A robot trajectory planning device and method

Abstract

The present invention relates to a robot trajectory planning device and method. The device comprises a three-dimensional spatial locator, a tool model, and a host computer. The tool model is an actuator model of the robot to be operated, and the tool model is connected to the three-dimensional spatial locator. The tool model's trajectory is obtained by moving the three-dimensional spatial locator, and the tool model's trajectory serves as the trajectory of the robot to be operated. The present invention improves the speed of robot trajectory planning, thereby increasing the robot's operational efficiency.

Description

Technical Field

[0001] The present invention relates to the field of trajectory planning, and in particular to a robot operation trajectory planning device and method Background Art

[0002] Currently, multi-axis industrial robots require extensive pre-production training and programming using a robot teach pendant, requiring manual learning of each trajectory point. This makes it difficult for robots to operate efficiently in non-standard and small-batch production lines. Furthermore, using 3D offline modeling, simulation, and programming to plan the workpiece trajectory before importing it into the robot system for operation further complicates the process. This requires extensive technical experience, making it difficult for average operators to perform these tasks. Using these methods, even a skilled operator using a robot teach pendant for teaching and programming, or offline modeling, simulation, and programming, can take over four hours to complete 100 trajectory points, while the robot's actual operation time is often less than 10 minutes. Consequently, the robot typically spends extended periods in pre-production standby mode, effectively preventing it from achieving optimal operational efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a robot operation trajectory planning device and method, which improves the pre-production trajectory planning speed of the robot.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A robot trajectory planning device includes: a three-dimensional space locator, a tool model and a host computer;

[0006] The tool model is an actuator model of the robot to be operated, and the tool model is connected to the three-dimensional space locator;

[0007] The running track of the tool model is obtained by moving the three-dimensional space locator, and the running track of the tool model is the running track of the robot to be operated.

[0008] Optionally, the device further comprises: a photoelectric transmitter, the photoelectric transmitter being arranged above the working range of the robot;

[0009] The three-dimensional space locator includes a photodiode and a processor, and the host computer is electrically connected to the photoelectric transmitter and the three-dimensional space locator respectively; the photoelectric transmitter receives the synchronization signal transmitted by the host computer and then performs a spatial scan on the working range of the robot; the three-dimensional space locator receives the scanning signal of the photoelectric transmitter after receiving the synchronization signal transmitted by the host computer; the three-dimensional space locator determines the position coordinates of the three-dimensional space locator based on the received scanning signal, and the three-dimensional space locator sends the position coordinates to the host computer.

[0010] Optionally, the three-dimensional space locator further includes a shell, and the photodiodes are all arranged on the shell.

[0011] Optionally, the number of the photodiodes is at least 6.

[0012] Optionally, the three-dimensional space locator further includes a MEMS gyroscope, and the MEMS gyroscope is used to obtain rotation values ​​of the three-dimensional space locator around the X axis, the Y axis and the Z axis.

[0013] The present invention also discloses a robot trajectory planning method, which includes:

[0014] Connecting a tool model to a three-dimensional space locator; the tool model is an actuator model of the robot to be operated;

[0015] Obtaining a running trajectory of the tool model by moving a three-dimensional space locator;

[0016] The running trajectory of the tool model is used as the running trajectory of the robot to be operated.

[0017] Optionally, obtaining the running trajectory of the tool model by moving the three-dimensional space locator specifically includes:

[0018] Send synchronization signals to the photoelectric transmitter and three-dimensional space locator through the host computer;

[0019] After receiving the synchronization signal, the photoelectric transmitter performs periodic spatial scanning within the working range of the robot to be operated;

[0020] Moving the three-dimensional space locator within the working range of the robot to be operated;

[0021] After receiving the synchronization signal, the three-dimensional space locator starts to receive the optical signal emitted by the photoelectric transmitter;

[0022] Determining the position coordinates of the three-dimensional space locator according to the light signal received by the three-dimensional space locator;

[0023] The running trajectory of the tool model is determined according to the change of the position coordinates over time.

