CN116079725A

CN116079725A - Truss robot and track planning method and device thereof

Info

Publication number: CN116079725A
Application number: CN202310017848.4A
Authority: CN
Inventors: 廖亚军; 黄坤; 诸明翰
Original assignee: Hunan Shibite Robot Co Ltd
Current assignee: Hunan Shibite Robot Co Ltd
Priority date: 2022-10-09
Filing date: 2023-01-06
Publication date: 2023-05-09
Also published as: CN115431276A

Abstract

The invention provides a truss robot and a track planning method and device thereof, wherein the method comprises the following steps: determining target task points and initial movement points of a plurality of truss robots; determining a motion trail of the truss robot according to the target task point and the initial running point; determining a plurality of target track points according to the motion track; and controlling the truss robot to execute a first track planning strategy according to the plurality of target track points, and determining that the track planning of the truss robot is completed when the target task points of the plurality of truss arms are all completed. According to the invention, the truss robots are controlled to execute the first track planning strategy so as to detect the motions of the truss robots in advance, so that the collision points of the truss robots in the motion process are avoided, the time sequence staggering of the truss robots in the motion process is ensured, the damage to devices caused by collision is avoided, and the motion safety of the truss robots is improved.

Description

Truss robot and track planning method and device thereof

Technical Field

The invention relates to the technical field of robots, in particular to a truss robot and a track planning method and device thereof.

Background

The truss robot is a mechanical arm which is built under a rectangular coordinate system and is formed by connecting a plurality of joints in series, and can be used for carrying materials, loading and unloading and other scenes.

However, the truss robot has a coaxial joint, and if the movement ranges are intersected, the truss arm robot is easy to collide, so that the truss robot is damaged.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art.

Therefore, an object of the present invention is to provide a track planning method for a truss robot, which avoids collision points when the truss robot moves, ensures that the truss robot is staggered in time sequence in the moving process, and avoids device damage caused by collision, thereby improving the safety of the truss robot movement.

To this end, a second object of the present invention is to propose a trajectory planning device for a truss robot.

To this end, a third object of the present invention is to propose a truss robot.

To achieve the above object, an embodiment of a first aspect of the present invention provides a trajectory planning method for a truss robot, including: determining target task points and initial movement points of the truss robots; determining a motion trail of the truss robot according to the target task point and the initial motion point; determining a plurality of target track points according to the motion track; and controlling the truss robot to execute a first track planning strategy according to the target track points until the track planning is completed by the target task points of the truss arms.

According to the truss robot provided by the embodiment of the invention, the first track planning strategy is executed by controlling the truss robot so as to detect the motions of a plurality of truss robots in advance, avoid the collision points when the truss robot moves, ensure the staggered time sequence of the truss robot in the moving process, and avoid the damage of devices caused by collision, thereby improving the safety of the truss robot motion.

In some embodiments, controlling the truss robot to execute a first trajectory planning strategy according to the target trajectory point includes: traversing a plurality of target track points according to a preset sequence, and acquiring the position information of the target track points; judging whether a plurality of truss robots collide or not according to the position information; if yes, eliminating a target task point of one truss robot; performing track planning on target task points of the rest truss robots, and determining that track planning of the truss robots is completed currently if the target track points exist in the truss robots; and if the target track points do not exist in the truss robots, determining that the motions of the truss robots are deadlocked, and controlling the truss robots to execute a second track planning strategy when the truss robots are deadlocked.

In some embodiments, controlling the truss robot to perform a second trajectory planning strategy includes: taking one of a plurality of truss robots as a master arm and the rest truss robots as slave arms; determining a movement range of the main arm in a preset direction; determining a plurality of avoidance points of the rest truss robots according to the movement range; determining a planning target track point according to the avoidance points; and carrying out track planning on the master arm and the slave arms of the truss robot according to the planned target track points until the planned target track points of a plurality of truss robots all complete the track planning.

