A superposition planning method for path instructions

Abstract

The present application relates to a superimposed planning method for path instructions, including: obtaining an instruction sequence of actions to be performed by a robot; the instruction sequence includes multiple instructions; the instructions include: a reference coordinate system, a reference tool, a position point, and a time; inputting the instruction sequence into a trajectory planning formula to obtain a path planning result; and executing corresponding instructions according to the path planning result. In this way, based on the trajectory planning formula, path planning and adjustment of superimposed paths are performed on multiple instructions in the time series in the instruction sequence. Moreover, the constructed trajectory planning formula optimizes the planning in the Cartesian coordinate space, avoids the limitation of the singularity of the motion model, can support the smoothing of spatial paths between different tools, between different coordinate systems, and under different regular motion coordinate systems, and can effectively avoid the impact and oscillation phenomena when the robot starts or there is a processing mutation, bringing great convenience to users.

Description

Technical Field

[0001] This application relates to the technical field of data processing, and particularly to a method for superimposed planning of path instructions. Background Art

[0002] Motion planning consists of path planning (space) and trajectory planning (time). The sequence of points or curves connecting the starting position and the ending position is called a path, and the strategy for constructing the path is called path planning. Path planning is to find some path points. Path points are positions or joint angles in space, while trajectory planning is to endow the path with time information. It is to add time series information on the basis of path planning, and plan the speed and acceleration of the robot to execute tasks to meet requirements such as smoothness and speed controllability.

[0003] The goal is to make the distance between the path and obstacles as far as possible while the length of the path is as short as possible.

[0004] In related technologies, when designing existing robots, joint space planning is mostly adopted. Limited by the singularities of the motion model, many working areas cannot be freely planned, bringing a lot of inconvenience to users. Summary of the Invention

[0005] In view of this, the purpose of this application is to overcome the technical problem in the prior art that many working areas cannot be freely planned due to the limitation of the singularities of the motion model, and provide a method for superimposed planning of path instructions.

[0006] To achieve the above purpose, this application adopts the following technical solutions:

[0007] This application provides a method for superimposed planning of path instructions, including:

[0008] Obtain the instruction sequence of the actions to be performed by the robot; the instruction sequence includes multiple instructions; the instructions include: reference coordinate system, reference tool, position point, and time;

[0009] Input the instruction sequence into the trajectory planning formula to obtain the path planning result; the trajectory planning formula includes:

[0010]

[0011] In the formula, represents the time length of the instruction sequence, represents the path planning result under the a coordinate system within the time, represents the trajectory planning from P i to P i+1 in the a coordinate system, a P iRepresents the position of the i-th position point in the a coordinate system;

[0012] Execute the corresponding instruction according to the path planning result.

[0013] Optionally, the instruction further includes a speed parameter and a smoothing parameter.

[0014] Optionally, the executing the corresponding instruction according to the path planning result includes:

[0015] Execute the corresponding instruction according to the path planning result, in accordance with the speed parameter and the smoothing parameter.

[0016] Optionally, the obtaining the instruction sequence of the actions to be executed by the robot includes:

[0017] Obtain the instructions to be executed in the instruction stream in sequence, and when obtaining each instruction to be executed, perform the following steps: Detect whether the current instruction to be executed is a pre-planned instruction; if the current instruction to be executed is a pre-planned instruction, add the current instruction to be executed to the pre-planned instruction sequence, and continue to read the subsequent instructions until the number of instructions in the pre-planned instruction sequence meets the preset number, and determine the pre-planned instruction sequence with the number of instructions meeting the preset number as the instruction sequence; if the current instruction to be executed is not a pre-planned instruction, add the current instruction to be executed to the pre-planned instruction sequence, and determine the added pre-planned instruction sequence as the instruction sequence.

[0018] Optionally, the pre-planned instruction carries a pre-planning identifier;

[0019] The detecting whether the current instruction to be executed is a pre-planned instruction includes:

[0020] Detect whether the current instruction to be executed carries the pre-planning identifier. If the current instruction to be executed carries the pre-planning identifier, determine that the current instruction to be executed is a pre-planned instruction; if the current instruction to be executed does not carry the pre-planning identifier, determine that the current instruction to be executed is not a pre-planned instruction.

[0021] The technical solution provided by this application may include the following beneficial effects:

[0022] In the solution of this application, a trajectory planning formula is pre-constructed. Thus, after obtaining the instruction sequence, based on the trajectory planning formula, path planning and adjustment of the superimposed path for multiple instructions in the time series in the instruction sequence can be performed. Moreover, the constructed trajectory planning formula optimizes the planning in the Cartesian coordinate space, avoids the limitation of the motion model singularity, and can support spatial path smoothing between different tools, between different coordinate systems, and under different regular motion coordinate systems, effectively avoiding the impact and oscillation phenomena when the robot starts or has a processing mutation, bringing great convenience to users. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 It is a flowchart of a method for superimposed planning of path instructions provided by an embodiment of the present application.

[0025] Figure 2 It is a diagram of the change in the execution position of instructions provided by another embodiment of the present application.

[0026] Figure 3 It is a schematic diagram of the superimposed effect of instructions provided by another embodiment of the present application.

