CN115179282A - Robot motion track determination method and device and robot - Google Patents
Robot motion track determination method and device and robot Download PDFInfo
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- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The application provides a method and a device for determining a motion trail of a robot and the robot, wherein the method comprises the following steps: acquiring position information of a space occupied by an obstacle; determining whether the occupied space of the obstacle and the initial motion track of the robot have an intersection point or not according to the position information of the occupied space of the obstacle; under the condition that the occupied space of the barrier and the initial motion track have an intersection point, correcting the initial motion track according to the position information of the occupied space of the barrier to obtain a corrected motion track; therefore, the robot can rapidly avoid the obstacle, and the obstacle avoiding efficiency is improved. The device not only avoids stopping due to collision in the movement process, eliminates potential safety hazards and improves the production efficiency; the installation of 3D vision equipment is avoided, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved.
Description
Technical Field
The application relates to the field of robot control, in particular to a method and a device for determining a motion track of a robot and the robot.
Background
When an obstacle exists in a working space of the robot, the uncertain moving track causes the potential safety hazard that the obstacle is impacted in the moving process of the robot. The following factors are mainly responsible for uncertainty of the running track:
1. PTP (Point To Point) motion is that a robot moves a TCP (Tool center Point) from an initial Point To a target Point along a fastest path, and since curvilinear path motion is faster than linear path motion, a moving route of a shaft of the robot when performing rotary motion is not necessarily a straight line, and due To the characteristic, a moving trajectory of PTP motion cannot be determined when a robot program is written.
2. When the robot carries out the grabbing action of the conveying belt, the corresponding grabbing and discharging tracks are planned according to the position and posture of the workpiece, so that the workpiece can be accurately grabbed. However, in most cases, the position and posture of the workpiece are not fixed, and the grabbing and placing running tracks of the robot can also change correspondingly.
Disclosure of Invention
The application mainly aims to provide a method and a device for determining a motion track of a robot and the robot, so as to solve the problem of low obstacle avoidance efficiency of the robot in the existing scheme.
According to an aspect of an embodiment of the present invention, there is provided a method for determining a motion trajectory of a robot, the method including: acquiring position information of a space occupied by an obstacle, wherein the space occupied by the obstacle is used for representing the space occupied by the obstacle; determining whether the occupied space of the obstacle and the initial motion track of the robot have an intersection point or not according to the position information of the occupied space of the obstacle; and under the condition that the occupied space of the obstacle and the initial motion track have an intersection point, correcting the initial motion track according to the position information of the occupied space of the obstacle to obtain a corrected motion track, wherein the corrected motion track and the occupied space of the obstacle do not have an intersection point.
Optionally, acquiring the obstacle occupation space comprises: acquiring a first coordinate point and a second coordinate point, wherein the first coordinate point and the second coordinate point are a pair of diagonal points of the obstacle; determining the space occupied by the obstacle according to the first coordinate point and the second coordinate point.
Optionally, the determining whether the space occupied by the obstacle has an intersection with the initial motion trajectory of the robot comprises: acquiring coordinates of a plurality of track points on the initial motion track; determining whether at least one track point is located in the space occupied by the obstacle according to the coordinates of the track points and the position information of the space occupied by the obstacle; determining that the space occupied by the obstacle has an intersection point with the initial motion trajectory of the robot under the condition that at least one track point is located in the space occupied by the obstacle; and under the condition that all the track points are not located in the occupied space of the obstacle, determining that the occupied space of the obstacle has no intersection point with the initial motion track of the robot.
Optionally, the initial motion trajectory includes a plurality of trajectory points, and determining, according to at least one first distance, an obstacle avoidance path includes, when the trajectory points located in the space occupied by the obstacle are multiple: moving the track points located in the occupied space of the obstacle by a second distance to obtain moved track points, wherein the moved track points are located outside the occupied space of the obstacle, the second distance is greater than the first distance, and under the condition that the track points located in the occupied space of the obstacle are multiple, the plurality of track points located in the occupied space of the obstacle are moved by the second distance respectively, and the second distances correspond to the first distances one by one; and sequentially connecting the starting point of the initial motion track, the moved track point and the end point of the initial motion track to obtain the obstacle avoidance path.
