CN118034319A

CN118034319A - Multidimensional track planning method, device, equipment and medium

Info

Publication number: CN118034319A
Application number: CN202410289739.2A
Authority: CN
Inventors: 彭猛; 林建章; 冯杰
Original assignee: Suzhou Lingyunguang Industrial Intelligent Technology Co Ltd
Current assignee: Suzhou Lingyunguang Industrial Intelligent Technology Co Ltd
Priority date: 2024-03-14
Filing date: 2024-03-14
Publication date: 2024-05-14

Abstract

The application discloses a multidimensional track planning method, a multidimensional track planning device, multidimensional track planning equipment and multidimensional track planning media. The method comprises the steps of firstly determining at least two moving directions and one avoiding direction of target equipment; secondly, determining target moving paths of the target equipment in at least two moving directions; determining target movement points of the target equipment corresponding to each path step in the target movement path in the avoidance direction according to the target movement path; and finally, determining the multidimensional track of the target equipment according to the target moving path and the target moving point position. According to the technical scheme, the moving track of the moving direction and the avoiding direction is planned respectively, so that the moving track of the target equipment in the multidimensional space is planned under the condition of avoiding collision with the obstacle, and the working efficiency and the safety of the target equipment are improved.

Description

Multidimensional track planning method, device, equipment and medium

Technical Field

The present application relates to the field of automatic control technologies, and in particular, to a method, an apparatus, a device, and a medium for multidimensional track planning.

Background

With the rapid development of automatic control technology and artificial intelligence technology, the popularity of automation equipment is also increasing, especially in the manufacturing industry. The automation equipment not only can autonomously complete diversified tasks and improve the working efficiency, but also can process some complex process flows and improve the safety and the reliability.

However, the existing equipment control is mainly logic control, but complicated equipment control only depends on thinking logic of a programmer, so that collision can not be avoided. For example, where the motion of the device includes multiple degrees of freedom during movement of the device, path planning for the device may take into account multiple dimensions.

Therefore, how to provide a technical solution for multi-dimensional trajectory planning is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The application provides a multi-dimensional track planning method, a device, equipment and a medium.

According to an aspect of the present application, there is provided a multi-dimensional trajectory planning method, the method comprising:

determining first size information, starting point posture information and end point posture information of a target device and second size information and position information of an obstacle in response to a movement instruction of the target device; wherein the obstacles are all obstacles in a moving area corresponding to the moving instruction;

determining at least two movement directions and one avoidance direction of the target equipment according to the starting point posture information and the end point posture information; wherein the avoidance direction is a direction different from the target device;

Determining at least one candidate moving path of the target device along the at least two moving directions according to the first size information, the starting point posture information, the ending point posture information, the second size information and the position information of the target device; wherein the candidate moving path includes at least one path step;

Determining a target moving path of the target device along the at least two moving directions from each of the candidate moving paths according to the path steps in each of the candidate moving paths;

And determining target movement points of the target equipment corresponding to the path steps in the avoidance direction according to the target movement path, the first size information, the second size information and the position information, and determining the target movement path and the target movement points as multidimensional movement tracks of the target equipment.

According to another aspect of the present application, there is provided a multi-dimensional trajectory planning device, comprising:

A basic parameter acquisition module, configured to determine first size information, start point pose information, end point pose information, and second size information and position information of an obstacle of a target device in response to a movement instruction of the target device; wherein the obstacles are all obstacles in a moving area corresponding to the moving instruction;

The moving direction determining module is used for determining at least two moving directions and one avoiding direction of the target equipment according to the starting point posture information and the ending point posture information; wherein the avoidance direction is a direction different from the target device;

a candidate path determining module, configured to determine at least one candidate moving path of the target device along the at least two moving directions according to the first size information, the start point pose information, the end point pose information, the second size information, and the position information; wherein the candidate moving path includes at least one path step;

a target path determining module, configured to determine a target moving path of the target device along the at least two moving directions from each candidate moving path according to a path step in each candidate moving path;

The multidimensional track determining module is used for determining target moving points of the target equipment corresponding to the path steps in the avoidance direction according to the target moving path, the first size information, the second size information and the position information, and determining the target moving path and the target moving points as multidimensional moving tracks of the target equipment.

