CN116300918A - Six-axis robot path planning device, robot and readable storage medium - Google Patents
Six-axis robot path planning device, robot and readable storage medium Download PDFInfo
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Abstract
The application discloses path planning, device, robot and readable storage medium of six robots is applied to robot technical field, path planning of six robots includes: determining a target task of the robot and current environmental information around the robot, and acquiring a preset path in the target task and preset environmental information corresponding to the preset path; determining a new obstacle according to the current environmental information and the preset environmental information; determining an unavailable path section in the preset path according to the newly added obstacle, and re-determining a quadratic programming intermediate point of the unavailable path section according to the newly added obstacle; and carrying out secondary path planning on the target task according to the preset path and the secondary planning intermediate point. The technical problem that the intelligent of the robot to the path planning is low in the prior art is solved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a path planning device for a six-axis robot, the robot and a readable storage medium.
Background
With the development of science and technology, robotics is being widely applied to various scenes. In addition to standardized manufacturing scenarios such as electronics and automotive factories, robots can also be used in unstructured scenarios such as homes, hospitals, supermarkets, etc. Unlike manufacturing scenarios, even though the tasks of the robot are repeated, there are often dynamic changes in the task scenario such that the robot encounters uncontrollable obstacles while running, and thus many current automation schemes cannot react to these scenarios, taking a lot of time to reprogram once the actual situation and the expected access, resulting in a robot with low intelligence for path planning in the automation scheme.
Disclosure of Invention
The utility model provides a main aim at provides a six path planning of robot, device, robot and readable storage medium, aims at solving the technical problem that the robot is low to path planning intelligence among the prior art.
To achieve the above object, the present application provides a path planning for a six-axis robot, which is applied to a robot path planning device, the path planning for the six-axis robot includes:
determining a target task of the robot and current environmental information around the robot, and acquiring a preset path in the target task and preset environmental information corresponding to the preset path;
Determining a new obstacle according to the current environmental information and the preset environmental information;
determining an unavailable path section in the preset path according to the newly added obstacle, and re-determining a quadratic programming intermediate point of the unavailable path section according to the newly added obstacle;
and carrying out secondary path planning on the target task according to the preset path and the secondary planning intermediate point.
Optionally, after the step of determining the target task of the robot and the current environmental information around the robot, the method further includes:
acquiring a historical task of the robot;
identifying the target task and each history task to obtain a target history task successfully identified;
acquiring historical environment information of the target historical task, and calculating the environment matching degree of the current environment information and the historical environment information;
if the environment matching degree is greater than or equal to a preset environment matching threshold, taking the history path of the target history task as a preset path of the target task, taking the history environment information of the target history task as the preset environment information of the target task, and executing the steps: and acquiring a preset path in the target task and preset environment information corresponding to the preset path.
Optionally, after the step of calculating the environmental matching degree between the current environmental information and the historical environmental information, the method further includes:
if the environment matching degree is smaller than a preset environment threshold, acquiring initial posture information and target posture information of the target task, and planning a path of the target task according to the initial posture information, the target posture information and the current environment information.
Optionally, the step of determining an unavailable path segment in the preset path according to the newly added obstacle includes:
establishing a three-dimensional convex hull model corresponding to the newly added obstacle;
if the preset path is overlapped with the three-dimensional convex hull model, taking the area where the three-dimensional convex hull model is located as an unavailable area;
and taking the path section of the preset path positioned in the unavailable area as an unavailable path section.
Optionally, the step of redefining the quadratic programming intermediate point of the unavailable path segment according to the newly added obstacle includes:
taking two endpoints of the unavailable path segment as a first endpoint and a second endpoint respectively;
determining at least one intermediate point between the first endpoint and the second endpoint that does not pass through an unavailable area;
And taking the intermediate point as a quadratic programming intermediate point of the unavailable path segment.