[0024] Optionally, after receiving the synchronization signal, the photoelectric transmitter performs periodic spatial scanning within the working range of the robot to be operated, specifically including: the photoelectric transmitter performs periodic row scanning and column scanning within the working range of the robot to be operated.

[0025] Optionally, determining the position coordinates of the three-dimensional space locator according to the light signal received by the three-dimensional space locator specifically includes:

[0026] Obtaining an X-vector angle between the photoelectric emitter and the three-dimensional space locator by periodic row scanning;

[0027] Obtaining a Y vector angle between the photoelectric emitter and the three-dimensional space locator by periodic column scanning;

[0028] The position coordinates of the three-dimensional space locator are determined by the X vector angle and the Y vector angle.

[0029] Optionally, determining the position coordinates of the three-dimensional space locator according to the light signal received by the three-dimensional space locator further includes:

[0030] The rotation values ​​of the three-dimensional space positioner around the X-axis, Y-axis and Z-axis are determined by the MEMS gyroscope in the three-dimensional space positioner.

[0031] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0032] The present invention discloses a robot trajectory planning device and method. By moving a three-dimensional space locator, the trajectory of a tool model connected to the three-dimensional space locator is obtained, and the trajectory of the tool model is used as the trajectory of the robot to be operated, thereby improving the speed of the robot's trajectory planning and thus improving the robot's operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 This is a schematic structural diagram of a robot trajectory planning device according to the present invention;

[0035] Figure 2This is a schematic structural diagram of a three-dimensional space locator in a robot trajectory planning device according to the present invention;

[0036] Figure 3 Schematic diagram of the structure of the robot to be operated in the present invention;

[0037] Figure 4 This is a schematic diagram of signal transmission of various structures of a robot trajectory planning device of the present invention;

[0038] Figure 5 This is a flow chart of a robot trajectory planning method according to the present invention;

[0039] Explanation of symbols:

[0040] 1-3D space locator, 2-photoelectric transmitter, 3-host computer, 4-wireless gateway control module, 5-robot to be operated, 6-interactive display terminal, 7-tool model, 11-photodiode, 12-housing, 13-flange seat, 71-tool model end, 72-curve function button, 73-point function button, 51-robot tool flange, 52-robot tool, 53-robot tool end. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] The purpose of the present invention is to provide a robot operation trajectory planning device and method, which improves the robot operation trajectory planning speed.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] Figure 1 This is a schematic diagram of the structure of a robot trajectory planning device of the present invention, as shown in FIG. Figure 1 As shown, a robot trajectory planning device includes: a three-dimensional space locator 1, a tool model 7, a host computer 3, a photoelectric transmitter 2, an interactive display terminal 6 and a wireless gateway control module 4.

[0045] The tool model 7 is an actuator model of the robot 5 to be operated, and the tool model 7 is connected to the three-dimensional space locator 1 .

[0046] The running track of the tool model 7 is obtained by moving the three-dimensional space locator 1 , and the running track of the tool model 7 is the running track of the robot 5 to be operated.

[0047] The photoelectric transmitter 2 is arranged above the working range of the robot;

[0048] The three-dimensional space locator 1 includes a photodiode 11 and a processor, and the host computer 3 is electrically connected to the photoelectric transmitter 2 and the three-dimensional space locator 1 respectively; the photoelectric transmitter 2 receives the synchronization signal transmitted by the host computer 3 and then performs a spatial scan on the working range of the robot. The three-dimensional space locator 1 receives the scanning signal of the photoelectric transmitter 2 after receiving the synchronization signal transmitted by the host computer 3. The three-dimensional space locator 1 determines the position coordinates of the three-dimensional space locator 1 based on the received scanning signal, and the three-dimensional space locator 1 sends the position coordinates to the host computer 3.

[0049] The three-dimensional space locator 1 further includes a housing 12, and the photodiodes 11 are all arranged on the housing 12. Figure 2 The three-dimensional space locator 1 is a handheld three-dimensional space locator 1, that is, the three-dimensional space locator 1 moves by human movement.

[0050] The three-dimensional space locator 1 further includes a MEMS gyroscope (micromechanical gyroscope), which is used to obtain the rotation value of the three-dimensional space locator 1 around the X axis, the Y axis and the Z axis.