In some embodiments, determining a plurality of target track points from the motion track includes: and carrying out discrete processing on the motion track according to a preset time interval to obtain a plurality of target track points.

In some embodiments, determining whether the truss robot is subject to a collision based on the location information includes: determining the pose of the truss robots in space motion; performing collision detection on a plurality of truss robots according to the spatial movement pose; determining the collision distance of the truss robot according to the position coordinates; and determining that the truss robots collide when the distance between the truss robots is smaller than the collision distance.

In some embodiments, clearing a target task point of one of the truss robots includes: determining a first target truss robot and a second target truss robot which collide; calculating a first moving distance of the first target truss robot in a preset direction and a second moving distance of the second target truss robot in the preset direction; and according to the relation between the first moving distance and the second moving distance, removing one target task point of the truss robot.

In some embodiments, clearing a target task point of one of the truss robots according to a relationship between the first moving distance and the second moving distance includes: when the first moving distance is smaller than the second moving distance, the target task point of the second target truss robot is cleared; when the first moving distance is larger than the second moving distance, eliminating a target task point of the first target truss robot; and when the preset distance in the first moving distance is overlapped with the preset distance in the second moving distance, or the first moving distance is not overlapped with the second moving distance, determining the moving directions of the first target truss robot and the second target truss robot, and clearing a target task point of one of the target truss robots according to the moving direction.

In some embodiments, clearing the target task point of one of the target truss robots according to the running direction includes: when the first target truss robot and the second target truss robot move in the same direction and the first target truss robot is positioned behind the second target truss robot, the target task point of the first target truss robot is cleared; when the first target truss robot and the second target truss robot move in the same direction and the first target truss robot is positioned in front of the second target truss robot, the target task point of the second target truss robot is cleared; when the first target truss robot and the second target truss robot move reversely, and the moving distance of the first target truss robot is larger than that of the second target truss robot, removing a target task point of the first target truss robot; and when the first target truss robot and the second target truss robot reversely move, and the moving distance of the first target truss robot is smaller than that of the second target truss robot, the target task point of the second target truss robot is cleared.

In order to achieve the above object, an embodiment of a second aspect of the present invention provides a trajectory planning device for a truss robot, the device including: the first determining module is used for determining target task points and initial movement points of the truss robots; the second determining module is used for determining the motion trail of the truss robot according to the target task point and the initial motion point; the third determining module is used for determining a plurality of target track points according to the motion track; and the execution module is used for controlling the truss robot to execute a first track planning strategy according to the target track points until the track planning is completed by the target task points of the truss arms.

According to the track planning device for the truss robots, disclosed by the embodiment of the invention, the first track planning strategy is executed by controlling the truss robots so as to detect the motions of the truss robots in advance, avoid the collision points when the truss robots move, ensure that the truss robots are staggered in time sequence in the moving process, and avoid the damage of devices caused by collision, thereby improving the safety of the truss robot motions.

In order to achieve the above object, an embodiment of a third aspect of the present invention provides a truss robot, which performs trajectory planning for the truss robot using the trajectory planning device of the truss robot as described in the above embodiment.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic view of a truss robot according to one embodiment of the invention;

FIG. 2 is a flow chart of a trajectory planning method of a truss robot according to one embodiment of the invention;

FIG. 3 is a schematic diagram of truss robot collision detection according to one embodiment of the invention;

fig. 4 is a block diagram of a trajectory planning device of a truss robot according to an embodiment of the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.

In the related art, in order to ensure that the truss robot is not damaged in the running process, a deep reinforcement learning method is adopted to determine the motion planning of the truss robot, but the deep reinforcement learning method is adopted, a large amount of data is required to be trained, and the motion planning process is complex.

Or, through setting up buffer unit, can avoid truss robot in the use, bump with first horizontal pole or second horizontal pole, however, through setting up buffer unit is when bumping, reduces the power of the collision between two horizontal poles, can't avoid bumping.

