Method, device, and computer-readable medium for generating a robot positioning trajectory

Abstract

The present invention discloses a method, an apparatus, and a computer-readable medium for generating a robot positioning trajectory; A specific embodiment of the method includes: First, based on a generation request for the positioning trajectory of a target object, a trajectory addition interface is generated; The trajectory addition interface includes at least a sequence of pre-positioning trajectory points of the target object and a tool direction type option; Secondly, for any pre-positioning trajectory point in the trajectory addition interface: Based on the selection of the tool direction type option, a quasi-normal vector of the pre-positioning trajectory point is generated; Then, based on the position information and the quasi-normal vector of the pre-positioning trajectory point, a quasi-positioning trajectory point corresponding to the pre-positioning trajectory point is determined; Finally, based on a number of quasi-positioning trajectory points, a positioning trajectory corresponding to the target object is generated. Thus, the quasi-normal vectors corresponding to different tool directions can be quickly determined, the efficiency of generating the robot positioning trajectory is improved, and the problem that the generation of the positioning trajectory is time-consuming and laborious due to manual teaching in the prior art is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot manufacturing, and in particular, relates to a method, an apparatus, and a computer-readable medium for generating a robot positioning trajectory. Background Art

[0002] Before using a robot to process a target part, in order to observe whether the placement position of the target part is reasonable, or whether the processing trajectory of the target part is reasonable, or whether the robot's robotic arm will collide with the target part, etc., it is necessary for the robot to perform a positioning operation on the target part in advance. Since the robot positioning trajectory generated through the positioning operation is not a formal robot processing trajectory, the robot positioning trajectory has great randomness.

[0003] Currently, the method for generating a robot positioning trajectory is usually implemented by manual teaching. This method not only takes time and effort, but may also cause some unnecessary collisions to the target part due to the influence of human subjective factors during the positioning process. Especially when the target part is relatively complex, it is difficult to generate the corresponding positioning trajectory in a short time through the traditional manual teaching method. Therefore, there is an urgent need to provide an effective method for generating a robot positioning trajectory to improve the efficiency of generating a robot positioning trajectory. Summary of the Invention

[0004] The present invention provides a method, an apparatus, and a computer-readable medium for generating a robot positioning trajectory. This method can quickly generate a robot positioning trajectory and improve the efficiency of generating a robot positioning trajectory.

[0005] To achieve the above object, according to a first aspect of an embodiment of the present application, a method for generating a robot positioning trajectory is provided. The method includes: generating a trajectory addition interface based on a generation request for a target object positioning trajectory; the trajectory addition interface at least includes a pre-positioning trajectory point sequence of the target object and a tool direction type option; wherein, the pre-positioning trajectory point sequence includes a plurality of pre-positioning trajectory points; for any pre-positioning trajectory point in the trajectory addition interface: generating a quasi-normal vector of the pre-positioning trajectory point based on the selection of the tool direction type option; obtaining the position information of the pre-positioning trajectory point, and determining a quasi-positioning trajectory point corresponding to the pre-positioning trajectory point based on the position information of the pre-positioning trajectory point and the quasi-normal vector; generating a positioning trajectory corresponding to the target object based on a plurality of quasi-positioning trajectory points.

[0006] Optionally, when the tool direction type is the average tool direction; generating the quasi-normal vector of the pre-seeking position trajectory point based on the selection of the tool direction type option includes: based on the selection of the average tool direction option, obtaining the vertical unit normal vector corresponding to each pre-seeking position trajectory point on the target surface where the pre-seeking position trajectory point is located, to obtain a number of vertical unit normal vectors; finding the average unit normal vector based on the number of vertical unit normal vectors; and determining the average unit normal vector as the quasi-normal vector corresponding to the pre-seeking position trajectory point.

[0007] Optionally, when the tool direction type is the inclined tool direction; generating the quasi-normal vector of the pre-seeking position trajectory point based on the selection of the tool direction type option includes: based on the selection of the inclined tool direction option, obtaining the vertical unit normal vector and the average unit normal vector corresponding to the pre-seeking position trajectory point; determining the inclined unit normal vector of the pre-seeking position trajectory point based on the vertical unit normal vector, the average unit normal vector, and the preset inclination angle of the inclined unit normal vector; and determining the inclined unit normal vector as the quasi-normal vector corresponding to the pre-seeking position trajectory point.

[0008] Optionally, when the tool direction type is the vertical tool direction; generating the quasi-normal vector of the pre-seeking position trajectory point based on the selection of the tool direction type option includes: based on the selection of the vertical tool direction option, obtaining the vertical unit normal vector of the pre-seeking position trajectory point; and using the obtained vertical unit normal vector as the quasi-normal vector of the pre-seeking position trajectory point.