[0051] The three-dimensional space locator 1 also includes a flange tool connector (flange seat 13), operation function button keys, a wireless communication module, a power management module and a rechargeable battery. The processor in the three-dimensional space locator 1 is a microprocessor, and the operation function button keys include a curve function button 72 and a point function button 73.

[0052] The tool model 7 shown is a production or processing actuator installed on the end flange of the robot, such as a robot arc welding gun, a robot gripper, and other tools with certain functions connected to the end flange of the robot, such as Figure 3 As shown, the tool model 7 is consistent with the real tool installed on the end flange of the robot in terms of size and peripheral structure. The ratio of the tool model 7 to the actual actuator is 1:1. The tool model 7 is composed of 3D printed plastic parts and is installed at the flange of the handheld wireless three-dimensional spatial locator 1. The tool model 7 is light and convenient for manual hand-held planning of the workpiece path. In this embodiment Figure 2 Tool Model 7 and Figure 3 The scale of the robot tool 52 is 1:1. The running trajectory of the tool model 7 is obtained by moving the three-dimensional space locator 1, that is, the running trajectory of the robot tool 52 is obtained. Figure 3 The robot tool end 53 is as follows Figure 2 The tool model terminal 71 is operated along the operating trajectory.

[0053] The robot to be operated 5 is a general-purpose multi-joint 6-DOF robotic arm, which has the function of controlling the robot to perform working actions in sequence according to the pre-required order and conditions by manually planning the trajectory on the workpiece through TCP / IP communication of the PC host.

[0054] Figure 4 This is a schematic diagram of signal transmission of various structures of a robot trajectory planning device of the present invention, as shown in FIG. Figure 4 As shown, the wireless gateway control module 4 is interconnected with the PC host via a USB interface, and is also interconnected with the photoelectric transmitter 2 and the handheld wireless three-dimensional space locator 1 via wireless communication. A range space group is formed by two or more photoelectric transmitters 2. The photoelectric transmitters 2 are fixedly installed in a location within the motion space of the handheld wireless three-dimensional space locator 1 where they can be covered by the pulse beams of row and column scanning emitted by the photoelectric transmitters 2. The handheld wireless three-dimensional space locator 1 receives the row and column scanning beams of the photoelectric transmitters 2 via six or more photodiodes 11 and is interconnected with the wireless gateway control module 4 via wireless communication. The interactive display terminal 6 is interconnected with the PC host via wireless communication, and the robot is connected to the PC host via a TCP / IP communication network.

[0055] Figure 5 This is a flow chart of a robot trajectory planning method according to the present invention. Figure 5 As shown, a robot trajectory planning method includes the following steps:

[0056] Step 100: Connect the tool model 7 to the three-dimensional space locator 1; the tool model 7 is the actuator model of the robot 5 to be operated.

[0057] Step 200: Acquire the running trajectory of the tool model 7 by moving the three-dimensional space locator 1.

[0058] The step of obtaining the running trajectory of the tool model 7 by moving the three-dimensional space locator 1 specifically includes:

[0059] A synchronization signal is sent to the photoelectric transmitter 2 and the three-dimensional space locator 1 via the host computer 3 .

[0060] After receiving the synchronization signal, the photoelectric transmitter 2 performs periodic spatial scanning within the working range of the robot 5 to be operated.

[0061] After receiving the synchronization signal, the photoelectric transmitter 2 performs periodic spatial scanning within the working range of the robot 5 to be operated, specifically including: the photoelectric transmitter 2 performs periodic row scanning and column scanning within the working range of the robot 5 to be operated.

[0062] The three-dimensional space locator 1 is moved within the working range of the robot 5 to be operated.

[0063] After receiving the synchronization signal, the three-dimensional space locator 1 starts to receive the optical signal emitted by the photoelectric transmitter 2 .

[0064] The position coordinates of the three-dimensional space locator 1 are determined according to the light signal received by the three-dimensional space locator 1 .