Or, use leading truck, pivot, motor and infrared inductor to cooperate for truss robot can be in the object that the response is about to collide, and drive the work piece on the leading truck and carry out whole angular displacement, avoid taking place the collision.

But carry out whole angle skew through setting up buffer unit and driving the work piece on the leading truck, all be when the motion conflict appears in truss robot motion in-process, adjust truss robot's motion state, can't reduce the risk that truss robot collided through above-mentioned mode. Therefore, the track of the truss robot is subjected to anti-collision planning, so that the truss robot moves according to the planned track, the movements of the truss robots are staggered in time sequence, the problem of collision of the truss robot in the moving process is fundamentally solved, and damage of the truss robot in the moving process is avoided.

Fig. 1 is a schematic structural view of a truss robot according to an embodiment of the present invention. The truss robot can move according to a path planned in advance, and the embodiment of the invention uses three-arm truss robots as an example to illustrate the track planning of the truss robot.

The following describes an example of a track planning method for a truss robot according to an embodiment of the present invention with reference to fig. 2, where, as shown in fig. 2, the track planning method for a truss robot according to an embodiment of the present invention at least includes: step S1-step S4.

Step S1, determining target task points and initial movement points of a plurality of truss robots.

The truss robots are used for storing task queues, wherein the task queues store a plurality of target task points.

When planning the track of the truss robot, determining a target task point from a task queue of the truss robot, and determining an initial motion point corresponding to the target task point.

And S2, determining the motion trail of the truss robot according to the target task point and the initial motion point.

In the embodiment, after the target task point and the initial motion point of the truss robot are determined, the motion track between the target task point and the initial motion point is determined, and the track planning of the truss robot is facilitated according to the motion track by determining the motion track between the target task point and the initial motion point.

And S3, determining a plurality of target track points according to the motion track.

The target track points are points among the component motion tracks, and after the motion tracks are determined, the motion tracks are subjected to discrete processing to obtain the target track points under the motion tracks.

And S4, controlling the truss robot to execute a first track planning strategy according to the plurality of target track points, and determining that the track planning of the truss robot is completed when the target task points of the truss arms are all completed.

The first track planning strategy is to plan tracks of the truss robots in advance according to target track points, for example, interference checking is conducted on the target track points of the truss robots, when the truss robots run according to the respective target track points and have interference, namely collision risk, the truss robots with collision risk are selectively removed, in the follow-up movement process of the truss robots, the target track points of the truss robots are continuously determined, the truss robots are controlled to execute the first track planning strategy, and track planning is conducted until the target task points of the truss robots are all completed, namely, when the task lists of the truss robots are not empty, the track planning of the truss robots is considered to be completed. It can be appreciated that controlling the plurality of truss robots to execute the first control strategy enables the truss robots to perform an interference check according to the target trajectory points to achieve trajectory planning for the plurality of truss robots.

According to the track planning method for the truss robots, disclosed by the embodiment of the invention, the first track planning strategy is executed by controlling the truss robots so as to detect the motions of the truss robots in advance, avoid the collision points when the truss robots move, ensure that the truss robots are staggered in time sequence in the moving process, avoid the damage to devices caused by collision, and further improve the safety of the truss robot motions.

In some embodiments, controlling the truss robot to execute the first trajectory planning strategy according to the target trajectory point includes: traversing a plurality of target track points according to a preset sequence, and acquiring position coordinates of the target track points; judging whether the plurality of truss robots collide or not according to the position coordinates; if yes, a target task point of one truss robot is cleared; performing track planning on target task points of a plurality of rest truss robots which do not perform track planning, and determining that the track planning of the current truss robot is completed if the target track points exist in the truss robots; and if the truss robots do not have the target track points, determining that the motions of the truss robots are deadlocked, and controlling the truss robots to execute a second track planning strategy when the truss robots are deadlocked. It can be understood that whether the truss robots collide with each other or not is judged through the position information of the truss robots, and the track of the truss robots which are likely to collide with each other is planned in advance, so that a plurality of truss robots can move at the same time as much as possible, the waiting time is reduced, and the efficiency is improved.