Optionally, moving the track point located in the space occupied by the obstacle by a second distance, and obtaining the moved track point includes: moving the track points in the occupied space of the obstacle for a plurality of times by second distances, wherein the second distances of any two times of movement are different, and moving one track point in the occupied space of the obstacle to obtain a plurality of moved track points, wherein the moved track points are positioned outside the occupied space of the obstacle; connecting the starting point of the initial motion track, the moved track point and the end point of the initial motion track in sequence to obtain the obstacle avoidance path, comprising: respectively connecting the track points after each movement with the starting point of the initial motion track and the end point of the initial motion track to obtain a plurality of candidate obstacle avoidance paths; selecting the shortest one from the candidate obstacle avoidance paths as the obstacle avoidance path
Optionally, determining the obstacle occupying space from the first coordinate point and the second coordinate point comprises: determining the space occupied by the obstacle from the first coordinate point (X1, Y1, Z1) and the second coordinate point (X2, Y2, Z2)
Wherein Xmin is the smallest point of X1 and X2, ymin is the smallest point of Y1 and Y2, zmin is the smallest point of Z1 and Z2, xmax is the largest point of X1 and X2, ymax is the largest point of Y1 and Y2, and Zmax is the largest point of Z1 and Z2.
Optionally, the method further comprises: under the condition that the occupied space of the obstacle does not have an intersection point with the initial motion track, keeping the initial motion track unchanged; and controlling the robot to run along the initial motion track.
Optionally, the device for determining the motion trail of the robot comprises an acquisition unit, a determination unit and a correction unit; the acquisition unit is used for acquiring position information of a space occupied by an obstacle, wherein the space occupied by the obstacle is used for representing the space occupied by the obstacle; the determining unit is used for determining whether the obstacle occupying space and the initial motion trail of the robot have an intersection point according to the position information of the obstacle occupying space; the correction unit is used for correcting the initial motion trail according to the position information of the space occupied by the obstacle under the condition that the space occupied by the obstacle and the initial motion trail have an intersection point, so as to obtain a corrected motion trail, and the corrected motion trail and the space occupied by the obstacle do not have an intersection point.
According to another aspect of embodiments of the present invention, there is also provided a robot comprising one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods for determining a motion trajectory of a robot.
In the embodiment of the invention, whether the intersection point exists between the occupied space of the obstacle and the initial motion track of the robot is determined, and the initial motion track is corrected according to the position information of the occupied space of the obstacle under the condition that the intersection point exists between the occupied space of the obstacle and the initial motion track, so that the corrected motion track is obtained, the robot can rapidly avoid the obstacle, and the obstacle avoiding efficiency is improved. The device not only avoids stopping due to collision in the movement process, eliminates potential safety hazards and improves the production efficiency; 3D vision equipment is also avoided from being installed, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a flow chart of a method of determining a trajectory of a robot motion according to an embodiment of the application;
fig. 2 shows a schematic diagram of obtaining an obstacle avoidance path according to an embodiment of the present application;
FIG. 3 illustrates a schematic diagram of forming a plurality of candidate paths according to an embodiment of the present application;
FIG. 4 shows a schematic view of an obstacle occupying space according to an embodiment of the application;
fig. 5 shows a schematic diagram of a determination apparatus of a robot motion trajectory according to an embodiment of the application;
fig. 6 shows a flow chart of a solution for determining a robot motion trajectory according to an embodiment of the application.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background art, in the prior art, when an obstacle exists in a working space of a robot, an uncertain moving track causes a potential safety hazard that the robot collides with the obstacle in a moving process, and in order to solve a problem that an obstacle avoidance efficiency of the robot in the prior art is low, a typical embodiment of the present application provides a method and an apparatus for determining a moving track of the robot, and the robot.
According to an embodiment of the application, a method for determining a motion trail of a robot is provided.
As shown in fig. 1, the method comprises the steps of:
step S101, obtaining position information of occupied space of an obstacle, wherein the occupied space of the obstacle is used for representing the occupied space of the obstacle;
step S102, determining whether the space occupied by the obstacle and the initial motion track of the robot have an intersection point according to the position information of the space occupied by the obstacle;
and a step S103 of, when the obstacle occupying space and the initial movement trajectory have an intersection, correcting the initial movement trajectory based on the position information of the obstacle occupying space to obtain a corrected movement trajectory, which does not have an intersection with the obstacle occupying space.