According to another aspect of the present application, there is provided a communication device comprising:

At least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the multi-dimensional trajectory planning method of any one of the embodiments of the present application.

According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a multi-dimensional trajectory planning method according to any one of the embodiments of the present application.

The technical scheme provided by the application is that at least two moving directions and one avoiding direction of target equipment are determined; secondly, determining target moving paths of the target equipment in at least two moving directions; determining target movement points of the target equipment corresponding to each path step in the target movement path in the avoidance direction according to the target movement path; and finally, determining the multidimensional track of the target equipment according to the target moving path and the target moving point position. According to the technical scheme, the moving track of the moving direction and the avoiding direction is planned respectively, so that the moving track of the target equipment in the multidimensional space is planned under the condition of avoiding collision with the obstacle, and the working efficiency and the safety of the target equipment are improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flowchart of a multi-dimensional trajectory planning method according to a first embodiment of the present application;

Fig. 2 is a schematic diagram of movement of a target device according to a first embodiment of the present application;

FIG. 3 is a schematic diagram of a safety range according to a first embodiment of the present application;

fig. 4 is a flowchart of a multi-dimensional trajectory planning method according to a second embodiment of the present application;

FIG. 5 is a diagram of a full array of data according to a second embodiment of the present application;

FIG. 6 is a schematic diagram of a contact distance according to a second embodiment of the present application;

FIG. 7 is a schematic diagram of candidate data points according to a second embodiment of the present application;

FIG. 8 is a schematic diagram of candidate data point connections according to a second embodiment of the present application;

fig. 9 is a schematic diagram of a first movement path determination according to a second embodiment of the present application;

fig. 10 is a schematic structural diagram of a multi-dimensional trajectory planning device according to a third embodiment of the present application;

Fig. 11 is a schematic structural diagram of an apparatus for implementing a multi-dimensional trajectory planning method according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," "candidate," "target," and the like in the description and claims of the present application and in the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. 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.

Example 1

Fig. 1 is a flowchart of a multi-dimensional trajectory planning method according to a first embodiment of the present application, where the method may be performed by a multi-dimensional trajectory planning device, which may be implemented in hardware and/or software, and the multi-dimensional trajectory planning device may be configured in a device with data processing capabilities. As shown in fig. 1, the method includes:

s110, determining first size information, starting point posture information and end point posture information of the target equipment and second size information and position information of the obstacle in response to a movement instruction of the target equipment.

The target device may be an assembly device, a detection device, or the like that requires movement control.

The movement instruction may be a control instruction determined according to a device operation flow, or may be a control instruction input by a user at a terminal. The movement instruction may include information such as a name, a port, an IP address, etc. of the target device, and may further include endpoint gesture information during movement.

The number of the obstacles may be one or a plurality of the obstacles in the movement area corresponding to the movement command. The movement region may be determined based on movement characteristics of the target device.

When the target device or the obstacle is an irregular object, the size information may be size information obtained by simplifying the target device or the obstacle into a regular object such as a rectangular parallelepiped.

Wherein the gesture information may be position information of the target device in a plurality of degrees of freedom. For example, using a space rectangular coordinate system as an example, the target device has a translational degree of freedom and a rotational degree of freedom in the x-axis, the y-axis, and the z-axis, respectively, and the position in the translational degree of freedom may be represented by a distance and the position in the rotational degree of freedom may be represented by an angle.

Specifically, the size information and the starting point posture information of the target equipment stored in the system in advance can be obtained according to the name, the port or the IP address of the target equipment in the mobile instruction; and determining size information and position information of the obstacle existing in the moving path and destination posture information of the target equipment according to the moving information in the moving instruction.