[0009] Optionally, generating the seeking position trajectory corresponding to the target object based on a number of quasi-seeking position trajectory points includes: for any one of the number of quasi-seeking position trajectory points: obtaining the tool direction of the quasi-seeking position trajectory point; moving in the opposite direction of the tool direction according to a preset offset to obtain the tool entry point corresponding to the quasi-seeking position trajectory point; moving along the tool direction according to a preset offset to obtain the tool exit point corresponding to the quasi-seeking position trajectory point; determining the quasi-seeking position trajectory point, the tool exit point corresponding to the quasi-seeking position trajectory point, and the tool entry point as the seeking position trajectory corresponding to the quasi-seeking position point; and generating the seeking position trajectory corresponding to the target object based on the seeking position trajectories corresponding to a number of quasi-seeking position points.

[0010] Generating a trajectory addition interface based on the generation request of the target object seeking position trajectory includes: obtaining the target surface of the three-dimensional image of the target object; for any target surface: picking up a number of pre-seeking position trajectory points from the target surface, and arranging the number of pre-seeking position trajectory points in the order of position to generate a subsequence of pre-seeking position trajectory points; and generating a trajectory addition interface based on the subsequence of pre-seeking position trajectory points corresponding to each target surface.

[0011] To achieve the above object, according to the second aspect of the embodiments of the present application, there is also provided a device for generating a robot positioning trajectory. The device includes: a device for generating a robot positioning trajectory, which includes: a first generation module, configured to generate a trajectory addition interface based on a generation request for a target object's positioning trajectory; the trajectory addition interface at least includes a sequence of pre-positioning trajectory points of the target object and a tool direction type option; wherein, the sequence of pre-positioning trajectory points includes a plurality of pre-positioning trajectory points; a determination module, configured to, for any pre-positioning trajectory point in the trajectory addition interface: generate a quasi-normal vector of the pre-positioning trajectory point based on the selection of the tool direction type option; obtain the position information of the pre-positioning trajectory point, and determine a quasi-positioning trajectory point corresponding to the pre-positioning trajectory point based on the position information of the pre-positioning trajectory point and the quasi-normal vector; a second generation module, configured to generate a positioning trajectory corresponding to the target object based on a plurality of quasi-positioning trajectory points.

[0012] Optionally, when the tool direction type is the average tool direction; the determination module includes: an acquisition unit, configured to obtain a vertical unit normal vector corresponding to each pre-positioning trajectory point on the target plane where the pre-positioning trajectory point is located based on the selection of the average tool direction option, to obtain a plurality of vertical unit normal vectors; a calculation unit, configured to calculate an average unit normal vector based on the plurality of vertical unit normal vectors; a determination unit, configured to determine the average unit normal vector as the quasi-normal vector corresponding to the pre-positioning trajectory point.

[0013] Optionally, when the tool direction type is the inclined tool direction; the determination module includes: an acquisition unit, configured to obtain a vertical unit normal vector and an average unit normal vector corresponding to the pre-positioning trajectory point based on the selection of the inclined tool direction option; a first determination unit, configured to determine an inclined unit normal vector of the pre-positioning trajectory point based on the vertical unit normal vector, the average unit normal vector, and a preset inclination angle of the inclined unit normal vector; a second determination unit, configured to determine the inclined unit normal vector as the quasi-normal vector corresponding to the pre-positioning trajectory point.

[0014] To achieve the above object, according to the third aspect of the embodiments of the present application, there is also provided an electronic device, which includes: a processor; a memory for storing executable instructions that can be executed by the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method as described in the first aspect.

[0015] To achieve the above object, according to the fourth aspect of the embodiments of the present application, there is also provided a computer-readable medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method as described in the first aspect.

[0016] Compared with the prior art, the embodiments of the present invention provide a method, an apparatus and a computer-readable medium for generating a robot positioning trajectory; the method includes: First, based on a generation request for a target object's positioning trajectory, a trajectory addition interface is generated; the trajectory addition interface at least includes a sequence of pre-positioning trajectory points of the target object, and a tool direction type option; wherein, the sequence of pre-positioning trajectory points includes a plurality of pre-positioning trajectory points; Second, for any pre-positioning trajectory point in the trajectory addition interface: based on the selection of the tool direction type option, a quasi-normal vector of the pre-positioning trajectory point is generated; the position information of the pre-positioning trajectory point is obtained, and based on the position information of the pre-positioning trajectory point and the quasi-normal vector, a quasi-positioning trajectory point corresponding to the pre-positioning trajectory point is determined; Finally, based on a plurality of quasi-positioning trajectory points, a positioning trajectory corresponding to the target object is generated. Thus, it is possible to automatically generate a robot positioning trajectory based on a human-computer interaction method, improve the efficiency of generating the robot positioning trajectory, solve the problem of time-consuming and laborious in the process of generating the robot positioning trajectory due to manual teaching in the prior art, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Some specific embodiments of the present invention will be described in detail hereinafter with reference to the accompanying drawings in an exemplary and non-limiting manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0018] Figure 1 is a flowchart of a method for generating a robot positioning trajectory provided by an embodiment of the present invention;