In an embodiment, as shown in fig. 3, a schematic diagram of collision detection of a truss robot according to an embodiment of the present invention is shown. When the truss robot is controlled to execute the first track planning strategy, the target track points are stored in a task queue of the truss robot, a plurality of target track points are sequentially traversed according to a preset sequence, for example, according to the sequence in the task queue, the position information of the truss robot is acquired when the plurality of target track points are traversed, after the position information of the truss robot is acquired, the collision distance of the truss robot is determined according to the position information of the truss robot, the space motion pose of the truss robot is calculated through the positive kinematics of the truss robot, each geometric model of the truss robot is traversed, collision detection is carried out on the geometric models of the truss robots, for example, a hierarchical bounding box algorithm is carried out to detect whether collision occurs between the truss robots, and if the distance between the truss robots is smaller than the collision distance, the collision occurs between the truss robots is considered.

When it is determined that collision occurs between the truss robots, for example, a motion track of one truss robot is removed, track planning is performed on target task points of the rest truss robots after the motion track of one truss robot is removed, that is, the rest truss robots traverse the target track points again, the removing process is performed again, when track planning is performed on the target task points of the rest truss robots, if all the target track points are traversed, the track planning of the truss robot is considered to be successful when the target track points which are not removed still exist in the task queue, and track planning is performed on the target task points of the truss robots in other task queues until the task queues of the rest truss robots are all empty.

If all target track points of the truss robots are traversed, the truss robots do not have the target track points which are not removed, namely, all the target track points are removed from the task queues of the truss robots, the truss robots are considered to be deadlocked, and at the moment, the truss robots are controlled to execute a second track planning strategy.

In some embodiments, controlling the truss robot to perform the second trajectory planning strategy includes: one of the truss robots is used as a master arm, and the rest truss robots are used as slave arms; determining a movement range of the main arm in a preset direction; determining a plurality of avoidance points of the rest truss robots according to the movement range; storing a plurality of avoidance points into target track points of the truss robot, and determining planning target track points; and carrying out track planning on the main arm and the auxiliary arm of the truss robot according to the planned target track points until the planned target track points of the truss robots are all completed.

In the embodiment, after a plurality of truss robots are deadlocked, one of the truss robots is used as a master arm, the rest truss robots are used as slave arms, the movement range of the master arm in a preset direction such as the X direction is determined, the slave arms adjacent to the master arm are sequentially traversed, if the positive slave arm exists, the target track points of the slave arms are accumulated according to a certain step length, collision detection is carried out on the slave arms adjacent to the negative truss arms after each accumulation until collision-free target track points are detected, the target track points are used as avoidance points of the slave arms, the negative slave arms also determine the avoidance points according to the method, after the avoidance points of the rest slave arms are determined, the movement track and the target track points are determined according to the obtained avoidance points, the target track points of the master arm and the slave arms are all stored in a task queue, the planned target track points are determined, the planned target track points of the truss robots are traversed, if interference exists at the certain target track points are detected, and the truss track of the truss robot is planned dynamically, and the truss robot is planned continuously; if interference of the target planning track points is not detected, the track planning of the truss robot is considered to be successful, and the tracks of the rest truss robots are planned until the planning target track points of the truss robots all complete track planning.

In an embodiment, the motion trajectories of the truss robots are discretized according to a certain time interval to obtain a plurality of target trajectory points under the motion trajectories, wherein the target trajectory points are positions reached by the truss robots at a certain moment. It can be understood that when the motion trail is subjected to discrete processing, if the motion trail meets the continuous speed, interpolation can be performed through a cubic polynomial to obtain a plurality of target trail points; if the running track meets the requirement of acceleration continuity, a quintic polynomial or hyperbola can be adopted to conduct interpolation operation so as to obtain a plurality of target track points.