[0065] Determining the position coordinates of the three-dimensional space locator 1 according to the light signal received by the three-dimensional space locator 1 specifically includes:

[0066] The X-vector angle between the photoelectric emitter 2 and the three-dimensional space locator 1 is obtained by periodic row scanning.

[0067] The Y vector angle between the photoelectric emitter 2 and the three-dimensional space locator 1 is obtained by column periodic scanning.

[0068] The position coordinates of the three-dimensional space locator 1 are determined by the X vector angle and the Y vector angle.

[0069] The rotation values ​​of the three-dimensional space locator 1 around the X-axis, the Y-axis and the Z-axis are determined by the MEMS gyroscope in the three-dimensional space locator 1 .

[0070] The running track of the tool model 7 is determined according to the change of the position coordinates over time.

[0071] Step 300: Using the running trajectory of the tool model 7 as the running trajectory of the robot 5 to be operated.

[0072] The upper computer 3 shown is a PC host, which is used to process the synchronization signal received from the photoelectric transmitter 2 and the handheld three-dimensional space locator 1 through the wireless gateway control module 4, calculate the action operation relationship between the flange coordinate system of the handheld wireless three-dimensional space locator 1 and the flange end coordinate system of the robot, execute trajectory operation tasks and process the TCP / IP-based communication protocol between the robot.

[0073] The interactive display terminal 6 performs UI interface interactive operations with the PC host through wireless communication.

[0074] In this embodiment, the interactive display terminal 6 is a tablet computer.

[0075] The wireless gateway control module 4 is used for wireless communication connection between the handheld wireless three-dimensional space locator 1 and the plurality of photoelectric transmitters 2 .

[0076] The photoelectric transmitter 2 receives the synchronization signal sent by the PC host through the wireless gateway module. After receiving the synchronization signal, the photoelectric transmitter 2 drives the infrared light emitting tube to perform periodic spatial scanning through the row scanning polarization mirror and the column scanning polarization mirror.

[0077] The handheld wireless three-dimensional space locator 1 receives a synchronization signal sent by the PC host through the wireless gateway module communication. After the handheld wireless three-dimensional space locator 1 receives the synchronization signal, the photodiode 11 starts to receive the trigger time of the row and column scanning of the photoelectric transmitter 2 within a cycle. According to the trigger time, the X vector angle and Y vector angle of the photodiode 11 of the handheld wireless three-dimensional space locator 1 corresponding to the row scanning time point are obtained. The absolute coordinate point (x, y, z) of the handheld wireless three-dimensional space locator 1 in the space of the photoelectric transmitter 2 is converted according to the X vector angle and the Y vector angle. The three-dimensional coordinate matrix is ​​converted by the Euler angle output by the MEMS gyroscope module to obtain the current spatial coordinate point (x, y, z, Rx, Ry, Rz) of the handheld wireless three-dimensional space locator 1 in the photoelectric transmitter 2. The current coordinate point is sent to the PC host in real time in the form of an array by the wireless module of the handheld wireless three-dimensional space locator 1.

[0078] A robot trajectory planning method of the present invention is described below with reference to specific embodiments.

[0079] Step 1: Fix the photoelectric transmitter 2 within 5 meters on both sides of the robot and on a bracket with an angle of 60-80 degrees overlooking the robot's working range.

[0080] The photoelectric transmitter 2 receives the synchronization signal sent by the PC host through the wireless gateway module communication, and then drives the infrared light-emitting tube in the photoelectric transmitter 2 to perform periodic scanning of infrared light rows and columns within the working range of the robot through the row scanning polarizer and column scanning polarizer, forming a three-dimensional scanning space of infrared light rows and columns with the photoelectric transmitter 2 as the reference point, and obtaining a set of infrared emission signals with fixed synchronous cycles of row scanning and column scanning.

[0081] Step 2: The handheld wireless three-dimensional space locator 1 receives the synchronization signal corresponding to the photoelectric transmitter 2 sent by the PC host through the wireless gateway module communication, and then the photodiode 11 on the handheld wireless three-dimensional space locator 1 starts to receive the trigger synchronization time within a synchronization cycle of the row scan and column scan of the photoelectric transmitter 2.

