Mechanical arm path planning method and device, industrial control equipment and storage medium

Abstract

The invention discloses a mechanical arm path planning method and device, industrial control equipment and a storage medium. The mechanical arm path planning method comprises the following steps that1, when the mechanical arm tail ends of mechanical arms bear first articles to be sorted, initial position information of the mechanical arm tail ends and grid position information for storing the first articles are obtained; 2, the maximum reachable range space of each mechanical arm tail end is determined; 3, each maximum reachable range space is divided into a grid space; and 3, according to the initial position information and the grid position information, the motion paths of the mechanical arm tail ends are planned in the grid spaces. According to the mechanical arm path planning method,the maximum reachable range spaces of the mechanical arm tail ends are determined firstly, then the grid spaces are divided, and the motion paths of the mechanical arm tail ends are planned in the grid spaces; and due to division of the grid spaces, planning of the paths of the mechanical arm tail ends are finer, path planning is finer, and randomness of existing path planning is avoided; and theflexibility and efficiency of path planning are improved, and then the article sorting efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of logistics, in particular to a method, device, industrial control equipment and storage medium for path planning of a mechanical arm. Background technique [0002] In express delivery, express sorting is a very important link, and how to sort with low cost and high efficiency is very important. The sorting modes currently applied on a large scale mainly include manual sorting, cross-belt sorting, etc. [0003] Among them, manual sorting is costly and inefficient, but the sorting mode is flexible, and packages with QR codes or vague address information can also be sorted correctly. The cross-belt sorting efficiency is high, but it has the disadvantages of large floor area and few sorting flow directions. The cross-belt with an area of ​​100 square meters has about 60-80 flow directions, which is suitable for the first-level transfer field with large flow and small flow direction. For the sorting mode of t...

AI Technical Summary

Problems solved by technology

[0004] However, the limitation of robotic arm sorting is that the efficiency of robotic arm sorting is currently low, so that robotic arm sorting cannot completely replace manual sorting and cross-belt sorting. pick

In order to improve the sorting efficiency of the robotic arm, path planning is essential. Sorting through the optimal path can greatly improve the sorting efficiency. The existing path planning methods for the robotic arm include manual calibration methods, Rapidly Exploring Random Tree Tree, RRT) algorithm, road map algorithm (probabilistic roadmap method, PRM) and other stochastic planning methods, however, the stochastic planning method has too much calculation, and the path planning is random, the planning path is slow and difficult to achieve the optimal

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