S120, determining at least two movement directions and one avoidance direction of the target equipment according to the starting point posture information and the end point posture information; the avoiding direction is a direction different from the target device.

In the free state, there are six movable directions of the target device in space. Taking a space rectangular coordinate system as an example, the movable directions of the target device include translation along the x-axis, rotation along the x-axis, translation along the y-axis, rotation along the y-axis, translation along the z-axis, and rotation along the z-axis. Of course, the movable direction of the target device may be defined according to the operational properties of the target device, and the present application is mainly directed to a target device having three or more movable directions.

When three or more movable directions exist in the target equipment, the method and the device reduce the difficulty and the operand of the moving path planning by dividing the movable directions. Specifically, any direction is selected from the movable directions as the avoiding direction, that is, the direction in which the target device is assumed not to move. That is, the present application firstly assumes that the target device does not move in the avoidance direction, firstly screens the path when the target device moves in the rest direction, and then screens the path when the target device moves in the avoidance direction according to the screened path.

The determination mode of the avoiding direction can be determined according to actual needs, and the embodiment of the invention is not limited to the determination mode.

Fig. 2 is a schematic diagram illustrating movement of a target device according to a first embodiment of the present application. As shown in fig. 2, M and N are obstacles, a is start gesture information of the target device, B is end gesture information of the target device, the target device c may move along the y axis on the slide rail a, or may rotate along the central axis (rotation axis) of the turntable B in the xoy plane through the turntable B, and the slide rail a may also move along the x axis on the slide rail d to drive the target device c to also move along the x axis. In this example, the y-axis may be taken as the avoidance direction, i.e., the target device c does not move along the y-axis on the slide rail a; the x-axis and the rotation axis are taken as the movement directions, i.e. the target device c is movable along the x-axis and also rotatable along the rotation axis.

S130, determining at least one candidate moving path of the target equipment along the at least two moving directions according to the first size information, the starting point gesture information, the ending point gesture information, the second size information and the position information. Wherein the candidate movement path comprises at least one path step.

Wherein the candidate movement path may be a set of all paths along which the target device is able to reach the end point from the start point in at least two directions of movement. The path step may be a combination of positions in at least two movement directions, for example, taking the above fig. 2 as an example, the movement direction of the apparatus is an x-axis and a rotation axis, and if the determined path step in a certain candidate moving path is (50 cm,60 °), the posture information of the apparatus at the path step is 50cm forward along the x-axis and 60 ° clockwise along the rotation axis.

Specifically, under the condition that the target device is assumed to be at a fixed position in the avoidance direction, candidate moving paths of the target device in at least two moving directions are determined.

The determination process of the candidate moving path may be: under the condition that the target equipment is a fixed position in the avoidance direction, determining all movable paths in at least two movement directions according to the starting point posture information and the end point posture information of the target equipment; and then, according to the size information of the target equipment, the size information and the position information of the obstacle, selecting a path which can avoid collision with the obstacle by moving in the avoidance direction from all the movable paths as a candidate moving path.

S140, determining a target moving path of the target equipment along the at least two moving directions from the candidate moving paths according to the path steps in the candidate moving paths.

The target moving path may be an optimal moving path after screening the candidate moving paths according to the path step.

Specifically, one of the candidate moving paths may be selected as the target moving path according to the number of path steps and/or the number of moving direction changes of each candidate moving path.

Optionally, determining, according to a path step in each of the candidate moving paths, a target moving path of the target device along the at least two moving directions from each of the candidate moving paths, includes: determining a candidate moving path with the least path steps as a first moving path; the first moving path having the least number of moving direction changes is determined as a candidate moving path.

The number of the first moving paths may be plural, in which case further screening of the first moving paths is required. The application adopts limiting the number of times of changing the movement direction so as to determine the target movement path.