[0019] Figure 2 is a flowchart of generating a quasi-normal vector based on the selection of an average tool direction option in an embodiment of the present invention;

[0020] Figure 3 is a flowchart of generating a quasi-normal vector based on the selection of an inclined tool direction option in an embodiment of the present invention;

[0021] Figure 4 is a flowchart of generating a quasi-normal vector based on the selection of a vertical tool direction option in an embodiment of the present invention;

[0022] Figure 5 is a flowchart of generating a positioning trajectory corresponding to a target object based on a plurality of quasi-positioning trajectory points in an embodiment of the present invention;

[0023] Figure 6 is a schematic structural diagram of a trajectory addition interface in an embodiment of the present invention;

[0024] Figure 7 is a schematic structural diagram of an apparatus for generating a robot positioning trajectory provided by an embodiment of the present invention. Detailed implementation mode

[0025] To make the objectives, features, and advantages of the present invention more obvious and understandable, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0026] As Figure 1 shown, it is a schematic flowchart of a method for generating a robot positioning trajectory provided by an embodiment of the present invention. A method for generating a robot positioning trajectory, the method at least includes the following steps:

[0027] S101, based on a generation request for the positioning trajectory of the target object, generate a trajectory addition interface; the trajectory addition interface at least includes a sequence of pre-positioning trajectory points of the target object and a tool direction type option; wherein, the sequence of pre-positioning trajectory points includes several pre-positioning trajectory points;

[0028] S102, for any pre-positioning trajectory point in the trajectory addition interface: based on the selection of the tool direction type option, generate a quasi-normal vector of the pre-positioning trajectory point; obtain the position information of the pre-positioning trajectory point, and based on the position information and the quasi-normal vector of the pre-positioning trajectory point, determine the quasi-positioning trajectory point corresponding to the pre-positioning trajectory point;

[0029] S103, based on several quasi-positioning trajectory points, generate a positioning trajectory corresponding to the target object.

[0030] In S101, the target object can be the entire target part or any target surface of the target part. Based on the trigger of the user on the robot positioning trajectory system, obtain a generation request for the positioning trajectory of the target object; based on the generation request for the positioning trajectory of the target object, pick up a sequence of pre-positioning trajectory points composed of several pre-positioning trajectory points from the target surface where the two-dimensional image of the target object is located, and generate a trajectory addition interface; wherein, the pre-positioning trajectory points include position information and tool direction. The several pre-positioning trajectory points in the sequence of pre-positioning trajectory points are sorted in the order of position.

[0031] For example: pick up a sequence of pre-positioning trajectory points {(P i , n i ), i = 1,......N} on the target surface of the target part through mouse interaction, Pi represents the position information of the pre-positioning trajectory point, and n i represents the unit normal vector of the pre-positioning trajectory point on the target surface.

[0032] Here, the tool direction type options at least include: the average tool direction option, the inclined tool direction option, and the vertical tool direction option. Each trajectory point in the trajectory addition interface has a tool direction type option.

[0033] It should be noted that the default tool direction of the picked pre-seeking trajectory point is the vertical unit normal vector.

[0034] In S102, for any pre-seeking trajectory point in the pre-seeking trajectory point sequence: based on the selection of the tool direction type option, use an algorithm to convert the vertical unit normal vector of the pre-seeking trajectory point into a unit normal vector corresponding to the selected tool direction type to obtain a quasi-normal vector. Combine the position information and the quasi-normal vector in the pre-seeking trajectory point to further obtain a quasi-seeking trajectory point.

[0035] Here, the only difference between the pre-seeking trajectory point and the quasi-seeking trajectory point is the tool direction type, but the position information is exactly the same.

[0036] In S103, each pre-seeking trajectory point has a corresponding quasi-seeking trajectory point; obtain the quasi-seeking trajectory points corresponding to each pre-seeking trajectory point in the pre-seeking trajectory point sequence to obtain a number of quasi-seeking trajectory points; generate a seeking trajectory corresponding to the target object based on the number of quasi-seeking trajectory points.

[0037] In this embodiment, according to the generation request of the seeking trajectory of the target object, a trajectory addition interface is generated; then for any pre-seeking trajectory point in the trajectory addition interface: select the tool direction type based on the human-computer interaction method to generate the quasi-normal vector of the pre-seeking trajectory point; then based on the quasi-normal vector and the position information of the pre-seeking trajectory point, determine the quasi-seeking trajectory point corresponding to the pre-seeking trajectory point; finally, generate the seeking trajectory of the target object based on a number of quasi-seeking trajectory points. In this embodiment, a tool direction type option is set for each pre-seeking trajectory point in the trajectory addition interface, so that the quasi-normal vector of the pre-seeking trajectory point can be quickly and accurately calculated based on the selection of the tool direction type option, thereby improving the efficiency of generating the seeking trajectory of the target object and solving the problem of low efficiency of generating the seeking trajectory of the target object due to traditional teaching in the prior art.