In some embodiments, clearing the target task point of one of the truss robots includes: determining a first target truss robot and a second target truss robot which collide; calculating a first moving distance of the first target truss robot in a preset direction and a second moving distance of the second target truss robot in the preset direction; and according to the relation between the first moving distance and the second moving distance, removing the target task point of one truss robot.

In the embodiment, when the target task point of one truss robot is cleared, determining a first target truss robot and a second target truss robot which collide, respectively calculating a first moving distance of the first target truss robot in a preset direction, for example, a moving distance of the first target truss robot in an X-axis direction and a moving distance of the second target truss robot in the X-axis direction, comparing the distance between the first moving distance and the second moving distance in the X-axis direction, and clearing the target task point of one truss robot according to the distance relation between the first moving distance and the second moving distance.

For example, when the first moving distance is smaller than the second moving distance, i.e. the first moving distance is a subset of the second moving distance, the target task point of the second target truss robot is cleared, e.g. the target task point of the second target truss robot is cleared; when the first movement distance is greater than the second movement distance, i.e., the second movement distance is a subset of the first movement distance, then the target task point of the first target truss robot is cleared, e.g., the target task point of the first target truss robot is cleared.

And when the preset distance in the first moving distance is overlapped with the preset distance in the second moving distance, or the first moving distance is not overlapped with the second moving distance, namely, the first moving distance and the second moving distance are empty sets or partial subsets exist, determining the moving directions of the first target truss robot and the second target truss robot, and clearing the target task point of one target truss robot according to the moving direction.

Further, when the first moving distance and the second moving distance are empty sets or partial subsets exist, if the moving direction of the first target truss robot is the same as the moving direction of the second target truss robot, and the first target truss robot is located behind the second target truss robot, the target task point of the first target truss robot is cleared;

if the first target truss robot and the second target truss robot move in the same direction and the first target truss robot is positioned in front of the second target truss robot, the target task point of the second target truss robot is cleared;

if the first target truss robot and the second target truss robot move reversely, and the moving distance of the first target truss robot is greater than that of the second target truss robot, removing a target task point of the first target truss robot;

and if the first target truss robot and the second target truss robot move reversely, and the moving distance of the first target truss robot is smaller than that of the second target truss robot, the target task point of the second target truss robot is cleared. The target task points of the target truss robots with the longer moving distance are removed, so that the interference of the truss robots in track planning is reduced, and the accuracy of track planning of the truss robots is improved.

The following describes a trajectory planning device of a truss robot according to an embodiment of the present invention.

As shown in fig. 4, a trajectory planning device 2 of a truss robot according to an embodiment of the present invention includes: the first determining module 20, the second determining module 21, the third determining module 22 and the executing module 23, wherein the first determining module 20 is used for determining target task points and initial movement points of a plurality of truss robots; the second determining module 21 is configured to determine a motion trail of the truss robot according to the target task point and the initial motion point; the third determining module 22 is configured to determine a plurality of target track points according to the motion track; the execution module 23 is configured to control the truss robot to execute the first trajectory planning strategy according to the plurality of target trajectory points, until the target task points of the plurality of truss arms all complete the trajectory planning, and determine that the trajectory planning of the truss robot is completed.

The truss robot according to an embodiment of the present invention is described below.

The truss robot provided by the embodiment of the invention adopts the track planning device of the truss robot in the steps to carry out track planning on the truss robot.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A track planning method for a truss robot, comprising:

determining target task points and initial movement points of the truss robots;

determining a motion trail of the truss robot according to the target task point and the initial motion point;

determining a plurality of target track points according to the motion track;

and controlling the truss robot to execute a first track planning strategy according to the target track points until the track planning is completed by the target task points of the truss arms.