In the step, whether the intersection point exists between the occupied space of the obstacle and the initial motion track of the robot is determined, and the initial motion track is corrected according to the position information of the occupied space of the obstacle under the condition that the intersection point exists between the occupied space of the obstacle and the initial motion track, so that the corrected motion track is obtained, the robot can rapidly avoid the obstacle, and the obstacle avoiding efficiency is improved. The device not only avoids stopping due to collision in the movement process, eliminates potential safety hazards and improves the production efficiency; 3D vision equipment is also avoided from being installed, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In one embodiment of the present application, acquiring the position information of the space occupied by the obstacle includes: acquiring a first coordinate point and a second coordinate point, wherein the first coordinate point and the second coordinate point are a pair of diagonal points of the barrier; and determining the position information of the space occupied by the obstacle according to the first coordinate point and the second coordinate point. So that the occupied space of the obstacle can be quickly determined, and the subsequent operation can be performed according to the occupied space of the obstacle.
In one embodiment of the present application, determining whether the space occupied by the obstacle intersects with the initial movement trajectory of the robot includes: acquiring coordinates of a plurality of track points on the initial motion track; determining whether at least one of the track points is located in the space occupied by the obstacle according to the coordinates of the plurality of track points and the position information of the space occupied by the obstacle; determining that the space occupied by the obstacle has an intersection point with the initial movement trajectory of the robot in the case where at least one of the trajectory points is located within the space occupied by the obstacle; and under the condition that all the track points are not positioned in the occupied space of the obstacle, determining that the occupied space of the obstacle has no intersection point with the initial motion track of the robot. For example, if the first track point is a, the second track point is B, and both a and B are located in the obstacle occupying space, it is determined that the obstacle occupying space and the initial movement trajectory of the robot have an intersection. Whether the robot runs according to the initial motion track and collides with the obstacle or not can be judged quickly.
In an embodiment of the present application, the initial motion trajectory includes a plurality of trajectory points, and the initial motion trajectory is corrected according to a space occupied by the obstacle, and obtaining a corrected motion trajectory includes: determining an obstacle avoidance path according to at least a first distance, wherein the first distance is the distance between one track point in the space occupied by the obstacle and the boundary of the space occupied by the obstacle; and fitting the obstacle avoidance path into a plurality of sections of linear tracks, and determining a track formed by sequentially connecting the plurality of sections of linear tracks end to end as the corrected motion track. The accuracy of the obstacle avoidance path is greatly improved, the obstacle avoidance success rate is improved, and the robot is convenient to drive as the robot is fit into a multi-section straight line.
In an embodiment of this application, above-mentioned initial motion orbit includes a plurality of track points, and the track point that is located above-mentioned barrier occupation space has a plurality of circumstances, and at least according to at least one first distance, the route of certainly keeping away the barrier includes: moving the track points located in the space occupied by the obstacle by a second distance to obtain moved track points, wherein the moved track points are located outside the space occupied by the obstacle, the second distance is greater than the first distance, and when a plurality of track points located in the space occupied by the obstacle are present, the plurality of track points located in the space occupied by the obstacle are moved by the second distance respectively, and the second distances correspond to the first distances one by one; and sequentially connecting the starting point of the initial motion track, the moved track point and the end point of the initial motion track to obtain the obstacle avoidance path.
Specifically, as shown in fig. 2, there are two track points located in the space occupied by the above-mentioned obstacle, which are respectively a third track point C1 and a fourth track point D1, and a third distance and a fourth distance are obtained, where the third distance is a distance between the third track point C1 located in the space occupied by the above-mentioned obstacle and the boundary occupied by the above-mentioned obstacle, the fourth distance is a distance between the fourth track point D1 located in the space occupied by the above-mentioned obstacle and the boundary occupied by the above-mentioned obstacle, and then the third track point C1 is moved by a fifth distance (the fifth distance is greater than the third distance), and the fourth track point D1 is moved by a sixth distance (the sixth distance is greater than the fourth distance), so as to obtain the third track point C2 after movement and the fourth track point D2 after movement, so that the third track point C2 after movement and the fourth track point D2 after movement are both located outside the space occupied by the above-mentioned obstacle, and then obtain the starting point of the initial movement of the above-mentioned initial movement, the third track point C2 after movement and the fourth track point D2 after movement, and the final point L2 are connected in turn, and the obstacle avoidance path.