[0038] In a preferred embodiment of this embodiment, as Figure 2 shown, it is a schematic flowchart of generating a quasi-normal vector based on the selection of the average tool direction option in an embodiment of the present invention.

[0039] Based on the selection of the average tool direction option, generating a quasi-normal vector at least includes the following steps:

[0040] S201, based on the selection of the average tool direction option, obtain the vertical unit normal vectors corresponding to each pre-seeking trajectory point on the target surface where the pre-seeking trajectory point is located to obtain a number of vertical unit normal vectors;

[0041] S202, calculating an average unit normal vector based on a plurality of perpendicular unit normal vectors;

[0042] S203: Determine the average unit normal vector as the quasi-normal vector corresponding to the pre-positioning trajectory point.

[0043] Here, the target surface can be a plane or a curved surface.

[0044] Specifically, the average unit normal vector on the target surface is The calculation formula is as described in formula (1):

[0045]

[0046] Among them, n i represents the vertical unit normal vector corresponding to the i-th pre-positioning trajectory point in the pre-positioning trajectory point sequence; represents the sum of the vertical unit normal vectors corresponding to all pre-positioned trajectory points on the target surface, and

[0047] Quasi-normal vector n′ of the pre-positioned trajectory point i As shown in formula (2);

[0048]

[0049] This embodiment determines the average unit normal vector of the pre-positioning trajectory point based on the vertical unit normal vectors of all pre-positioning trajectory points on the target surface where the pre-positioning trajectory point is located, and determines the average unit normal vector as the quasi-normal vector of the pre-positioning trajectory point; thereby, based on the selection of the average unit normal vector option, the quasi-normal vector of the pre-positioning trajectory point in the average tool direction can be accurately determined, thereby improving the accuracy of generating the target object positioning trajectory.

[0050] In another preferred embodiment of this embodiment, Figure 3 FIG. 1 is a flow chart of generating a quasi-normal vector based on the selection of the tilt tool direction option in one embodiment of the present invention.

[0051] Generating a quasi-normal vector based on the selection of the tilt tool direction option includes at least the following steps:

[0052] S301, based on the selection of the tilt tool direction option, obtaining the vertical unit normal vector and the average unit normal vector corresponding to the pre-positioned trajectory point;

[0053] S302, determining the inclined unit normal vector of the pre-positioning trajectory point based on the vertical unit normal vector, the average unit normal vector, and the preset inclination angle of the inclined unit normal vector;

[0054] In S303, determine the inclined unit normal vector as the quasi-normal vector corresponding to the pre-seeking locus point.

[0055] Specifically, the trajectory addition interface further includes an inclination angle option, and obtain the preset inclination angle θ of the inclined unit normal vector based on the user's trigger of the inclination angle option.

[0056] The unit normal vector W parallel to the target plane where the pre-seeking locus point is located is calculated by the following formula (3);

[0057]

[0058] w = t × n i ; Formula (3);

[0059] where n i represents the vertical unit normal vector corresponding to the i-th pre-seeking locus point in the pre-seeking locus point sequence; represents the average unit normal vector.

[0060] The calculation formula of the inclined unit normal vector X of the pre-seeking locus point is as shown in formula (4);

[0061] X = cosθw + sinθn i Formula (4).

[0062] The quasi-normal vector n' of the pre-seeking locus point i is as shown in formula (5);

[0063] n' i = x; Formula (5).

[0064] In this embodiment, based on the trigger of the inclination angle option in the trajectory addition interface, obtain the preset inclination angle of the inclined unit normal vector, and then based on the vertical unit normal vector, the average unit normal vector, and the preset inclination angle of the inclined unit normal vector, determine the inclined unit normal vector of the pre-seeking locus point; and determine the inclined unit normal vector as the quasi-normal vector of the pre-seeking locus point; thus, it is possible to accurately determine the quasi-normal vector of the pre-seeking locus point in the direction of the inclined tool based on the selection of the inclined unit normal vector option, improving the accuracy of generating the seeking trajectory of the target object.

[0065] In a further preferred embodiment of this embodiment, as Figure 4 shown, it is a schematic flowchart of generating a quasi-normal vector based on the selection of the vertical tool direction option in the embodiment of the present invention.

[0066] Generating a quasi-normal vector based on the selection of the vertical tool direction option includes at least the following steps:

[0067] In S401, based on the selection of the vertical tool direction option, obtain the vertical unit normal vector of the pre-seeking locus point;

[0068] S402. Use the obtained vertical unit normal vector as the quasi-normal vector of the pre-seeking trajectory point.

[0069] Based on the selection of the vertical unit normal vector option in the trajectory addition interface, use the default tool direction of the pre-seeking trajectory point as the quasi-normal vector of the pre-seeking trajectory point. Thus, the quasi-normal vector of the pre-seeking trajectory point in the vertical tool direction can be determined quickly and accurately, improving the efficiency of generating the pre-seeking trajectory of the target object.

