket is uploaded to a visualization program.
The invention discloses a visualization method of a robot motion path planning process, wherein a path planning algorithm in a path planning module depends on map information, motion information and Costmap data sources generated based on sensing detection information, and adopts a DWA (discrete wavelet transform) and other path planning strategies to generate a corresponding global path and local path for each motion task of a robot; and using an A-optimal path algorithm to take the minimum cost path of the costmap as a global path of the industrial robot motion, and using a dynamic window method to carry out local path planning.
The invention discloses a visualization method for a robot motion path planning process, wherein an A-optimal path algorithm is a heuristic search algorithm based on depth priority.
The invention discloses a visualization method for a robot motion path planning process, which is characterized in that a dynamic window method samples a plurality of groups of data in a VW coordinate system in a speed space to obtain estimation of a plurality of groups of tracks, the tracks are evaluated, and the speed corresponding to the optimal local track is selected and issued to a robot.
The invention discloses a visualization method for a robot motion path planning process, wherein a path planning module uploads a planning result of a Costmap and a global path and a local path integrated by map information and motion information to a robot body control program running on an ARM or other embedded mainboards; the robot control program performs filtering, serialization and binary compression processing on different data characteristics.
By adopting the scheme of the invention, the robot motion path planning algorithm is not integrated in the robot body control program any more, the motion path planning is more accurate by utilizing the A-optimal path algorithm and the dynamic window method, after the PC and the mobile equipment decompress data, reverse sequence and perform validity detection, the corresponding visual path can be timely selected according to different paths of the data, real-time operation can be performed on the path planning, and the motion path of the robot can be directly observed at the PC and the mobile equipment, namely, remote robot motion path planning visualization is supported, and accurate, real-time and remote robot motion path planning visualization is completed.
The invention will be described in more detail below with reference to the drawings and examples.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
the contents and the marks in the drawings expressed in the drawings of the present specification are briefly described as follows:
FIG. 1 is a visual flow of a robot path plan of the present invention;
FIG. 2 is a flow chart of the robot control program data processing according to the present invention;
FIG. 3 is a flow chart of the data processing of the upper computer visualization program of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention, such as the shape and construction of the components, the mutual positions and connection relationships between the components, the roles and working principles of the components, the manufacturing process and the operation and use method, etc., will be given by way of example only to assist those skilled in the art in a more complete, accurate and thorough understanding of the present invention.
FIG. 1 is a visual flow of a robot path plan of the present invention; FIG. 2 is a flow chart of the robot control program data processing according to the present invention; FIG. 3 is a flow chart of the data processing of the upper computer visualization program of the present invention; a method for visualizing a robot motion path planning procedure as described in fig. 1, 2 and 3, comprising a path planning module, a robot control program and a visualization program of a PC or a mobile device.
When the robot works, the path planning module performs path planning through Costmap data generated based on map information, motion information and sensing detection information, and the results obtained after path planning, namely a global path and a local path, are uploaded to a robot body control program running on an ARM or other embedded mainboards; the robot body control program performs a series of processes such as filtering, serialization, binary compression and the like on the data characteristics, and then continuously uploads the processed path planning data to a data visualization program running on a PC or mobile equipment; after the visualization program decompresses and deserializes the sensing data, a corresponding visualization mode is selected according to different path planning data types.
By adopting the scheme of the invention, the robot motion path planning algorithm is not integrated in the robot body control program any more, the motion path planning is more accurate by utilizing the A-optimal path algorithm and the dynamic window method, after the PC and the mobile equipment decompress data, reverse sequence and perform validity detection, the corresponding visual path can be timely selected according to different paths of the data, real-time operation can be performed on the path planning, and the motion path of the robot can be directly observed at the PC and the mobile equipment, namely, remote robot motion path planning visualization is supported, and accurate, real-time and remote robot motion path planning visualization is completed.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.
Claims (5)
1. A visualization method for a robot motion path planning process is characterized by comprising the following steps of: the system comprises a path planning module, a robot control program and a visual program of a PC or mobile equipment;
the path planning module comprises a Costmap generated by map information, motion information and sensing detection information, a path planning algorithm, a local path and a global path;
the robot control program selects proper serialization modes comprising Protobuf, json and Yaml according to data characteristics, packages correct sensing detection data into serialized binary data segments, and the serialization operation can make unified understanding rules for data receiving and transmitting parties so as to improve data transmission rate and compress the serialized sensing data segments into data packets;
the visualization program of the PC or the mobile equipment comprises decompression data, anti-serialization operation of the data and validity detection of the data;
the robot has autonomous mobile capability, and the PC and the mobile device communicate with the robot by adopting 2G, 3G, 4G and WIFI, and the path planning data compression packet processed by adopting a communication protocol UDP or Web Socket is uploaded to the visualization program.
2. The method for visualizing a motion path planning process of a robot according to claim 1, wherein a path planning algorithm in the path planning module relies on map information, motion information and a Costmap data source generated based on sensing detection information, and a DWA path planning strategy is adopted to generate a corresponding global path and local path for each motion task of the robot; and using an A-optimal path algorithm to take the minimum cost path of the costmap as a global path of the industrial robot motion, and using a dynamic window method to carry out local path planning.
3. A method of visualizing a robot motion path planning process according to claim 2, wherein said a-optimized path algorithm is a depth-first based heuristic search algorithm.
4. The method for visualizing a motion path planning process of a robot according to claim 2, wherein the dynamic window method samples a plurality of groups of data in a VW coordinate system in a speed space to obtain a plurality of groups of trajectory estimates, evaluates the trajectories, and selects a speed corresponding to an optimal local trajectory for release to the robot.
5. The method for visualizing a robot motion path planning process according to claim 2, wherein the path planning module uploads the map information, the motion information integrated Costmap and the global path and local path planning results to a robot body control program running on an ARM or other embedded motherboard; the robot control program performs filtering, serialization and binary compression processing on different data characteristics.
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| CN113518094B (en) * | 2021-09-14 | 2021-12-28 | 深圳市普渡科技有限公司 | Data processing method, device, robot and storage medium |
| CN114509064A (en) * | 2022-02-11 | 2022-05-17 | 上海思岚科技有限公司 | Method, interface and equipment for autonomously expanding sensor data processing |
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