[0082] First, the time of triggering the scanning point of the photoelectric transmitter 2 corresponds to the X vector angle of the receiving photodiode 11 on the handheld wireless three-dimensional space locator 1. The vector angle between the photoelectric transmitter 2 and the handheld wireless three-dimensional space locator 1 is calculated from the time when the receiving photodiode 11 on the handheld wireless three-dimensional space locator 1 receives the synchronization signal until the receiving signal is triggered. The angle between the photoelectric transmitter 2 and the handheld wireless three-dimensional space locator 1 is calculated to obtain the X vector angle of the handheld wireless three-dimensional space locator 1.

[0083] At the same time, the photodiode 11 on the handheld wireless 3D spatial locator 1 receives the trigger to obtain the Y vector angle of the receiving photodiode 11 on the handheld wireless 3D spatial locator 1 corresponding to the time when the phototransmitter 2 column scan point is received. The vector angle between the phototransmitter 2 and the handheld wireless 3D spatial locator 1 is calculated from the time when the receiving photodiode 11 on the handheld wireless 3D spatial locator 1 receives the synchronization signal until the signal is triggered. The angle between the phototransmitter 2 and the handheld wireless 3D spatial locator 1 is calculated to obtain the Y vector angle of the handheld wireless 3D spatial locator 1. The X vector angle and Y vector angle generated by the set of phototransmitter 2 synchronization signals received by the receiving photodiode 11 on the handheld wireless 3D spatial locator 1 are used to calculate the x, y, and z coordinates of the handheld wireless 3D spatial locator 1 within the row and column scan space of the phototransmitter 2 using linear algebraic calculations.

[0084] The microprocessor in the handheld wireless three-dimensional space locator 1 collects data from the MEMS gyroscope module. First, the three-axis gyroscope signal in the MEMS gyroscope module is used to integrate the attitude expression of quaternion to obtain the attitude angle. Then, the three-axis accelerometer and three-axis magnetometer in the MEMS gyroscope module are used to calculate the absolute angle using the direction cosines of the earth's magnetic field and gravity magnetic field between the geographic coordinate system and the motion coordinate system. Then, the Kalman filter is used to fuse the data of the first three with the x, y, and z coordinate point data to generate the current spatial coordinate points x, y, z, Rx, Ry, and Rz of the handheld wireless three-dimensional space locator 1 relative to the photoelectric transmitter 2. The current coordinate points x, y, z, Rx, Ry, and Rz are sent in real time by the wireless module of the handheld wireless three-dimensional space locator 1 to the PC host in the form of an array.

[0085] In addition, the three-dimensional space coordinate point of the handheld wireless three-dimensional space locator 1 is formed, specifically including: the photoelectric transmitter 2 receives the synchronization signal sent by the PC end, and when the synchronization signal falls, the infrared emitting tube on the row polarizer is turned on to perform row scanning space scanning A for one cycle, and after the row space scanning is completed, the row scanning infrared emitting tube is turned off and the infrared emitting tube on the column polarizer is turned on at the same time to perform column scanning space scanning B for one cycle, and after the column space scanning is completed, the column scanning infrared emitting tube is turned off and then the row scanning infrared emitting tube is turned on at the same time to perform the same next cycle operation. The handheld wireless three-dimensional space locator 1 receives the synchronization signal sent by the PC end, and turns on the photoelectric receiving diode of the handheld wireless three-dimensional space locator 1 when the synchronization signal falls. The time when the row scan of the photoelectric transmitter 2 arrives is detected in the same A cycle as the photoelectric transmitter 2. After the row scan is completed, it is received by the photodiode 11, and the time when the column scan of the photoelectric transmitter 2 arrives is detected in the same B cycle as the photoelectric transmitter 2. The trigger row and column scan time received by the photoelectric receiving diode during the row and column scan of the photoelectric transmitter 2 is calculated by the microprocessor in the handheld wireless three-dimensional space locator 1. The row scan X vector angle and column scan Y vector angle of the handheld wireless three-dimensional space locator 1 can be calculated by the synchronization time point triggered by the reception. According to the X vector angle and the Y vector angle, the After obtaining the x, y, and z position coordinates of the three-dimensional coordinate system at the current coordinate point x, y, and z in the absolute space of the photoelectric transmitter 2, the microprocessor in the handheld wireless three-dimensional space locator 1 collects data from the MEMS gyroscope module. First, the three-axis gyroscope signal in the MEMS gyroscope module is used to integrate the attitude expression of the quaternion to obtain the attitude angle. Then, the three-axis accelerometer and three-axis magnetometer in the MEMS gyroscope module are used to calculate the absolute angle using the direction cosines of the earth's magnetic field and the gravity magnetic field between the geographic coordinate system and the motion coordinate system. Then, the Kalman filter is used to fuse the first three data with the x, y, and z coordinate point data to generate the current spatial coordinate point x, y, z, Rx, Ry, and Rz of the handheld wireless three-dimensional space locator 1 relative to the photoelectric transmitter 2.