[0070] In a further preferred embodiment of this embodiment, as Figure 5 shown, it is a schematic flowchart of generating a seeking trajectory corresponding to the target object based on several quasi-seeking trajectory points in the embodiment of the present invention.

[0071] Generating a seeking trajectory corresponding to the target object based on several quasi-seeking trajectory points includes at least the following steps:

[0072] S501. For any one of several quasi-seeking trajectory points: Obtain the tool direction of the quasi-seeking trajectory point; move in the opposite direction of the tool direction according to a preset offset to obtain the entry point corresponding to the quasi-seeking trajectory point; move along the tool direction according to the preset offset to obtain the exit point corresponding to the quasi-seeking trajectory point; determine the quasi-seeking trajectory point, the exit point corresponding to the quasi-seeking trajectory point, and the entry point as the seeking trajectory corresponding to the quasi-seeking point.

[0073] S502. Generate a seeking trajectory corresponding to the target object based on the seeking trajectories corresponding to several quasi-seeking points.

[0074] Specifically, the trajectory addition interface further includes an offset option. Based on the trigger of the offset option, obtain the preset offset corresponding to the quasi-seeking trajectory point. When the preset offset is 〇, there is no entry point and exit point for the quasi-seeking trajectory point. When the preset offset is non-〇, there are entry point and exit point for the quasi-seeking trajectory point. The position of the entry point is in front of and adjacent to the quasi-seeking trajectory point; the position of the exit point is behind and adjacent to the quasi-seeking trajectory point.

[0075] Each quasi-seeking trajectory point has a corresponding entry point and exit point. During the seeking process, the entry point is the position where the robot stops when entering the quasi-seeking trajectory point, and the exit point is the position where the robot stops when coming out of the quasi-seeking trajectory point. For example: The exit point of the first quasi-seeking trajectory point is adjacent to the entry point of the second pre-seeking trajectory point.

[0076] This embodiment improves the safety of the robot entering the quasi-seeking trajectory point by setting the entry point and exit point along the tool direction of the quasi-seeking trajectory point, reducing the collision of the robot with the target object, and thus being able to accurately generate the seeking trajectory of the target object.

[0077] In another preferred embodiment of this embodiment, based on the generation request of the positioning trajectory of the target object, a trajectory addition interface is generated, which at least includes the following steps:

[0078] S1. Obtain the target surface of the three-dimensional image of the target object;

[0079] S2. For any target surface: Pick up a number of pre-positioning trajectory points from the target surface, arrange the number of pre-positioning trajectory points in the order of position, and generate a pre-positioning trajectory point subsequence;

[0080] S3. Based on the pre-positioning trajectory point subsequence corresponding to each target surface, generate a trajectory addition interface.

[0081] Each target surface has a corresponding pre-positioning trajectory point subsequence. When there is only one target surface of the target object, the pre-positioning trajectory point subsequence corresponding to the target surface is the pre-positioning trajectory point sequence of the target object. When there are several target surfaces of the target object, the pre-positioning trajectory point sequence of the target object is formed by several pre-positioning trajectory point subsequences.

[0082] Thus, the positioning trajectory corresponding to the target object can be generated based on different application scenarios, improving the universality of the method of this embodiment.

[0083] It should be understood that in various embodiments of the present invention, the magnitudes of the serial numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0084] The following will describe this embodiment in detail in combination with specific application scenarios.

[0085] As Figure 6 shown, it is a schematic structural diagram of a trajectory addition interface in an embodiment of the present invention.

[0086] Based on the trigger of the user on the positioning trajectory generation system, obtain the generation request of the positioning trajectory of the target surface in the target part; based on the generation request of the positioning trajectory, pick up three pre-positioning trajectory points from the three-dimensional image of the target object, and arrange the three pre-positioning trajectory points in the backward order of position to form a pre-positioning trajectory point sequence, and generate a trajectory addition interface; wherein, the pre-positioning trajectory point includes position information and tool direction information; the trajectory addition interface at least includes a tool direction type option, an inclination angle option, and an offset option.

[0087] For the first pre-seeking trajectory point (point 1) in the trajectory addition interface: Based on the selection of the vertical tool direction in the tool direction type option, a vertical unit normal vector is generated; the position information of the first pre-seeking trajectory point and the vertical unit normal vector are used to determine the first quasi-seeking trajectory point corresponding to the first pre-seeking trajectory point. Based on the selection of the offset option in the trajectory addition interface, the preset offset corresponding to the first quasi-seeking trajectory point is obtained; then, move along the opposite direction of the vertical unit normal vector of the first quasi-seeking trajectory point according to the preset offset to obtain the tool entry point corresponding to the first quasi-seeking trajectory point; move along the vertical unit normal vector of the first quasi-seeking trajectory point according to the preset offset to obtain the tool exit point corresponding to the first quasi-seeking trajectory point; the first quasi-seeking trajectory point, the tool exit point corresponding to the first quasi-seeking trajectory point, and the tool entry point are determined as the first seeking trajectory corresponding to the first quasi-seeking position point.