In an embodiment of this application, will be located the track point in above-mentioned barrier occupation space and remove the second distance, obtain the track point after the removal and include: moving a track point in the occupied space of the barrier for a plurality of times by a second distance, wherein the second distance of any two times of movement is different, and moving one track point in the occupied space of the barrier to obtain a plurality of moved track points, wherein the moved track points are positioned outside the occupied space of the barrier; connect gradually the starting point of above-mentioned initial motion orbit, the above-mentioned track point after removing and the terminal point of above-mentioned initial motion orbit, obtain above-mentioned obstacle avoidance path, include: respectively connecting the track points after each movement with the starting point of the initial motion track and the end point of the initial motion track to obtain a plurality of candidate obstacle avoidance paths; and selecting the shortest one from the candidate obstacle avoidance paths as the obstacle avoidance path.
Specifically, as shown in fig. 3, for example, there is one track point located in the space occupied by the above-mentioned obstacle, which is a fifth track point E1, there are two candidate obstacle avoidance paths, which are a first candidate obstacle avoidance path La and a second candidate obstacle avoidance path Lb, respectively, where the length of the first candidate obstacle avoidance path La is greater than the length of the second obstacle avoidance path Lb, and therefore, the second candidate obstacle avoidance path Lb is selected as the final obstacle avoidance path. The obstacle avoidance path is the shortest candidate obstacle avoidance path, so that the robot can avoid the obstacle as soon as possible.
In an embodiment of the present application, as shown in fig. 4, the determining the occupied space of the obstacle based on the first coordinate point and the second coordinate point includes: determining position information of the space occupied by the obstacle based on the first coordinate point a (X1, Y1, Z1) and the second coordinate point B (X2, Y2, Z2)
Wherein Xmin is the smallest point of X1 and X2, ymin is the smallest point of Y1 and Y2, zmin is the smallest point of Z1 and Z2, xmax is the largest point of X1 and X2, ymax is the largest point of Y1 and Y2, and Zmax is the largest point of Z1 and Z2. Thereby quickly establishing the space occupied by the obstacle.
In an embodiment of the present application, the method further includes: under the condition that the space occupied by the barrier and the initial motion track have no intersection point, keeping the initial motion track unchanged; and controlling the robot to run along the initial motion track. When there is no intersection, it is determined that the robot is driven along the initial motion trajectory without colliding with an obstacle, and therefore the robot is still controlled to travel along the initial motion trajectory.
The embodiment of the present application further provides a device for determining a motion trajectory of a robot, and it should be noted that the device for determining a motion trajectory of a robot according to the embodiment of the present application may be used to execute the method for determining a motion trajectory of a robot according to the embodiment of the present application. The following describes a device for determining a motion trajectory of a robot according to an embodiment of the present application.
As shown in fig. 5, the apparatus includes: an acquisition unit 10, a determination unit 20, and a correction unit 30; the acquiring unit 10 is configured to acquire position information of a space occupied by an obstacle, where the space occupied by the obstacle is used to represent the space occupied by the obstacle; the determining unit 20 is configured to determine whether an intersection point exists between the space occupied by the obstacle and an initial motion trajectory of the robot according to the position information of the space occupied by the obstacle; the correction unit 30 is configured to correct the initial motion trajectory based on the position information of the obstacle occupying space to obtain a corrected motion trajectory when the obstacle occupying space and the initial motion trajectory have an intersection, and the corrected motion trajectory and the obstacle occupying space do not have an intersection.
In the device, whether the intersection point exists between the occupied space of the obstacle and the initial motion track of the robot is determined, and under the condition that the intersection point exists between the occupied space of the obstacle and the initial motion track, the initial motion track is corrected according to the position information of the occupied space of the obstacle, so that the corrected motion track is obtained, the robot can rapidly avoid the obstacle, and the obstacle avoiding efficiency is improved. The device not only avoids stopping due to collision in the movement process, eliminates potential safety hazards and improves the production efficiency; 3D vision equipment is also avoided from being installed, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem that the robot in the existing scheme is low in obstacle avoidance efficiency is solved.
In an embodiment of the present application, the acquiring unit includes a first acquiring module and a first determining module, the first acquiring module is configured to acquire a first coordinate point and a second coordinate point, where the first coordinate point and the second coordinate point are a pair of diagonal points of the obstacle; the first determining module is used for determining the position information of the space occupied by the obstacle according to the first coordinate point and the second coordinate point. So that the occupied space of the obstacle can be quickly determined, and the subsequent operation can be carried out according to the occupied space of the obstacle.