Optionally, the step of performing secondary path planning on the target task according to the preset path and the secondary planning intermediate point includes:
taking a preset path outside the unavailable path section as a first section path;
acquiring a first section path endpoint of the first section path, and connecting the first section path endpoint with the quadratic programming intermediate point in a smooth curve to obtain a second section path;
and combining the first section path and the second section path to perform secondary path planning.
Optionally, after the step of performing secondary path planning on the target task according to the preset path and the secondary planning intermediate point, the method further includes:
executing the target task according to the path planned by the secondary path;
and if collision is detected in the process of executing the target task, returning the path after the secondary path planning to the position before the preset time period, determining the dynamic obstacle which is in collision, and carrying out three-time path planning on the target task by taking the position as the starting position to avoid the dynamic obstacle.
To achieve the above object, the present application also provides a robot path planning apparatus, which is applied to a robot, the robot path planning apparatus including:
the task module is used for determining a target task of the robot and current environment information around the robot, and acquiring a preset path in the target task and preset environment information corresponding to the preset path;
the obstacle module is used for determining a newly-added obstacle according to the current environment information and the preset environment information;
the middle module is used for determining an unavailable path section in the preset path according to the newly-added obstacle and re-determining a secondary planning middle point of the unavailable path section according to the newly-added obstacle;
and the planning module is used for carrying out secondary path planning on the target task according to the preset path and the secondary planning intermediate point.
The application also provides a robot, the robot includes: the six-axis robot path planning method comprises the steps of a six-axis robot path planning method, wherein the six-axis robot path planning method comprises a memory, a processor and a six-axis robot path planning program which is stored in the memory and can run on the processor, and the six-axis robot path planning program can realize the six-axis robot path planning steps when being executed by the processor.
The application also provides a readable storage medium, which is a computer readable storage medium, wherein a program for realizing path planning of the six-axis robot is stored in the computer readable storage medium, and the step of path planning of the six-axis robot is realized when the program for path planning of the six-axis robot is executed by a processor.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of path planning for a six-axis robot as described above.
The utility model provides a six-axis robot's route planning, device, robot and readable storage medium, namely confirm the target task of robot and current environmental information around the robot, obtain preset route in the target task and preset environmental information corresponding to preset route, shorten the time of actual planning route through preset route, confirm newly-increased barrier according to current environmental information and preset environmental information, through the discernment to current environmental information, confirm newly-increased barrier for the robot carries out the route planning in dynamic environment and keeps higher instantaneity, confirm according to newly-increased barrier the unavailable path section in the preset route, and redetermine according to newly-increased barrier the quadratic programming intermediate point of unavailable path section, only need to carry out the reprofing on the basis of preset route with individual path section in the preset route, thereby improving the efficiency of planning route, can avoid the barrier that appears newly in the environment again, carry out the quadratic programming on the target route according to preset route and the quadratic programming intermediate point, thereby reach the intelligent route of planning on the basis further, the basis of optimizing planning is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow diagram of a first embodiment of path planning for a six-axis robot of the present application;
FIG. 2 is a flow chart of a method for determining unavailable path segments according to a second embodiment of path planning for a six-axis robot of the present application;
FIG. 3 is a flow chart of a second embodiment of a method for planning a midpoint of a path of a six-axis robot according to the present application;
FIG. 4 is a schematic structural diagram of a robot path planning apparatus according to the present application;
fig. 5 is a schematic device structure diagram of a hardware running environment involved in path planning of a six-axis robot in an embodiment of the present application.
The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, the following description of the embodiments accompanied with the accompanying drawings will be given in detail. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
In a first embodiment of path planning for a six-axis robot of the present application, referring to fig. 1, the path planning for a six-axis robot includes:
step S10, determining a target task of the robot and current environmental information around the robot, and acquiring a preset path in the target task and preset environmental information corresponding to the preset path;
step S20, determining a new obstacle according to the current environmental information and the preset environmental information;
step S30, determining an unavailable path segment in the preset path according to the newly-added obstacle, and redefining a secondary planning intermediate point of the unavailable path segment according to the newly-added obstacle;
And S40, performing secondary path planning on the target task according to the preset path and the secondary planning intermediate point.