Wherein the number of changes of the movement direction may be the number of changes of at least two movement directions. For example, taking the above-described fig. 2 as an example, the number of moving direction changes in a certain candidate moving path is 3 when the path steps of the candidate moving path are (50 cm,20 °), (50 cm,30 °), (50 cm,40 °), (60 cm,40 °), (70 cm,50 °) and (70 cm,60 °) in this order.

The technical scheme has the beneficial effects that the running speed of the target equipment is improved by limiting the number of path steps and the number of times of changing the moving direction.

S150, determining target movement points of the target equipment corresponding to the path steps in the avoidance direction according to the target movement path, the first size information, the second size information and the position information, and determining the target movement path and the target movement points as multidimensional movement tracks of the target equipment.

It will be appreciated that the range of movement of the target device in the avoidance direction is determined by the characteristics of the target device itself. Therefore, if the position of the target device exceeds the limit of the movement range of the target device in the avoidance direction, movement cannot be achieved.

Therefore, the movable range of the target equipment corresponding to each path step in the avoidance direction can be determined according to the target moving path, the first size information, the second size information and the position information; and determining target movement points of the target equipment corresponding to the path steps in the avoidance direction according to the movable ranges.

In order to improve the operation efficiency of the target device, the target moving point position can be kept at the same point position, namely, the target moving point position is compatible with the middle point of the safety range of each path step as far as possible.

Fig. 3 is a schematic diagram illustrating a safety range according to a first embodiment of the present application. As shown in fig. 3, the safety ranges corresponding to the path steps in a certain candidate moving path are sequentially set from left to right. The ideal position of the current path step in the avoidance direction should be the midpoint of the safety range of each path step where the current path step is backward compatible as much as possible. Thus, in this example, the ideal position of the target device in the avoidance direction is as a dot in the figure.

The embodiment of the application provides a multidimensional track planning method, which comprises the steps of firstly determining at least two moving directions and an avoiding direction of target equipment; secondly, determining target moving paths of the target equipment in at least two moving directions; determining target movement points of the target equipment corresponding to each path step in the target movement path in the avoidance direction according to the target movement path; and finally, determining the multidimensional track of the target equipment according to the target moving path and the target moving point position. According to the technical scheme, the moving track of the moving direction and the avoiding direction is planned respectively, so that the moving track of the target equipment in the multidimensional space is planned under the condition of avoiding collision with the obstacle, and the working efficiency and the safety of the target equipment are improved.

Example two

Fig. 4 is a flowchart of a multi-dimensional trajectory planning method according to a second embodiment of the present application, which is optimized based on the above embodiment. As shown in fig. 4, the method of this embodiment specifically includes the following steps:

S210, determining first size information, starting point posture information and end point posture information of a target device and second size information and position information of an obstacle in response to a movement instruction of the target device.

S220, determining at least two movement directions and one avoidance direction of the target equipment according to the first size information, the second size information and the position information; the avoiding direction is a direction different from the target device.

And S230, determining candidate data points of the target equipment in the moving ranges of the at least two moving directions according to the first size information, the second size information and the position information. Wherein the candidate data points represent any movable position of the target device within the at least two ranges of motion directions.

Specifically, the movable position point of the target device in the movement range of at least two movement directions may be determined based on the first size information, the second size information, and the position information, while avoiding collision of the target device with the obstacle.

Optionally, determining candidate data points of the target device in the at least two movement directions according to the first size information, the start pose information, the end pose information, the second size information and the position information includes, but is not limited to, the following steps A1-A3:

And A1, determining the moving ranges of the target equipment in the at least two moving directions respectively according to the starting point posture information and the ending point posture information.

For example, taking fig. 2 as an example, if the start point posture information of the target device in the moving direction is (50 cm,20 °), the end point posture information is (70 cm,60 °), the moving range of the target device in the x-axis is (50 cm,70 cm), and the moving range on the rotation axis is (20 °,60 °).

A2, respectively carrying out equidistant segmentation and combination on the moving ranges, and determining full arrangement data of the target equipment in the at least two moving directions; wherein the full permutation data comprises at least one data point.