[0088] For the second pre-seeking trajectory point (point 2) in the trajectory addition interface: Based on the selection of the average tool direction in the tool direction type option, an average unit normal vector is generated; the position information of the second pre-seeking trajectory point and the average unit normal vector are used to determine the second quasi-seeking trajectory point corresponding to the second pre-seeking trajectory point. Based on the selection of the offset option in the trajectory addition interface, the preset offset corresponding to the second quasi-seeking trajectory point (for example, 20 mm) is obtained; then, move along the opposite direction of the average unit normal vector of the second quasi-seeking trajectory point according to the preset offset to obtain the tool entry point corresponding to the second quasi-seeking trajectory point; move along the average unit normal vector of the second quasi-seeking trajectory point according to the preset offset to obtain the tool exit point corresponding to the second quasi-seeking trajectory point; the second quasi-seeking trajectory point, the tool exit point corresponding to the second quasi-seeking trajectory point, and the tool entry point are determined as the second seeking trajectory corresponding to the second quasi-seeking position point.

[0089] For the third pre-seeking trajectory point (point 3) in the trajectory addition interface: Based on the selection of the inclined tool direction in the tool direction type option and the triggering of the 45° angle in the inclination angle option, an inclined unit normal vector is generated; the position information of the third pre-seeking trajectory point and the inclined unit normal vector are used to determine the third quasi-seeking trajectory point corresponding to the third pre-seeking trajectory point. Based on the selection of the offset option in the trajectory addition interface, the preset offset corresponding to the third quasi-seeking trajectory point is obtained; then, move along the opposite direction of the inclined unit normal vector of the third quasi-seeking trajectory point according to the preset offset to obtain the tool entry point corresponding to the third quasi-seeking trajectory point; move along the inclined unit normal vector of the third quasi-seeking trajectory point according to the preset offset to obtain the tool exit point corresponding to the third quasi-seeking trajectory point; the third quasi-seeking trajectory point, the tool exit point corresponding to the third quasi-seeking trajectory point, and the tool entry point are determined as the third seeking trajectory corresponding to the third quasi-seeking position point.

[0090] Generate the seeking trajectory of the target object based on the first seeking trajectory, the second seeking trajectory, and the third seeking trajectory.

[0091] In this embodiment, by setting a vertical tool direction option, a parallel tool direction option, and an inclined tool direction option in the trajectory addition interface, and quickly determining the quasi-direction vector of the pre-seeking position trajectory point in the selected tool direction based on the selection of the tool direction type option, it provides convenience for the user and is conducive to quickly generating the seeking position trajectory of the target object.

[0092] As Figure 7 shown, it is a device for generating a robot seeking position trajectory provided by an embodiment of the present invention. A device for generating a robot seeking position trajectory, the device 700 at least includes the following steps: a first generation module 701, configured to generate a trajectory addition interface based on a generation request for the seeking position trajectory of the target object; the trajectory addition interface at least includes a sequence of pre-seeking position trajectory points of the target object, and a tool direction type option; wherein, the sequence of pre-seeking position trajectory points includes a plurality of pre-seeking position trajectory points; a determination module 702, configured to, for any pre-seeking position trajectory point in the trajectory addition interface: generate a quasi-normal vector of the pre-seeking position trajectory point based on the selection of the tool direction type option; obtain the position information of the pre-seeking position trajectory point, and determine a quasi-seeking position trajectory point corresponding to the pre-seeking position trajectory point based on the position information of the pre-seeking position trajectory point and the quasi-normal vector; a second generation module 703, configured to generate a seeking position trajectory corresponding to the target object based on a plurality of quasi-seeking position trajectory points.

[0093] In a preferred embodiment, when the tool direction type is the average tool direction; the determination module includes: an acquisition unit, configured to obtain a vertical unit normal vector corresponding to each pre-seeking position trajectory point on the target surface where the pre-seeking position trajectory point is located based on the selection of the average tool direction option, to obtain a plurality of vertical unit normal vectors; a calculation unit, configured to calculate an average unit normal vector based on the plurality of vertical unit normal vectors; a determination unit, configured to determine the average unit normal vector as the quasi-normal vector corresponding to the pre-seeking position trajectory point.

[0094] In a preferred embodiment, when the tool direction type is the inclined tool direction; the determination module includes: an acquisition unit, configured to obtain a vertical unit normal vector and an average unit normal vector corresponding to the pre-seeking position trajectory point based on the selection of the inclined tool direction option; a first determination unit, configured to determine an inclined unit normal vector of the pre-seeking position trajectory point based on the vertical unit normal vector, the average unit normal vector, and a preset inclination angle of the inclined unit normal vector; a second determination unit, configured to determine the inclined unit normal vector as the quasi-normal vector corresponding to the pre-seeking position trajectory point.