In this embodiment, it should be noted that this embodiment can be applied to a six-axis robot. The target task is a task which needs to be executed currently by the robot, the target task comprises initial gesture information and target gesture information, if the target task is a task executed in a history task and the environment information is similar, a history path of the history task can be used as a preset path of the target task, wherein the history path is a path planned when the history task is executed before, preset environment information corresponding to the preset path is environment information when the history task is executed, and small differences can exist between the preset environment information and the current environment information, for example, a newly added fixed obstacle exists on the basis of the history environment information, but substantial differences cannot exist in the environment information; the newly-increased obstacle is a part with difference between the current environment information and the preset environment information, if an object does not appear in the preset environment information and the object appears in the current environment information, the object is the newly-increased obstacle, the unavailable path section is a path section with a preset path overlapped with the newly-increased obstacle, the path of the section is required to be planned again until the path cannot collide with the obstacle, the middle point of the path can be determined again, and the robot can plan a path avoiding the newly-increased obstacle according to the secondary planning center point.
Illustratively, steps S10 through S40 include:
acquiring a target task to be completed by a robot, acquiring a preset path of the target task and preset environment information corresponding to the preset path, acquiring current environment information of a current execution target task, comparing the current environment information with the preset environment information, taking an environment structure with redundancy in the current environment information as a new obstacle, if a three-dimensional environment map is established according to the current environment information, if a superposition part exists between the new obstacle and the preset path in the three-dimensional environment map, taking the superposition part of the preset path and the new obstacle as an unavailable path segment, determining a path segment starting point and a path segment ending point of the superposition part according to the unavailable path segment, redefining a secondary planning intermediate point which does not coincide with the new obstacle between the starting point and the ending point, and carrying out secondary path planning on the target task according to the secondary planning intermediate point and the preset path, namely, redeveloping the path segment part of the unavailable path.
In step S10, after the step of determining the target task of the robot and the current environmental information around the robot, the method further includes:
step A10, acquiring a historical task of the robot;
Step A20, identifying the target task and each history task to obtain a successfully identified target history task;
step A30, acquiring historical environment information of the target historical task, and calculating the environment matching degree of the current environment information and the historical environment information;
step A40, if the environment matching degree is greater than or equal to a preset environment matching threshold, taking the history path of the target history task as a preset path of the target task, taking the history environment information of the target history task as preset environment information of the target task, and executing the steps: and acquiring a preset path in the target task and preset environment information corresponding to the preset path.
In this embodiment, it should be noted that, the historical task is a task that the current robot has planned a path, after the robot plans a path according to a task, the path and the environmental information are stored as a history record, so that the current task and an optimal track under the environment can be calculated more quickly, the target historical task that is successfully identified has the same task target and a similar working environment as the target task that the robot is about to execute, and the current environmental information and the historical environmental information of the target historical task have a common point on the environmental structure, but because of the dynamic change of the environment, a new obstacle may occur compared with the current environmental information and the historical environmental information, the environmental matching degree refers to the matching degree of the current environmental information and the historical environmental information on the environmental structure, if the environmental matching degree is higher, the difference between the current environmental information and the historical environmental information is smaller, it can be determined whether the historical path of the target task can be used or not by the environmental matching degree is smaller than the preset environmental matching threshold, and if the environmental matching degree is smaller than the preset environmental matching threshold, the difference between the current environmental information and the historical environmental information is not used.
Illustratively, steps a10 through a40 include:
acquiring all history tasks executed by a robot, identifying target tasks and each history task, and taking the history task successfully identified as the target history task; acquiring current environment information and historical environment information of a target historical task, and calculating the environment matching degree of the current environment information and the historical environment information; if the environment matching degree is greater than or equal to the preset environment matching threshold, taking the history path of the target history task as the preset path of the target task, taking the history environment information of the target history task as the preset environment information of the target task, and executing the following steps: and acquiring a preset path in the target task and preset environment information corresponding to the preset path. Because of the memory of the history information, the efficiency of path planning can be improved to a certain extent through the history path, and meanwhile, the history path can be changed in real time according to the environment with tiny transformation.