In order to facilitate the determination of the subsequent candidate moving paths, the application equally-spaced-apart and combined the moving ranges corresponding to the moving directions to generate full-array data.

Illustratively, taking the above fig. 2 as an example for explanation, the x-axis and the rotation axis are taken as the movement directions, and the movable ranges of the target device on the x-axis and the rotation axis are equally divided and combined. Fig. 5 is a schematic diagram of full-array data according to a second embodiment of the application. As shown in fig. 5, if the movable range on the x-axis is 21 cm and the movable range on the rotation axis is 0 ° to 360 °, the movable range on the x-axis is equally divided at intervals of 3cm, the movable range on the rotation axis is equally divided at intervals of 10 °, and finally the divided data points are combined to generate full arrangement data of the movable range of the target device in the x-axis and the rotation axis.

And A3, determining candidate data points in the full-array data according to the first size information, the second size information, the position information and the limit movement distance of the target equipment in the avoidance direction.

The limiting movement distance can be the maximum movement distance of the target equipment in the avoidance direction, and is determined by the self characteristics of the target equipment.

According to the method and the device, the movable candidate data points of the target equipment in the full-array data can be determined according to the size information of the target equipment, the size and position information of the obstacle and the limit movement distance of the target equipment in the avoidance direction.

Optionally, determining candidate data points in the full-array data according to the first size information, the second size information, the position information and the limiting movement distance of the target device in the avoidance direction includes: for each data point in the full arrangement data, determining the contact distance between the target equipment and the obstacle in the avoidance direction according to the first size information, the second size information and the position information; and determining candidate data points according to the contact distance and the limiting movement distance of the target equipment in the avoidance direction.

Fig. 6 is a schematic diagram illustrating a contact distance according to a second embodiment of the present application. As shown in fig. 6, when the target device moves to the illustrated position, the contact distance of the target device c with the obstacle M is h.

Specifically, candidate data points in the full-array data, which can avoid the obstacle in the avoidance direction, of the target equipment are determined according to the contact distance and the limit movement distance of the target equipment in the avoidance direction. That is, the contact distance should be less than the limit movement distance of the target device in the avoidance direction.

Fig. 7 is a schematic diagram of candidate data points according to a second embodiment of the present application. As shown in fig. 7, point a is the position information of the target device, point B is the position information of the target device, the dark grid is a data point in the full-array data where the target device cannot move in the avoidance direction, and the rest grids are data points in the full-array data where the target device can move in the avoidance direction, namely candidate data points.

S240, determining a candidate moving path of the target equipment along the at least two moving directions according to the starting point gesture information, the ending point gesture information and the candidate data points.

Specifically, the data points with the contact distances corresponding to the path steps being smaller than the limiting movement distance of the target equipment in the avoidance direction can be used as candidate movement paths of the target equipment in at least two movement directions.

Optionally, determining a candidate moving path of the target device in the at least two moving directions according to the starting point pose information, the ending point pose information and the candidate data point includes: determining a data point corresponding to the starting point posture information as a connecting line starting point, and determining a data point corresponding to the end point posture information as a connecting line end point; and connecting the candidate data points according to the connecting starting point and the connecting ending point, determining a connection result as a candidate moving path of the target equipment in the at least two moving directions, and taking the candidate data points in the connection result as path steps according to the connection sequence.

Wherein the full arrangement data is presented in a tabular form, each grid in the table representing a data point. Thus, candidate travel paths may be determined by concatenating the grids in the table where each candidate data point is located.

For example, the connection may be made in a gradient propagating manner. Fig. 8 is a schematic diagram of candidate data point connection according to a second embodiment of the present application. As shown in fig. 8, the gradient spreading mode is adopted to extend from the point a to the point B. That is, from point a, four lattices of each lattice up, down, left, and right are sequentially set as the next gradient. Wherein the number of each bin represents the gradient, the number of candidate data points that need to be traversed to move from point a to the bin, and the path steps.