In an embodiment of the present application, the determining unit includes a second obtaining module, a second determining module, a third determining module, and a fourth determining module, where the second obtaining module is configured to obtain coordinates of a plurality of track points on the initial motion trajectory; the second determining module is used for determining whether at least one track point is located in the space occupied by the obstacle according to the coordinates of the track points and the position information of the space occupied by the obstacle; the third determining module is used for determining that the occupied space of the obstacle has an intersection point with the initial motion track of the robot under the condition that at least one track point is located in the occupied space of the obstacle; and the fourth determining module is used for determining that the occupied space of the barrier and the initial motion track of the robot have no intersection point under the condition that all the track points are not located in the occupied space of the barrier. For example, if the first track point is a, the second track point is B, and both a and B are located in the space occupied by the obstacle, it is determined that the intersection point exists between the space occupied by the obstacle and the initial movement trajectory of the robot. Whether the robot runs according to the initial motion track and collides with the obstacle or not can be judged quickly.
In an embodiment of the present application, the initial motion trajectory includes a plurality of trajectory points, the correction unit includes a fifth determination module and a correction module, the fifth determination module is configured to determine an obstacle avoidance path according to at least a first distance, where the first distance is a distance between one of the trajectory points in the space occupied by the obstacle and a boundary of the space occupied by the obstacle; the correction module is used for fitting the obstacle avoidance path into a plurality of sections of straight-line tracks and determining the track formed by sequentially connecting the straight-line tracks end to end as the correction motion track. The accuracy of the obstacle avoidance path is greatly improved, the obstacle avoidance success rate is improved, and the robot is convenient to drive as the robot is fit into a multi-section straight line.
In an embodiment of the application, the initial motion trajectory includes a plurality of trace points, and in a case where there are a plurality of trace points located in the space occupied by the obstacle, the fifth determining module includes a first processing sub-module and a second processing sub-module, the first processing sub-module is configured to move the trace points located in the space occupied by the obstacle by a second distance to obtain moved trace points, the moved trace points are located outside the space occupied by the obstacle, where the second distance is greater than the first distance, and in a case where there are a plurality of trace points located in the space occupied by the obstacle, the plurality of trace points located in the space occupied by the obstacle are respectively moved by second distances, and the second distances correspond to the first distances one to one; the second processing submodule is used for sequentially connecting the starting point of the initial motion track, the track point after the movement and the end point of the initial motion track to obtain the obstacle avoidance path.
Specifically, as shown in fig. 2, for example, there are two track points located in the space occupied by the obstacle, which are respectively a third track point C1 and a fourth track point D1, a third distance and a fourth distance are obtained, the third distance is a distance between the third track point C1 located in the space occupied by the obstacle and a boundary of the space occupied by the obstacle, the fourth distance is a distance between the fourth track point D1 located in the space occupied by the obstacle and the boundary of the space occupied by the obstacle, then the third track point C1 is moved by a fifth distance (the fifth distance is greater than the third distance), the fourth track point D1 is moved by a sixth distance (the sixth distance is greater than the fourth distance), the moved third track point C2 and the moved fourth track point D2 are obtained, so that the moved third track point C2 and the moved fourth track point D2 are located outside the space occupied by the obstacle, and then the start point of the initial movement track, the moved third track point C2, the moved fourth track point D2, and the initial movement path of the obstacle avoidance are sequentially connected.
In an embodiment of the application, the first processing sub-module includes a third processing sub-module, where the third processing sub-module is configured to move a track point located in the space occupied by the obstacle by a second distance, where the second distances of any two movements are different, and move one track point located in the space occupied by the obstacle to obtain a plurality of moved track points, where the moved track point is located outside the space occupied by the obstacle; the second processing submodule comprises a fourth processing submodule, and the fourth processing submodule is used for respectively connecting the track point after each movement with the starting point of the initial motion track and the end point of the initial motion track to obtain a plurality of candidate obstacle avoidance paths; and selecting the shortest one from the candidate obstacle avoidance paths as the obstacle avoidance path.
Specifically, as shown in fig. 3, there is one track point located in the space occupied by the obstacle, which is a fifth track point E1, and there are two candidate obstacle avoidance paths, which are a first candidate obstacle avoidance path La and a second candidate obstacle avoidance path Lb, respectively, where the first candidate obstacle avoidance path La is larger than the second obstacle avoidance path Lb, and therefore, the second candidate obstacle avoidance path Lb is selected as the final obstacle avoidance path. The obstacle avoidance path is the shortest candidate obstacle avoidance path, so that the robot can avoid the obstacle as soon as possible.