[0086] The calibration process of the handheld wireless three-dimensional space locator 1 and the robot user coordinate origin specifically includes: teaching the user coordinates with the tool carried by the robot according to normal operation, removing the tool carried by the robot after confirming the user coordinates, and then installing the handheld wireless three-dimensional space locator 1 at the end of the robot flange and operating the robot to move to the position of the robot user coordinates (user) x=0, y=0, z=0, Rx=0, Ry=0, Rz=0, and sending the button key (origin) button event on the handheld wireless three-dimensional space locator 1 to the PC host to subtract the current coordinate value of the handheld wireless three-dimensional space locator 1 from the current coordinate value to calculate that the current coordinate value of the handheld wireless three-dimensional space locator 1 is equal to the robot user coordinate (user) value.

[0087] Position and install the photoelectric transmitters around both sides of the robot and connect them to the fixed bracket at an angle overlooking the robot's working range. Turn on the PC host, photoelectric transmitter, handheld wireless three-dimensional space locator 1, and interactive display terminal 6. The photoelectric transmitter 2 and handheld locator communication connection indicators in the device status bar of the interactive display terminal UI interface will light up.

[0088] The photoelectric diode of the handheld wireless three-dimensional space locator 1 receives the pulse light signal emitted by the photoelectric transmitter and operates with the MEMS gyroscope module to calculate the current coordinate points x, y, z, Rx, Ry, Rz of the handheld wireless three-dimensional space locator 1. The x, y, z, Rx, Ry, Rz trajectory coordinate points in the current position column of the handheld trajectory planning locator on the interactive display terminal UI interface change with the movement of the handheld wireless three-dimensional space locator 1. The handheld wireless three-dimensional space locator 1 is installed on the robot tool flange 51. The button (origin) on the handheld wireless three-dimensional space locator 1 is pressed and held for several seconds until the origin indicator light in the status display column of the interactive display terminal UI interface lights up. The origin calibration is normal. According to the robot processing process settings, the trajectory planning setting column of the interactive display terminal UI interface is set. Internal values, interactive display terminal UI interface robot communication connection, set IP address value, set port value, set speed value, the user holds the wireless three-dimensional space locator 1 tool model 7 end point to align the running given robot to run the product to be processed to record the trajectory path, execute the handheld wireless three-dimensional space locator 1 point, curve and other function buttons to perform the product to be processed by the robot according to the action sequence and motion trajectory required by the robot to perform trajectory planning. The point function is a point-type generated trajectory point that only controls the accurate positioning of the robot from one point to another, generally used in machine tool loading and unloading, spot welding and general handling, loading and unloading operations; the curve function is a continuous trajectory type that can control the robot to move along a complex non-linear trajectory given trajectory, suitable for continuous welding and painting operations. The current three-dimensional trajectory coordinate point x, y, z, Rx, Ry, Rz data calculated and collected by the handheld wireless three-dimensional space locator 1 is sent to the PC in real time. The PC creates a file and writes x, y, z, Rx, Ry, Rz + point feature value + curve feature value + running speed value into the file one by one. The data in the new file name column of the interactive display terminal UI interface displays the current trajectory planning data one by one. The three-dimensional trajectory graph of the interactive display terminal UI interface displays the trajectory simulation graph generated in real time. Select the file column of the interactive display terminal UI interface and click Send to Robot Communication. The robot receives the data and executes the trajectory planning path to process the workpiece product.