After the step a30, the step of calculating the environmental matching degree between the current environmental information and the historical environmental information further includes:
and step B10, if the environment matching degree is smaller than a preset environment threshold value, acquiring initial posture information and target posture information of the target task, and planning a path of the target task according to the initial posture information, the target posture information and the current environment information.
In this embodiment, it should be noted that, the initial gesture information is initial information of the robotic arm, including an initial position, an initial angle, and the like, and the target gesture information is a final position, a final angle, and the like required for achieving the objective of the target task, and according to the initial gesture information and the target gesture information, a path may be re-planned by a conventional method, for example, a path planning method based on graphic features, without depending on a historical task and a historical path.
Illustratively, step B10 includes:
if the environment matching degree is smaller than the preset environment threshold, the fact that the difference between the current environment information and the historical environment information is too large is indicated, the historical path cannot be used as the preset path, the path planning is carried out on the target task through a conventional path planning method according to the initial gesture information, the target gesture information and the current environment information, and the situation that the task cannot be executed through the preset path is supplemented.
In step S40, the step of performing secondary path planning on the target task according to the preset path and the secondary planning intermediate point includes:
step S41, taking a preset path outside the unavailable path section as a first section path;
Step S42, a first section path endpoint of the first section path is obtained, and the first section path endpoint and the quadratic programming intermediate point are connected in a smooth curve to obtain a second section path;
and step S43, combining the first section path and the second section path to perform secondary path planning.
In this embodiment, it should be noted that, the first path is a part of the path of the preset path, and the path of the first path may be directly used as the path is not located in the unavailable area, so as to improve the path planning efficiency, the second path is a path that is re-planned according to the newly-added obstacle in the scene, two ends of the second path are respectively connected with the cut-off points of the preset path, after the connection, the second path is an optimal path between two ends of the unavailable path, after the connection of the first path and the second path, a complete path from the start point to the end point can be obtained, wherein the part of the path is the preset path, and the part of the path is the re-planned path.
Illustratively, steps S41 through S43 include:
and taking the paths except the unavailable paths in the preset paths as a first path segment, acquiring end points cut off by the first path segment, connecting each end point with a quadratic programming intermediate point in a smooth curve, taking the connected path segments as the optimal paths between the two end points, avoiding newly-added barriers, taking the optimal paths as a second path segment, combining the first path segment with the second path segment, and taking the paths as paths after quadratic path planning, wherein the first path segment possibly has two path segments with heads and tails, and the second path segment is positioned between the two path segments.
In step S40, after the step of performing secondary path planning on the target task according to the preset path and the secondary planning intermediate point, the method further includes:
step S50, executing the target task according to the path planned by the secondary path;
step S60, if collision is detected in the process of executing the target task, returning to the position before the preset time period according to the path planned by the secondary path, determining a dynamic obstacle with collision, and carrying out three-time path planning on the target task by taking the position as a starting position to avoid the dynamic obstacle.
In this embodiment, it should be noted that, the detection of the collision by the robot may be sensed by a collision sensor or a laser sensor disposed on the mechanical arm, where a sensor is disposed on the head and the tail of the mechanical arm, and the path obtained after the secondary path planning is avoided from the newly-increased obstacle in the environment, where the newly-increased obstacle is fixed in the environment and has uncontrollable dynamic changes, and in the dynamic environment, an external obstacle may occur at any time, and such an obstacle is used as a dynamic obstacle, and the sensor may sense before or during the collision of the dynamic obstacle, and temporarily reprofil the path, that is, perform three path planning based on the dynamic obstacle.
Illustratively, steps S50 through S60 include:
and executing the target task according to the path after the secondary planning, if collision is detected through a collision sensor or collision is detected through a laser sensor in the process of executing the target task, returning the position of the robot to the position before a preset time period of the current time point according to the path after the secondary path planning, simultaneously determining a dynamic obstacle which is collided or is about to collide, taking the returned position as a starting position, avoiding the dynamic obstacle, and carrying out path planning on the target task for three times.