In an embodiment of the present application, as shown in fig. 4, the first determining module includes a determining submodule configured to determine the position information of the space occupied by the obstacle according to the first coordinate point a (X1, Y1, Z1) and the second coordinate point B (X2, Y2, Z2)
Wherein Xmin is the smallest point of X1 and X2, ymin is the smallest point of Y1 and Y2, zmin is the smallest point of Z1 and Z2, xmax is the largest point of X1 and X2, ymax is the largest point of Y1 and Y2, and Zmax is the largest point of Z1 and Z2. Thereby quickly establishing the space occupied by the obstacle.
In an embodiment of the present application, the apparatus further includes a processing unit, configured to keep the initial movement track unchanged if there is no intersection between the occupied space of the obstacle and the initial movement track; and controlling the robot to move along the initial motion track. In the case of no intersection point, it is determined that the robot is driven along the initial motion trajectory without colliding with the obstacle, and therefore the robot may be controlled to move along the initial motion trajectory.
The device for determining the motion trail of the robot comprises a processor and a memory, wherein the acquiring unit, the determining unit, the correcting unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, where the program, when executed by a processor, implements the method for determining a motion trajectory of a robot.
The embodiment of the invention provides a processor, which is used for running a program, wherein the method for determining the motion trail of the robot is executed when the program runs.
An embodiment of the present invention provides an apparatus, where the apparatus includes a processor, a memory, and a program that is stored in the memory and is executable on the processor, and when the processor executes the program, at least the following steps are implemented: acquiring position information of a space occupied by an obstacle, wherein the space occupied by the obstacle is used for representing the space occupied by the obstacle; determining whether the space occupied by the obstacle and the initial motion track of the robot have an intersection point according to the position information of the space occupied by the obstacle; and when the obstacle occupying space and the initial motion trail have an intersection, correcting the initial motion trail according to the position information of the obstacle occupying space to obtain a corrected motion trail, wherein the corrected motion trail and the obstacle occupying space do not have an intersection. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device: acquiring position information of a space occupied by an obstacle, wherein the space occupied by the obstacle is used for representing the space occupied by the obstacle; determining whether the space occupied by the obstacle and the initial motion track of the robot have an intersection point according to the position information of the space occupied by the obstacle; and when the obstacle occupying space and the initial motion trail have an intersection, correcting the initial motion trail according to the position information of the obstacle occupying space to obtain a corrected motion trail, wherein the corrected motion trail and the obstacle occupying space do not have an intersection.
Embodiments of the present invention provide a robot, which includes one or more processors, a memory, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include a method for performing any one of the above determination methods for a motion trajectory of a robot. The method comprises the steps of determining whether an intersection point exists between the occupied space of the obstacle and an initial motion track of the robot, and correcting the initial motion track according to position information of the occupied space of the obstacle under the condition that the occupied space of the obstacle and the initial motion track have the intersection point to obtain a corrected motion track, so that the robot can rapidly avoid the obstacle, and the obstacle avoiding efficiency is improved. The device not only avoids stopping due to collision in the movement process, eliminates potential safety hazards and improves the production efficiency; 3D vision equipment is also avoided from being installed, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved.
In order to make the technical solutions of the present application more clearly understood by those skilled in the art, the technical solutions and technical effects of the present application will be described below with reference to specific embodiments.