S250, determining a target moving path of the target equipment along the at least two moving directions from the candidate moving paths according to the path steps in the candidate moving paths.

Fig. 9 is a schematic diagram illustrating a first movement path determination according to a second embodiment of the present application. As shown in fig. 9, it was found that the search was completed when the gradient was 9, that is, the shortest moving distance was 9 steps. And when the gradient is 9, there are 5 first moving paths in total.

Further, the target moving paths are selected from the first moving paths according to the moving direction changing times, wherein the moving direction changing times can be represented by bending times of the connecting lines. Of the 5 first moving paths of fig. 9, 1 moving direction change number of 1 first moving path, 2, and 3 moving direction change number of 3 first moving paths, and therefore, the first moving path whose moving direction change number of 1 can be determined as the target moving path.

S260, determining target movement points of the target equipment corresponding to the path steps in the avoidance direction according to the target movement path, the first size information, the second size information and the position information, and determining the target movement path and the target movement points as multidimensional movement tracks of the target equipment.

The embodiment of the application provides a multidimensional track planning method, which comprises the steps of determining candidate data points of target equipment in at least two moving directions according to first size information, second size information and position information, and further determining candidate moving paths of the target equipment along at least two moving directions according to starting point posture information, end point posture information and the candidate data points. According to the technical scheme, the candidate moving path is determined through the candidate data points, so that the comprehensiveness and the accuracy of the determination of the candidate moving path are improved, and the accuracy of the multidimensional moving track of the target equipment is further improved.

On the basis of the above embodiments, optionally, after determining the target movement path and the target movement point location as the multi-dimensional movement track of the target device, the method further includes: determining whether the target equipment is in a safety range in the avoidance direction according to the current gesture information of the target equipment aiming at each path step in the target moving path; if so, controlling the target equipment to move in the at least two movement directions according to the target movement path so as to move to the gesture corresponding to the current path step; and if the target equipment is not in the avoidance direction, controlling the target equipment to move in the avoidance direction according to the target moving path so as to ensure that the target equipment is in a safety range in the avoidance direction.

Specifically, whether the coordinates of the target device in the current avoidance direction are in the safety range required by the current path step can be judged first; if the target equipment is not in the avoidance direction, the target equipment is controlled to move in the avoidance direction so as to move to a safe range; and if so, controlling the target equipment to move in the moving direction so as to move to the gesture corresponding to the current path step.

It should be noted that the type of movement direction includes at least two, such as the rotation axis and the x-axis in the above example. Therefore, if the type of the movement direction is not changed, the movement is directly performed, otherwise, the movement can not be performed until the last type is in place.

It should also be noted that the on-line indexing function of the control card may be used to ensure operational continuity of the target device.

The technical scheme has the beneficial effects that the moving sequence of the equipment in each moving direction is limited, so that the safety and the reliability of the movement of the equipment are ensured.

Example III

Fig. 10 is a schematic structural diagram of a multi-dimensional trajectory planning device according to a third embodiment of the present application. As shown in fig. 10, the apparatus includes:

A basic parameter obtaining module 310, configured to determine first size information, start point pose information, end point pose information, and second size information and position information of an obstacle of a target device in response to a movement instruction of the target device; wherein the obstacles are all obstacles in a moving area corresponding to the moving instruction;

a moving direction determining module 320, configured to determine at least two moving directions and an avoiding direction of the target device according to the starting point pose information and the ending point pose information; wherein the avoidance direction is a direction different from the target device;

A candidate path determining module 330, configured to determine at least one candidate moving path of the target device along the at least two moving directions according to the first size information, the start point pose information, the end point pose information, the second size information, and the position information;

a target path determining module 340, configured to determine a target moving path of the target device along the at least two moving directions from each of the candidate moving paths according to a path step in each of the candidate moving paths;

The multidimensional track determining module 350 is configured to determine, according to the target movement path, the first size information, the second size information, and the position information, a target movement point position of the target device corresponding to each path step in the avoidance direction, and determine the target movement path and the target movement point position as a multidimensional movement track of the target device.