The embodiment of the application can be practically applied to a supermarket shelf transfer robot, and can be a six-axis mechanical arm, the target task of the transfer robot and the current environmental information around the transfer robot are determined, and the task target can be to transfer the articles on the supermarket shelf from a first position to a second position, and a preset path in the target task and preset environmental information corresponding to the preset path are acquired; determining a new obstacle according to the current environmental information and the preset environmental information, wherein the matched historical task can be the same as carrying articles from a supermarket shelf, but the carried articles need to bypass the placed articles due to the fact that other articles are placed in the carried environment, so that the placed articles are the new obstacle; determining an unavailable path section in a preset path according to the newly-added obstacle, namely, a path section of the robot arm penetrating through the newly-added obstacle, and re-determining a secondary planning intermediate point of the unavailable path section according to the newly-added obstacle; and carrying out secondary path planning on the target task according to the preset path and the secondary planning intermediate point, namely, taking the preset path at the position which is not overlapped with the newly added obstacle and taking the secondarily planned path at the position of the newly added obstacle, and finally obtaining the path which is approximately the preset path but bypasses the newly added obstacle.
The embodiment of the application provides a path planning of a six-axis robot, namely, a target task of the robot and current environment information around the robot are determined, a preset path in the target task and preset environment information corresponding to the preset path are obtained, the time of actually planning the path is shortened through the preset path, a newly-increased obstacle is determined according to the current environment information and the preset environment information, the newly-increased obstacle is determined through identification of the current environment information, the robot performs path planning in a dynamic environment to keep high instantaneity, an unavailable path section in the preset path is determined according to the newly-increased obstacle, a secondary planning intermediate point of the unavailable path section is redetermined according to the newly-increased obstacle, and only an individual path section in the preset path is required to be redeployed on the basis of the preset path, so that the efficiency of path planning is improved, the newly-increased obstacle in the environment can be avoided, the target task is secondarily planned according to the preset path and the secondary intermediate point, and the optimal path planning is further improved on the basis of the preset path planning.
Example two
Further, referring to fig. 2, in another embodiment of the present application, the same or similar content as the first embodiment may be referred to the description above, and will not be repeated herein. On this basis, in step S30, the step of determining an unavailable path segment in the preset path according to the newly added obstacle includes:
step C10, establishing a three-dimensional convex hull model corresponding to the newly added obstacle;
step C20, if the preset path is overlapped with the three-dimensional convex hull model, taking the area where the three-dimensional convex hull model is located as an unavailable area;
and step C30, taking the path section of the preset path in the unavailable area as an unavailable path section.
In this embodiment, it should be noted that, the three-dimensional convex hull model is a model that completely encapsulates an original model of a newly added obstacle with a set of one or more convex polyhedrons, the unavailable area indicates that there is a distinction of the obstacle, a path cannot be set, and the unavailable path section is a partial path section of a preset path in the unavailable area.
Illustratively, steps C10 through C30 include:
And building a corresponding three-dimensional convex hull model according to the virtual model of the newly-added obstacle, completely wrapping the newly-added obstacle, judging whether a preset path is overlapped or intersected with the three-dimensional convex hull model, if so, taking the area of the three-dimensional convex hull model in the scene map as an unavailable area, and taking a path section of the preset path of the unavailable area as an unavailable path section.
In addition, in order to make the preset path exclude the situation of rubbing the obstacle, the three-dimensional convex hull model can be extended outwards for a preset distance, so that a gap exists between the corrected path and the obstacle.
Referring to fig. 3, in step S30, the step of redefining a quadratic programming intermediate point of the unavailable path segment according to the newly added obstacle includes:
step D10, taking two endpoints of the unavailable path segment as a first endpoint and a second endpoint respectively;
step D20, determining at least one intermediate point between the first end point and the second end point that does not pass through the unavailable area;
and step D30, taking the intermediate point as a quadratic programming intermediate point of the unavailable path segment.