Examples
The embodiment of the present application further provides a solution for determining a motion trajectory of a robot, as shown in fig. 6, the solution includes the following steps:
step 1: as shown in fig. 4, the position information of the space occupied by the obstacle is determined based on the acquired first coordinate point a (X1, Y1, Z1) and second coordinate point B (X2, Y2, Z2)
Wherein Xmin is the smallest point of X1 and X2, ymin is the smallest point of Y1 and Y2, zmin is the smallest point of Z1 and Z2, xmax is the largest point of X1 and X2, ymax is the largest point of Y1 and Y2, and Zmax is the largest point of Z1 and Z2;
step 2: acquiring coordinates of a plurality of track points on the initial motion track; determining whether at least one of the track points is located in the space occupied by the obstacle according to the coordinates of the plurality of track points, wherein an initial motion track is marked by L1 in FIG. 3;
and step 3: as shown in fig. 2, in a case where it is determined whether at least one of the trajectory points is located in the obstacle occupying space, taking a third trajectory point C1 and a fourth trajectory point D2 located in the obstacle occupying space as test points, and obtaining a third distance and a fourth distance, the third distance being a distance between the third trajectory point C1 located in the obstacle occupying space and a boundary of the obstacle occupying space, and the fourth distance being a distance between the fourth trajectory point D1 located in the obstacle occupying space and the boundary of the obstacle occupying space;
and 4, step 4: as shown in fig. 2, the third trajectory point C1 is moved by a fifth distance (the fifth distance is greater than the third distance), and the fourth trajectory point D1 is moved by a sixth distance (the sixth distance is greater than the fourth distance), so as to obtain a moved third trajectory point C2 and a moved fourth trajectory point D2, and thus, the moved third trajectory point C2 and the moved fourth trajectory point D2 are both located outside the space occupied by the obstacle;
and 5: as shown in fig. 2, sequentially connecting the starting point of the initial motion trajectory, the moved third trajectory point C2, the moved fourth trajectory point D2, and the end point of the initial motion trajectory to obtain the obstacle avoidance path L2;
step 6: and fitting the obstacle avoidance path into a plurality of sections of linear tracks, and taking the plurality of sections of linear tracks as the corrected motion track L2, wherein the plurality of sections of linear tracks are sequentially connected end to end.
The method comprises the steps of determining whether an intersection point exists between the occupied space of the obstacle and the initial motion track of the robot, and correcting the initial motion track according to the occupied space of the obstacle under the condition that the intersection point exists between the occupied space of the obstacle and the initial motion track to obtain a corrected motion track, so that the robot can rapidly avoid the obstacle, and the obstacle avoiding efficiency is improved. The device not only avoids stopping due to collision in the movement process, eliminates potential safety hazards and improves the production efficiency; 3D vision equipment is also avoided from being installed, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the above-described units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:
1) The method for determining the motion trail of the robot corrects the initial motion trail according to the position information of the occupied space of the obstacle by determining whether the occupied space of the obstacle and the initial motion trail of the robot have an intersection point or not and obtaining the corrected motion trail under the condition that the occupied space of the obstacle and the initial motion trail have the intersection point, so that the robot can rapidly avoid the obstacle, and the obstacle avoiding efficiency is improved. Not only avoids stopping due to collision in the moving process, eliminates potential safety hazard and improves production efficiency; 3D vision equipment is also avoided from being installed, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved.
2) The device for determining the motion trail of the robot corrects the initial motion trail according to the position information of the occupied space of the obstacle under the condition that the occupied space of the obstacle and the initial motion trail have intersection points by determining whether the occupied space of the obstacle and the initial motion trail of the robot have the intersection points or not, so that the corrected motion trail is obtained, the robot can rapidly avoid the obstacle, and the obstacle avoidance efficiency is improved. Not only avoids stopping due to collision in the moving process, eliminates potential safety hazard and improves production efficiency; 3D vision equipment is also avoided from being installed, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved.
3) The robot of this application, whether there is the nodical initial motion orbit through confirming above-mentioned barrier occupation space and robot, and under the condition that above-mentioned barrier occupation space has the nodical with above-mentioned initial motion orbit, revise above-mentioned initial motion orbit according to the positional information that above-mentioned barrier occupied space, obtain the correction motion orbit, and then can make the robot keep away the barrier fast to the efficiency of keeping away the barrier has been improved. The device not only avoids stopping due to collision in the movement process, eliminates potential safety hazards and improves the production efficiency; 3D vision equipment is also avoided from being installed, and the cost is reduced; meanwhile, the influence caused by data transmission and data processing delay is avoided, the real-time performance is enhanced, and the problem of low obstacle avoidance efficiency of the robot in the existing scheme is solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for determining a motion trail of a robot is characterized by comprising the following steps:
acquiring position information of a space occupied by an obstacle, wherein the space occupied by the obstacle is used for representing the space occupied by the obstacle;
determining whether the occupied space of the obstacle and the initial motion track of the robot have an intersection point or not according to the position information of the occupied space of the obstacle;
and under the condition that the occupied space of the obstacle and the initial motion track have an intersection point, correcting the initial motion track according to the position information of the occupied space of the obstacle to obtain a corrected motion track, wherein the corrected motion track and the occupied space of the obstacle do not have an intersection point.