The embodiment of the application provides a multidimensional track planning device, which determines at least two moving directions and an avoiding direction of target equipment; secondly, determining target moving paths of the target equipment in at least two moving directions; determining target movement points of the target equipment corresponding to each path step in the target movement path in the avoidance direction according to the target movement path; and finally, determining the multidimensional track of the target equipment according to the target moving path and the target moving point position. According to the technical scheme, the moving track of the moving direction and the avoiding direction is planned respectively, so that the moving track of the target equipment in the multidimensional space is planned under the condition of avoiding collision with the obstacle, and the working efficiency and the safety of the target equipment are improved.

Further, the candidate path determining module 330 includes:

A candidate data point determining unit, configured to determine full-permutation data candidate data points of the target device within the at least two movement directions according to the first size information, the second size information, and the position information; wherein the candidate data points represent any movable position of the target device within the at least two ranges of motion directions;

And the candidate moving path determining unit is used for determining candidate moving paths of the target equipment along the at least two moving directions according to the starting point gesture information, the ending point gesture information and the candidate data points.

Further, the candidate data point determining unit includes:

A movement range determining subunit, configured to determine movement ranges of the target device in the at least two movement directions respectively according to the start point pose information and the end point pose information;

A full-arrangement data determining subunit, configured to divide and combine the moving ranges at equal intervals, and determine full-arrangement data of the movable range of the target device in the at least two moving directions; wherein the full rank data comprises at least one data point;

And the candidate data point determining subunit is used for determining candidate data points in the full-array data according to the first size information, the second size information, the position information and the limiting movement distance of the target equipment in the avoidance direction.

Further, the candidate data point determination subunit is specifically configured to:

For each data point in the full arrangement data, determining the contact distance between the target equipment and the obstacle in the avoidance direction according to the first size information, the second size information and the position information;

And determining candidate data points according to the contact distance and the limiting movement distance of the target equipment in the avoidance direction.

Further, the candidate moving path determining unit includes:

a connection start-stop point determining subunit, configured to determine a data point corresponding to the start point posture information as a connection start point, and determine a data point corresponding to the end point posture information as a connection end point;

And the candidate moving path determining subunit is used for connecting each candidate data point according to the connecting start point and the connecting end point, determining a connection result as a candidate moving path of the target equipment in the at least two moving directions, and taking each candidate data point in the connection result as a path step according to the connection sequence.

Further, the target path determining module 340 includes:

A first moving path determining unit configured to determine a candidate moving path having the smallest path step as a first moving path;

And a target moving path determining unit configured to determine a first moving path, which has the least number of moving direction changes, as a target moving path.

Further, the device further comprises:

The safety range judging module is used for determining whether the target equipment is in a safety range in the avoidance direction according to the current gesture information of the target equipment for each path step in the target moving path after the target moving path and the target moving point position are determined to be the multidimensional moving track of the target equipment;

The motion direction moving module is used for controlling the target equipment to move in the at least two motion directions according to the target moving path if the motion direction moving module is in the motion direction moving module so as to move to the gesture corresponding to the current path step;

And the avoidance direction moving module is used for controlling the target equipment to move in the avoidance direction according to the target moving path if the target equipment is not in the avoidance direction moving module, so that the target equipment is in a safety range in the avoidance direction.

The multi-dimensional track planning device provided by the embodiment of the application can execute the multi-dimensional track planning method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 11 shows a schematic of the structure of a device 10 that may be used to implement an embodiment of the application. Devices are intended to represent various forms of digital computers, such as laptops, desktops, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The device may also represent various forms of mobile apparatuses such as personal digital processing, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing apparatuses. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.

As shown in fig. 11, the apparatus 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the device 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

The various components in the device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a multi-dimensional trajectory planning method.