In this embodiment, it should be noted that, in the preset path, there is a first end point near the initial position and a second end point near the final position of the unavailable path segment, the redetermined intermediate point needs to be satisfied, and the path connecting the first end point, the intermediate point, and the second end point does not pass through the unavailable area, and in addition, in order to obtain an optimal path, a point on the nearest path from the first end point to the second end point avoiding the unavailable area may be taken as the intermediate point. The number of intermediate points may be determined based on the distance between the end points.
Illustratively, steps D10 through D30 include:
and respectively taking two endpoints of the unavailable path segment as a first endpoint and a second endpoint, wherein the first endpoint can be an endpoint near a starting position, the second endpoint is an endpoint near a final position, a plurality of intermediate points which do not pass through an unavailable area are determined between the first endpoint and the second endpoint, and each intermediate point is taken as a quadratic programming intermediate point of the unavailable path segment.
The embodiment of the application provides a secondary planning method of an obstacle avoidance path, namely, a three-dimensional convex hull model corresponding to the newly added obstacle is established; if the preset path is overlapped with the three-dimensional convex hull model, taking the area where the three-dimensional convex hull model is located as an unavailable area; taking a path section of a preset path positioned in the unavailable area as an unavailable path section; taking two endpoints of the unavailable path segment as a first endpoint and a second endpoint respectively; determining at least one intermediate point between the first endpoint and the second endpoint that does not pass through an unavailable area; and re-planning the unavailable part of the original preset path according to the newly added obstacle by taking the intermediate point as a secondary planning intermediate point of the unavailable path section to obtain a re-planned intermediate point so as to improve the success rate of obstacle avoidance.
Example III
The embodiment of the application also provides a robot path planning device as shown in fig. 4, the robot path planning device is applied to a robot, and the robot path planning device comprises:
a task module E10, configured to determine a target task of the robot and current environmental information around the robot, and obtain a preset path in the target task and preset environmental information corresponding to the preset path;
the obstacle module E20 is used for determining a newly added obstacle according to the current environment information and the preset environment information;
an intermediate module E30, configured to determine an unavailable path segment in the preset path according to the new obstacle, and redetermine a quadratic programming intermediate point of the unavailable path segment according to the new obstacle;
and the planning module E40 is used for carrying out secondary path planning on the target task according to the preset path and the secondary planning intermediate point.
Optionally, the task module E10 is further configured to:
acquiring a historical task of the robot;
identifying the target task and each history task to obtain a target history task successfully identified;
acquiring historical environment information of the target historical task, and calculating the environment matching degree of the current environment information and the historical environment information;
If the environment matching degree is greater than or equal to a preset environment matching threshold, taking the history path of the target history task as a preset path of the target task, taking the history environment information of the target history task as the preset environment information of the target task, and executing the steps: and acquiring a preset path in the target task and preset environment information corresponding to the preset path.
Optionally, the task module E10 is configured to:
if the environment matching degree is smaller than a preset environment threshold, acquiring initial posture information and target posture information of the target task, and planning a path of the target task according to the initial posture information, the target posture information and the current environment information.
Optionally, the intermediate module E30 is further configured to:
establishing a three-dimensional convex hull model corresponding to the newly added obstacle;
if the preset path is overlapped with the three-dimensional convex hull model, taking the area where the three-dimensional convex hull model is located as an unavailable area;
and taking the path section of the preset path positioned in the unavailable area as an unavailable path section.
Optionally, the intermediate module E30 is further configured to:
Taking two endpoints of the unavailable path segment as a first endpoint and a second endpoint respectively;
determining at least one intermediate point between the first endpoint and the second endpoint that does not pass through an unavailable area;
and taking the intermediate point as a quadratic programming intermediate point of the unavailable path segment.
Optionally, the planning module E40 is further configured to:
taking a preset path outside the unavailable path section as a first section path;
acquiring a first section path endpoint of the first section path, and connecting the first section path endpoint with the quadratic programming intermediate point in a smooth curve to obtain a second section path;
and combining the first section path and the second section path to perform secondary path planning.