[0089] When the handheld wireless three-dimensional space locator 1 is detected to operate a button key event, the real-time trajectory point x, y, z, Rx, Ry, and Rz data of the current operation are recorded, and the wireless communication module of the handheld wireless three-dimensional space locator 1 sends it to the PC for processing to generate a trajectory file in the industrial robot operation format. The interactive display terminal UI displays, sets, calls, and operates the file interface. The network based on the TCP / IP communication protocol is connected to the industrial robot network interface to send the file to drive the industrial robot to execute trajectory movement.

[0090] The present invention can plan thousands of precise trajectory points on a 100mm weld in less than one minute, completely solving the problem of improving the efficiency and accuracy of robot trajectory planning in the application fields of non-standard and small batch parts production to increase the robot's welding working time.

[0091] The present invention enables the robot to perform quick pre-trajectory planning for the next process without stopping the robot in a working state, so as to achieve full-load and high-efficiency operation of the robot in the field of non-standard production.

[0092] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0093] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A robot trajectory planning device, characterized in that: The device comprises: a three-dimensional space locator, a photoelectric transmitter, a tool model and a host computer; The tool model is an actuator model of the robot to be operated, and the tool model is connected to the three-dimensional space locator; Acquire the running trajectory of the tool model by moving the three-dimensional space locator, where the running trajectory of the tool model is the running trajectory of the robot to be operated; The three-dimensional space locator includes a photodiode and a processor, and the host computer is electrically connected to the photoelectric transmitter and the three-dimensional space locator respectively; The step of obtaining the running trajectory of the tool model by moving the three-dimensional space locator specifically includes: Send synchronization signals to the photoelectric transmitter and three-dimensional space locator through the host computer; After receiving the synchronization signal, the photoelectric transmitter performs periodic spatial scanning within the working range of the robot to be operated, specifically including: the photoelectric transmitter performs row periodic scanning and column periodic scanning within the working range of the robot to be operated; Moving the three-dimensional space locator within the working range of the robot to be operated; After receiving the synchronization signal, the three-dimensional space locator begins to receive the optical signal emitted by the photoelectric emitter, specifically including: obtaining an X vector angle between the photoelectric emitter and the three-dimensional space locator through row periodic scanning; obtaining a Y vector angle between the photoelectric emitter and the three-dimensional space locator through column periodic scanning; and determining the position coordinates of the three-dimensional space locator through the X vector angle and the Y vector angle; Determining the position coordinates of the three-dimensional space locator according to the light signal received by the three-dimensional space locator; The running trajectory of the tool model is determined according to the change of the position coordinates over time.

2. The robot trajectory planning device according to claim 1, characterized in that: The photoelectric transmitter is arranged above the working range of the robot.

3. The robot trajectory planning device according to claim 2, characterized in that: The three-dimensional space locator further includes a shell, and the photodiodes are all arranged on the shell.

4. The robot trajectory planning device according to claim 3, characterized in that: The number of the photodiodes is at least 6.

5. The robot trajectory planning device according to claim 1, characterized in that: The three-dimensional space locator further includes a MEMS gyroscope, which is used to obtain rotation values ​​of the three-dimensional space locator around the X axis, the Y axis and the Z axis.

6. A robot trajectory planning method, characterized in that: The robot trajectory planning method applies the robot trajectory planning device according to claim 1, and the robot trajectory planning method includes: Connecting a tool model to a three-dimensional space locator; the tool model is an actuator model of the robot to be operated; Obtaining a running trajectory of the tool model by moving a three-dimensional space locator; The running trajectory of the tool model is used as the running trajectory of the robot to be operated.

7. The robot trajectory planning method according to claim 6, characterized in that: The determining the position coordinates of the three-dimensional space locator according to the light signal received by the three-dimensional space locator specifically includes: The rotation values ​​of the three-dimensional space positioner around the X-axis, Y-axis and Z-axis are determined by the MEMS gyroscope in the three-dimensional space positioner.

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