In some embodiments, the multi-dimensional trajectory planning method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 10 via the ROM 12 and/or the communication unit 19. One or more of the steps of the multi-dimensional trajectory planning method described above may be performed when the computer program is loaded into RAM 13 and executed by processor 11. Alternatively, in other embodiments, the processor 11 may be configured to perform the multi-dimensional trajectory planning method in any other suitable way (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the systems and techniques described here can be implemented on a device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present application are achieved, and the present application is not limited herein.

The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.

Claims

1. A method of multidimensional trajectory planning, the method comprising:

Determining at least two movement directions and one avoidance direction of the target equipment according to the starting point posture information and the end point posture information; wherein the avoiding direction is a direction different from the moving direction;

Determining at least one candidate moving path of the target device along the at least two moving directions according to the first size information, the starting point posture information, the ending point posture information, the second size information and the position information; wherein the candidate moving path includes at least one path step;

2. The method of claim 1, wherein determining at least one candidate movement path of the target device along the at least two directions of motion based on the first dimensional information, the start point pose information, the end point pose information, the second dimensional information, and the position information comprises:

Determining candidate data points of the target equipment in the moving ranges of the at least two moving directions according to the first size information, the second size information and the position information; wherein the candidate data points represent any movable position of the target device within the at least two ranges of motion directions;

and determining candidate moving paths of the target equipment along the at least two moving directions according to the starting point gesture information, the ending point gesture information and the candidate data points.

3. The method of claim 2, wherein determining candidate data points for the target device within the at least two ranges of motion directions based on the first dimensional information, the starting point pose information, the ending point pose information, the second dimensional information, and the position information comprises:

Determining the moving ranges of the target equipment in the at least two moving directions respectively according to the starting point gesture information and the ending point gesture information;

Respectively carrying out equidistant segmentation and combination on the moving ranges to determine the full arrangement data of the target equipment in the at least two moving directions; wherein the full rank data comprises at least one data point;

And determining candidate data points in the full-array data according to the first size information, the second size information, the position information and the limiting movement distance of the target equipment in the avoidance direction.

4. The method of claim 3, wherein determining candidate data points in the full rank data based on the first size information, the second size information, the position information, and a limiting distance of movement of the target device in an avoidance direction comprises:

5. The method of claim 2, wherein determining a candidate movement path for the target device in the at least two directions of motion based on the start point pose information, the end point pose information, and the candidate data points comprises:

Determining a data point corresponding to the starting point posture information as a connecting line starting point, and determining a data point corresponding to the end point posture information as a connecting line end point;

And connecting the candidate data points according to the connecting starting point and the connecting ending point, determining a connection result as a candidate moving path of the target equipment in the at least two moving directions, and taking the candidate data points in the connection result as path steps according to the connection sequence.

6. The method according to claim 1, wherein determining a target movement path of the target device in the at least two movement directions from each of the candidate movement paths according to the path step in each of the candidate movement paths comprises:

Determining a candidate moving path with the least path steps as a first moving path;

the first moving path having the smallest number of moving direction changes is determined as the target moving path.

7. The method of claim 1, wherein after determining the target movement path and the target movement point location as the multi-dimensional movement trajectory of the target device, the method further comprises:

Determining whether the target equipment is in a safety range in the avoidance direction according to the current gesture information of the target equipment aiming at each path step in the target moving path;

If so, controlling the target equipment to move in the at least two movement directions according to the target movement path so as to move to the gesture corresponding to the current path step;

and if the target equipment is not in the avoidance direction, controlling the target equipment to move in the avoidance direction according to the target moving path so as to ensure that the target equipment is in a safety range in the avoidance direction.

8. A multi-dimensional trajectory planning device, the device comprising:

9. An electronic device, the device comprising:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the multi-dimensional trajectory planning method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to implement the multi-dimensional trajectory planning method of any one of claims 1-7 when executed.