Optionally, the planning module E40 is further configured to:
executing the target task according to the path planned by the secondary path;
and if collision is detected in the process of executing the target task, returning the path after the secondary path planning to the position before the preset time period, determining the dynamic obstacle which is in collision, and carrying out three-time path planning on the target task by taking the position as the starting position to avoid the dynamic obstacle.
The robot path planning device provided by the invention adopts the path planning of the six-axis robot in the first embodiment or the second embodiment, and solves the technical problem of low intelligent of the robot on the path planning. Compared with the prior art, the beneficial effects of the robot path planning device provided by the embodiment of the invention are the same as those of the six-axis robot path planning provided by the embodiment, and other technical features in the robot path planning device are the same as those disclosed by the method of the embodiment, so that the description is omitted herein.
Example IV
An embodiment of the present invention provides a robot including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform path planning for the six-axis robot in the first embodiment.
Referring now to fig. 5, a schematic diagram of a robot suitable for use in implementing embodiments of the present disclosure is shown. The robot shown in fig. 5 is only one example and should not impose any limitation on the functionality and scope of use of the disclosed embodiments.
As shown in fig. 5, the robot F90 may include a processing device F10 (e.g., a central processing unit, a graphic processor, etc.), which may perform various appropriate actions and processes according to a program stored in a read only memory F20 (ROM) or a program loaded from a storage device F70 into a random access memory F30 (RAM). In the raff 30, various programs and data required for the operation of the robot F90 are also stored. The processing devices F10, romif 20, and RAMF30 are connected to each other via a bus. An input/output (I/O) interface F40 is also connected to the bus.
In general, the following systems may be connected to I/O interface F40: input devices F50 including, for example, a touch screen, a touch panel, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, and the like; an output device F60 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage means F70 including, for example, magnetic tape, hard disk, etc.; communication device F80. Communication device F80 may allow the robot to communicate with other devices wirelessly or by wire to exchange data. While robots having various systems are shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from ROM. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by a processing device.
The robot provided by the invention adopts the path planning of the six-axis robot in the first embodiment or the second embodiment, and solves the technical problem of low intelligence of the robot on the path planning. Compared with the prior art, the beneficial effects of the robot provided by the embodiment of the invention are the same as those of the six-axis robot provided by the first embodiment, and other technical features of the robot are the same as those disclosed by the method of the first embodiment, so that the description is omitted.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Example five
The present embodiment provides a computer readable storage medium having computer readable program instructions stored thereon for performing the method of robot path planning in the above embodiment one.
The computer readable storage medium according to the embodiments of the present invention may be, for example, a usb disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The above computer-readable storage medium may be contained in a robot; or may exist alone without being assembled into the robot.
The computer-readable storage medium carries one or more programs that, when executed by a robot, cause the robot to: determining a target task of the robot and current environmental information around the robot, and acquiring a preset path in the target task and preset environmental information corresponding to the preset path; determining a new obstacle according to the current environmental information and the preset environmental information; determining an unavailable path section in the preset path according to the newly added obstacle, and re-determining a quadratic programming intermediate point of the unavailable path section according to the newly added obstacle; and carrying out secondary path planning on the target task according to the preset path and the secondary planning intermediate point.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented in software or hardware. Wherein the name of the module does not constitute a limitation of the unit itself in some cases.
The computer readable storage medium provided by the invention stores the computer readable program instructions for executing the path planning of the six-axis robot, and solves the technical problem of low intelligence of the robot on the path planning. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiment of the invention are the same as those of the six-axis robot provided by the first embodiment or the second embodiment, and the description thereof is omitted here.
Example six
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of path planning for a six-axis robot as described above.
The application provides a computer program product which solves the technical problem that the intelligent of the robot to path planning is low. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present invention are the same as those of the six-axis robot provided by the first embodiment or the second embodiment, and are not described herein.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims.