2. The track planning method of the truss robot according to claim 1, wherein controlling the truss robot to execute a first track planning strategy according to the target track point includes:

traversing a plurality of target track points according to a preset sequence, and acquiring the position information of the target track points;

judging whether a plurality of truss robots collide or not according to the position information;

if yes, eliminating a target task point of one truss robot;

performing track planning on target task points of the rest truss robots, and determining that track planning of the truss robots is completed currently if the target track points exist in the truss robots;

and if the target track points do not exist in the truss robots, determining that the motions of the truss robots are deadlocked, and controlling the truss robots to execute a second track planning strategy when the truss robots are deadlocked.

3. The track planning method of a truss robot of claim 2, wherein controlling the truss robot to execute the second track planning strategy comprises:

taking one of a plurality of truss robots as a master arm and the rest truss robots as slave arms;

determining a movement range of the main arm in a preset direction;

determining a plurality of avoidance points of the rest truss robots according to the movement range;

determining a planning target track point according to the avoidance points;

and carrying out track planning on the master arm and the slave arms of the truss robot according to the planned target track points until the planned target track points of a plurality of truss robots all complete the track planning.

4. The trajectory planning method of a truss robot of claim 1, wherein determining a plurality of target trajectory points from the motion trajectory includes:

and carrying out discrete processing on the motion track according to a preset time interval to obtain a plurality of target track points.

5. The trajectory planning method of a truss robot according to claim 2, wherein determining whether the truss robot is likely to collide according to the position information includes:

determining the pose of the truss robots in space motion;

performing collision detection on a plurality of truss robots according to the spatial movement pose;

determining the collision distance of the truss robot according to the position coordinates;

and determining that the truss robots collide when the distance between the truss robots is smaller than the collision distance.

6. The track planning method of truss robots of claim 5 wherein clearing a target task point of one of the truss robots comprises:

determining a first target truss robot and a second target truss robot which collide;

calculating a first moving distance of the first target truss robot in a preset direction and a second moving distance of the second target truss robot in the preset direction;

and according to the relation between the first moving distance and the second moving distance, removing one target task point of the truss robot.

7. The trajectory planning method of a truss robot of claim 6, wherein clearing one of the target task points of the truss robot according to a relationship between the first moving distance and the second moving distance comprises:

when the first moving distance is smaller than the second moving distance, the target task point of the second target truss robot is cleared;

when the first moving distance is larger than the second moving distance, eliminating a target task point of the first target truss robot;

and when the preset distance in the first moving distance is overlapped with the preset distance in the second moving distance, or the first moving distance is not overlapped with the second moving distance, determining the moving directions of the first target truss robot and the second target truss robot, and clearing a target task point of one of the target truss robots according to the moving direction.

8. The trajectory planning method of truss robots of claim 7, wherein clearing a target mission point of one of the target truss robots according to the traveling direction includes:

when the first target truss robot and the second target truss robot move in the same direction and the first target truss robot is positioned behind the second target truss robot, the target task point of the first target truss robot is cleared;

when the first target truss robot and the second target truss robot move in the same direction and the first target truss robot is positioned in front of the second target truss robot, the target task point of the second target truss robot is cleared;

when the first target truss robot and the second target truss robot move reversely, and the moving distance of the first target truss robot is larger than that of the second target truss robot, removing a target task point of the first target truss robot;

and when the first target truss robot and the second target truss robot reversely move, and the moving distance of the first target truss robot is smaller than that of the second target truss robot, the target task point of the second target truss robot is cleared.

9. A track planning apparatus for a truss robot, comprising:

the first determining module is used for determining target task points and initial movement points of the truss robots;

the second determining module is used for determining the motion trail of the truss robot according to the target task point and the initial motion point;

the third determining module is used for determining a plurality of target track points according to the motion track;

and the execution module is used for controlling the truss robot to execute a first track planning strategy according to the target track points until the track planning is completed by the target task points of the truss arms.

10. A truss robot, comprising: a trajectory planning device for a truss robot according to claim 9.