[0095] In a preferred embodiment, when the tool direction type is the vertical unit normal vector; the determination module includes: an acquisition unit, configured to acquire the vertical unit normal vector of the pre-seeking trajectory point based on the selection of the vertical unit normal vector option; a determination unit, configured to use the acquired vertical unit normal vector as the quasi-normal vector of the pre-seeking trajectory point.

[0096] In a preferred embodiment, the second generation module includes: a determination unit, configured to, for any one of the several quasi-seeking trajectory points: acquire the tool direction of the quasi-seeking trajectory point; move in the reverse direction of the tool direction according to a preset offset amount to obtain an entry point corresponding to the quasi-seeking trajectory point; move along the tool direction according to a preset offset amount to obtain an exit point corresponding to the quasi-seeking trajectory point; determine the quasi-seeking trajectory point, the exit point corresponding to the quasi-seeking trajectory point, and the entry point as the seeking trajectory corresponding to the quasi-seeking position; a generation unit, configured to generate a seeking trajectory corresponding to the target object based on the seeking trajectories corresponding to several quasi-seeking positions.

[0097] In a preferred embodiment, the second generation module includes: an acquisition unit, configured to acquire a target surface of the three-dimensional image of the target object; a first generation unit, configured to, for any one target surface: pick up several pre-seeking trajectory points from the target surface, arrange the several pre-seeking trajectory points in the order of position, and generate a subsequence of pre-seeking trajectory points; a second generation unit, configured to generate a trajectory addition interface based on the subsequence of pre-seeking trajectory points corresponding to each target surface.

[0098] The above device can execute the method for generating a robot seeking trajectory provided in an embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method for generating a robot seeking trajectory. For technical details not described in detail in this embodiment, reference can be made to the method for generating a robot seeking trajectory provided in the embodiments of the present invention.

[0099] The present invention further provides an electronic device, including: a processor; a memory for storing executable instructions that can be executed by the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method for generating a robot seeking trajectory described in the present invention.

[0100] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the methods according to various embodiments of the present application described in the "exemplary methods" section above of this specification.

[0101] The computer program product may be written in any combination of one or more programming languages for executing the program code of the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0102] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the methods of the following embodiments according to the present application described in the "Exemplary Method" section above of this specification.

[0103] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0104] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purposes of illustration and facilitating understanding, and are not limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0105] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used herein refer to the phrase "and / or", and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0106] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0107] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0108] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

[0109] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0110] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0111] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily conceive of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for generating a robot positioning trajectory, characterized in that, Including: Generating a trajectory addition interface based on a generation request for a positioning trajectory of a target object; the trajectory addition interface at least includes a sequence of pre-positioning trajectory points of the target object and a tool direction type option; wherein, the sequence of pre-positioning trajectory points includes a plurality of pre-positioning trajectory points; For any pre-positioning trajectory point in the trajectory addition interface: generating a quasi-normal vector of the pre-positioning trajectory point based on the selection of the tool direction type option; obtaining the position information of the pre-positioning trajectory point, and determining a quasi-positioning trajectory point corresponding to the pre-positioning trajectory point based on the position information of the pre-positioning trajectory point and the quasi-normal vector; wherein, the quasi-normal vector is used to indicate the obtained by converting the vertical unit normal vector corresponding to the pre-positioning trajectory point on the target surface where the pre-positioning trajectory point is located into a unit normal vector corresponding to the selected tool direction type; Generating a positioning trajectory corresponding to the target object based on a plurality of quasi-positioning trajectory points.

2. The method according to claim 1, characterized in that, When the tool direction type is the average tool direction; the generating a quasi-normal vector of the pre-positioning trajectory point based on the selection of the tool direction type option includes: Based on the selection of the average tool direction option, obtaining the vertical unit normal vector corresponding to each pre-positioning trajectory point on the target surface where the pre-positioning trajectory point is located, to obtain a plurality of vertical unit normal vectors; wherein, the sequence of pre-positioning trajectory points is used to indicate picking up a sequence of pre-positioning trajectory points composed of a plurality of pre-positioning trajectory points from the target surface where the two-dimensional image of the target object is located; each pre-positioning trajectory point in the sequence of pre-positioning trajectory points includes position information and a tool direction; the default tool direction of the picked pre-positioning trajectory point is the vertical unit normal vector; Calculating an average unit normal vector based on a plurality of vertical unit normal vectors; Determining the average unit normal vector as the quasi-normal vector corresponding to the pre-positioning trajectory point.

3. The method according to claim 1, characterized in that, When the tool direction type is the inclined tool direction; the generating a quasi-normal vector of the pre-positioning trajectory point based on the selection of the tool direction type option includes: Based on the selection of the inclined tool direction option, obtaining the vertical unit normal vector and the average unit normal vector corresponding to the pre-positioning trajectory point; wherein, the average unit normal vector is used to indicate determining the average unit normal vector of the pre-positioning trajectory point according to the vertical unit normal vectors of all pre-positioning trajectory points on the target surface where the pre-positioning trajectory point is located; Determining the inclined unit normal vector of the pre-positioning trajectory point based on the vertical unit normal vector, the average unit normal vector, and a preset inclination angle of the inclined unit normal vector; Determining the inclined unit normal vector as the quasi-normal vector corresponding to the pre-positioning trajectory point.