Claims (10)
1. A path planning for a six-axis robot, applied to a robot, the path planning for the six-axis robot comprising:
determining a target task of the robot and current environmental information around the robot, and acquiring a preset path in the target task and preset environmental information corresponding to the preset path;
determining a new obstacle according to the current environmental information and the preset environmental information;
determining an unavailable path section in the preset path according to the newly added obstacle, and re-determining a quadratic programming intermediate point of the unavailable path section according to the newly added obstacle;
and carrying out secondary path planning on the target task according to the preset path and the secondary planning intermediate point.
2. The path planning for a six axis robot of claim 1 wherein after the step of determining the target task for the robot and the current environmental information surrounding the robot, further comprising:
acquiring a historical task of the robot;
identifying the target task and each history task to obtain a target history task successfully identified;
acquiring historical environment information of the target historical task, and calculating the environment matching degree of the current environment information and the historical environment information;
If the environment matching degree is greater than or equal to a preset environment matching threshold, taking the history path of the target history task as a preset path of the target task, taking the history environment information of the target history task as the preset environment information of the target task, and executing the steps: and acquiring a preset path in the target task and preset environment information corresponding to the preset path.
3. The path planning for a six axis robot of claim 2 wherein after the step of calculating an environmental match of the current environmental information to the historical environmental information, further comprising:
if the environment matching degree is smaller than a preset environment threshold, acquiring initial posture information and target posture information of the target task, and planning a path of the target task according to the initial posture information, the target posture information and the current environment information.
4. The path planning for a six axis robot of claim 1 wherein the step of determining unavailable path segments in the preset path based on the newly added obstacle comprises:
establishing a three-dimensional convex hull model corresponding to the newly added obstacle;
If the preset path is overlapped with the three-dimensional convex hull model, taking the area where the three-dimensional convex hull model is located as an unavailable area;
and taking the path section of the preset path positioned in the unavailable area as an unavailable path section.
5. The path planning for a six axis robot of claim 1 wherein the step of redefining the quadratic programming intermediate point of the unavailable path segment based on the newly added obstacle comprises:
taking two endpoints of the unavailable path segment as a first endpoint and a second endpoint respectively;
determining at least one intermediate point between the first endpoint and the second endpoint that does not pass through an unavailable area;
and taking the intermediate point as a quadratic programming intermediate point of the unavailable path segment.
6. The path planning for a six axis robot of claim 1 wherein the step of secondarily path planning the target task based on the preset path and the secondarily planned intermediate point comprises:
taking a preset path outside the unavailable path section as a first section path;
acquiring a first section path endpoint of the first section path, and connecting the first section path endpoint with the quadratic programming intermediate point in a smooth curve to obtain a second section path;
And combining the first section path and the second section path to perform secondary path planning.
7. The path planning for a six-axis robot according to claim 1, further comprising, after the step of performing secondary path planning for the target task according to the preset path and the secondary planning intermediate point:
executing the target task according to the path planned by the secondary path;
and if collision is detected in the process of executing the target task, returning the path after the secondary path planning to the position before the preset time period, determining the dynamic obstacle which is in collision, and carrying out three-time path planning on the target task by taking the position as the starting position to avoid the dynamic obstacle.
8. A robot path planning apparatus, characterized in that the robot path planning apparatus comprises:
the task module is used for determining a target task of the robot and current environment information around the robot, and acquiring a preset path in the target task and preset environment information corresponding to the preset path;
the obstacle module is used for determining a newly-added obstacle according to the current environment information and the preset environment information;
The middle module is used for determining an unavailable path section in the preset path according to the newly-added obstacle and re-determining a secondary planning middle point of the unavailable path section according to the newly-added obstacle;
and the planning module is used for carrying out secondary path planning on the target task according to the preset path and the secondary planning intermediate point.
9. A robot, the robot comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of path planning for the six-axis robot of any of claims 1 to 7.
10. A readable storage medium, characterized in that it has stored thereon a program for realizing path planning of a six-axis robot, which is executed by a processor to realize the steps of path planning of a six-axis robot according to any one of claims 1 to 7.
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