2. The method of claim 1, wherein obtaining position information of a space occupied by an obstacle comprises:
acquiring a first coordinate point and a second coordinate point, wherein the first coordinate point and the second coordinate point are a pair of diagonal points of the obstacle;
and determining the position information of the space occupied by the obstacle according to the first coordinate point and the second coordinate point.
3. The method of claim 1, wherein determining whether the position information of the space occupied by the obstacle intersects with an initial trajectory of motion of the robot comprises:
acquiring coordinates of a plurality of track points on the initial motion track;
determining whether at least one track point is located in the space occupied by the obstacle according to the coordinates of the track points and the position information of the space occupied by the obstacle;
determining that the space occupied by the obstacle has an intersection point with the initial motion trajectory of the robot under the condition that at least one track point is located in the space occupied by the obstacle;
and under the condition that all the track points are not located in the occupied space of the obstacle, determining that the occupied space of the obstacle has no intersection point with the initial motion track of the robot.
4. The method of claim 1, wherein the initial motion trajectory comprises a plurality of trajectory points, and wherein modifying the initial motion trajectory to obtain a modified motion trajectory based on the occupied space of the obstacle comprises:
determining an obstacle avoidance path according to at least a first distance, wherein the first distance is the distance between one track point in the space occupied by the obstacle and the boundary of the space occupied by the obstacle;
and fitting the obstacle avoidance path into a plurality of sections of linear tracks, and determining the track formed by sequentially connecting the plurality of sections of linear tracks end to end as the corrected motion track.
5. The method of claim 4, wherein determining an obstacle avoidance path based on at least one first distance when there are a plurality of trajectory points located within the space occupied by the obstacle comprises:
moving the track points located in the space occupied by the obstacle by a second distance to obtain moved track points, wherein the moved track points are located outside the space occupied by the obstacle, the second distance is greater than the first distance, and under the condition that the track points located in the space occupied by the obstacle are multiple, the plurality of track points located in the space occupied by the obstacle are moved by the second distance respectively, and the second distances correspond to the first distances one by one;
and sequentially connecting the starting point of the initial motion track, the moved track point and the end point of the initial motion track to obtain the obstacle avoidance path.
6. The method of claim 5,
moving the track point located in the occupied space of the obstacle by a second distance to obtain the moved track point, and the method comprises the following steps:
moving the track points in the space occupied by the obstacle for a plurality of times by second distances, wherein the second distances of any two times of movement are different, and moving one track point in the space occupied by the obstacle to obtain a plurality of moved track points, wherein the moved track points are positioned outside the space occupied by the obstacle;
connecting the starting point of the initial motion track, the moved track point and the end point of the initial motion track in sequence to obtain the obstacle avoidance path, comprising:
respectively connecting the track points after each movement with the starting point of the initial motion track and the end point of the initial motion track to obtain a plurality of candidate obstacle avoidance paths;
and selecting the shortest one from the candidate obstacle avoidance paths as the obstacle avoidance path.
7. The method of claim 2, wherein determining location information of an obstacle occupying space from the first coordinate point and the second coordinate point comprises:
determining position information of the space occupied by the obstacle from the first coordinate point (X1, Y1, Z1) and the second coordinate point (X2, Y2, Z2)
Where Xmin is the smallest point of X1 and X2, ymin is the smallest point of Y1 and Y2, zmin is the smallest point of Z1 and Z2, xmax is the largest point of X1 and X2, ymax is the largest point of Y1 and Y2, and Zmax is the largest point of Z1 and Z2.
8. The method according to any one of claims 1 to 7, further comprising:
keeping the initial motion trail unchanged under the condition that the occupied space of the obstacle has no intersection point with the initial motion trail;
and controlling the robot to run along the initial motion track.
9. An apparatus for determining a motion trajectory of a robot, comprising:
the device comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring position information of a space occupied by an obstacle, and the space occupied by the obstacle is used for representing the space occupied by the obstacle;
the determining unit is used for determining whether the occupied space of the obstacle is intersected with the initial motion trail of the robot or not according to the position information of the occupied space of the obstacle;
and the correcting unit is used for correcting the initial motion trail according to the position information of the occupied space of the obstacle under the condition that the occupied space of the obstacle has an intersection with the initial motion trail to obtain a corrected motion trail, and the corrected motion trail does not have an intersection with the occupied space of the obstacle.
10. A robot, comprising: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of determining a motion trajectory of a robot of any of claims 1-8.
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