4. The method according to claim 1, wherein When the tool direction type is the vertical tool direction; the generating a quasi-normal vector of the pre-positioning trajectory point based on the selection of the tool direction type option includes: Based on the selection of the vertical tool direction option, obtaining the vertical unit normal vector of the pre-positioning trajectory point; Taking the obtained vertical unit normal vector as the quasi-normal vector of the pre-positioning trajectory point.

5. The method according to claim 1, characterized in that, The generating a positioning trajectory corresponding to the target object based on a plurality of quasi-positioning trajectory points includes: For any one of the several quasi-seeking trajectory points: Obtain the tool direction of the quasi-seeking trajectory point; Move in the opposite direction of the tool direction according to a preset offset to obtain an entry point corresponding to the quasi-seeking trajectory point; Move along the tool direction according to a preset offset to obtain an exit point corresponding to the quasi-seeking trajectory point; Determine the quasi-seeking trajectory point, the exit point corresponding to the quasi-seeking trajectory point, and the entry point as the seeking trajectory corresponding to the quasi-seeking trajectory point. Generate a seeking trajectory corresponding to the target object based on the seeking trajectories corresponding to several quasi-seeking points.

6. The method according to claim 1, wherein Generate a trajectory addition interface based on the generation request of the seeking trajectory of the target object, including: Obtain the target surface of the three-dimensional image of the target object. For any target surface: Pick up several pre-seeking trajectory points from the target surface, and arrange the several pre-seeking trajectory points in the order of position to generate a subsequence of pre-seeking trajectory points. Generate a trajectory addition interface based on the subsequence of pre-seeking trajectory points corresponding to each target surface.

7. A device for generating a robot positioning trajectory, characterized in that, Including: A first generation module, configured to generate a trajectory addition interface based on a generation request of a seeking trajectory of a target object; The trajectory addition interface at least includes a sequence of pre-seeking trajectory points of the target object and a tool direction type option; Wherein, the sequence of pre-seeking trajectory points includes several pre-seeking trajectory points. A determination module, configured to, for any pre-seeking trajectory point in the trajectory addition interface: Generate a quasi-normal vector of the pre-seeking trajectory point based on the selection of the tool direction type option; Obtain the position information of the pre-seeking trajectory point, and determine a quasi-seeking trajectory point corresponding to the pre-seeking trajectory point based on the position information of the pre-seeking trajectory point and the quasi-normal vector; Wherein, the quasi-normal vector is used to indicate the unit normal vector obtained by converting the vertical unit normal vector corresponding to the pre-seeking trajectory point on the target surface where the pre-seeking trajectory point is located into a unit normal vector corresponding to the selected tool direction type. A second generation module, configured to generate a seeking trajectory corresponding to the target object based on several quasi-seeking trajectory points.

8. The device according to claim 7, characterized in that, When the tool direction type is the average tool direction; The determination module includes: An obtaining unit, configured to obtain the vertical unit normal vector corresponding to each pre-seeking trajectory point on the target surface where the pre-seeking trajectory point is located based on the selection of the average tool direction option, to obtain several vertical unit normal vectors; Wherein, the sequence of pre-seeking trajectory points is used to indicate picking up a sequence of pre-seeking trajectory points composed of several pre-seeking trajectory points from the target surface where the two-dimensional image of the target object is located; Each pre-seeking trajectory point in the sequence of pre-seeking trajectory points includes position information and a tool direction; The default tool direction of the picked pre-seeking trajectory point is the vertical unit normal vector. A calculating unit, configured to calculate an average unit normal vector based on several vertical unit normal vectors. A determining unit, configured to determine the average unit normal vector as the quasi-normal vector corresponding to the pre-seeking trajectory point.

9. The device according to claim 7, characterized in that, When the tool direction type is the inclined tool direction; The determination module includes: An acquisition unit, configured to acquire a vertical unit normal vector and an average unit normal vector corresponding to the pre-seeking position trajectory point based on the selection of the inclined tool direction option; wherein, the average unit normal vector is used to indicate the average unit normal vector of the pre-seeking position trajectory point determined according to the vertical unit normal vectors of all pre-seeking position trajectory points on the target surface where the pre-seeking position trajectory point is located; A first determination unit, configured to determine an inclined unit normal vector of the pre-seeking position trajectory point based on the vertical unit normal vector, the average unit normal vector, and a preset inclination angle of the inclined unit normal vector; A second determination unit, configured to determine the inclined unit normal vector as the quasi-normal vector corresponding to the pre-seeking position trajectory point.

10. A computer-readable medium, having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1-6 is implemented.

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