[0027] Figure 4 It is a schematic diagram of the call of multiple instruction variables provided by another embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To make the purpose, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of them. Based on the embodiments in the present application, all other implementation manners obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present application.

[0029] See Figure 1 It is a flowchart of a method for superimposed planning of path instructions provided by an embodiment of the present application. An embodiment of the present application provides a method for superimposed planning of path instructions. As shown in the figure, the method may at least include the following implementation steps:

[0030] Step 11: Obtain the instruction sequence of the actions to be performed by the robot; the instruction sequence includes multiple instructions; the instructions include: reference coordinate system, reference tool, position point, and time.

[0031] Step 12: Input the instruction sequence into the trajectory planning formula to obtain the path planning result.

[0032] Among them, the trajectory planning formula includes:

[0033]

[0034] In the formula, represents the time length of the instruction sequence, Indicates the path planning result within a certain time under the a coordinate system , and indicates the trajectory planning from P i to P i+1 under the a coordinate system. a P i represents the position of the i-th position point under the a coordinate system.

[0035] Step 13: Execute the corresponding instructions according to the path planning result.

[0036] In this embodiment, a trajectory planning formula is pre-constructed. In this way, after obtaining the instruction sequence, based on the trajectory planning formula, the path planning and adjustment of the superimposed path for multiple instructions in the time series in the instruction sequence can be performed. Moreover, the constructed trajectory planning formula optimizes the planning in the Cartesian coordinate space, avoids the limitation of the motion model singularity, and can support the spatial path smoothing between different tools, different coordinate systems, and different regular motion coordinate systems, effectively avoiding the impact and oscillation phenomena when the robot starts or undergoes processing mutations, bringing great convenience to users.

[0037] The above instructions can be the instructions of the actions to be executed provided by the user to the robot during the robot's movement, including the reference coordinate system, reference tool, position point, and time.

[0038] Among them, the reference coordinate system is the coordinate system where the instruction is specified. This coordinate system can be referenced to the base coordinate system through a certain reference relationship, and the value of any coordinate point in this coordinate system in the base coordinate system can be calculated.

[0039] The above position points include the starting position and the ending position of the action to be executed. The ending position is a coordinate value including six numerical values of X, Y, Z, A, B, and C. It can be understood that the action to be executed by the robot includes two parts, that is, first the position where the end tool is located, and the motion trajectory of the end tool. For example, when the robotic arm grabs an object, first the robotic arm needs to be moved to a position (such as the coordinates are X, Y, Z), and at this time, the end robotic claw needs to perform an action (such as its coordinates are A, B, C). During the movement process, it is not only necessary to specify that this coordinate value is the position in the reference coordinate system. The starting position depends on the ending position of the previous instruction, and it is to convert the position of the previous instruction in its reference coordinate system into the position of the current instruction in the reference coordinate system.

[0040] The existence form of the above reference tool is also a coordinate value, which describes the offset from the end coordinate system to the tool coordinate system. This coordinate value is a fixed value in the same coordinate system.

[0041] The above time is the execution time of the instruction in the instruction sequence.

[0042] In actual application, the end position of the previous instruction is consistent with the start position of the next instruction. If there is no previous instruction, the current position of the robot should be directly obtained as the start position.

[0043] During the application process of the robot control system, it consists of multiple devices, and the positions of these devices are relatively fixed. To more accurately describe the positional relationship between devices in a mathematical way, the concept of a coordinate system is introduced.

[0044] Node coordinate system: Generally, the static platform of the robot is used as the base coordinate system (without conversion to other coordinate systems). Each device constructs its own coordinate system. For the convenience of calculation, the homogeneous transformation method can be used to obtain the coordinate transformation relationship between devices, and this transfer relationship is transitive.

[0045] Parent coordinate system: Given the coordinate transformation relationship between coordinate system A and coordinate system B, and the coordinates in coordinate system B can be represented in coordinate system A, then coordinate system A is the parent coordinate system of coordinate system B.

[0046] Common parent coordinate system: Given the coordinate transformation relationship between coordinate system A and coordinate system B, and the coordinate transformation relationship between coordinate system A and coordinate system C. According to the concept of the parent coordinate system, coordinate system A is the parent coordinate system of coordinate system B and coordinate system C, that is, it is called the common parent coordinate system of coordinate system B and coordinate system C.

[0047] Moving node coordinate system: If a node coordinate system moves regularly relative to its parent coordinate system, then this moving node coordinate system is called a moving node coordinate system, and its representation form can be jointly represented by the coordinate transformation relationship between it and the coordinate system and the motion function.

[0048] Taking the execution of a parallel robot as an example below, the specific construction process of the trajectory planning formula is elaborated in detail:

[0049] Before smoothing, the path planning and motion can be roughly divided into the following five types.

[0050] During instruction planning, all coordinates need to be converted to the base coordinate system.

[0051] Each instruction includes two parts: trajectory planning and motion planning. In the robot control system, according to actual needs, the instruction planning can be divided into five types. The following is an explanation item by item.

[0052] The first is the path planning of a single instruction. The path planned by a single instruction is the trajectory of the tool end, and the specific trajectory is controlled by specific instructions. The most commonly used is the path planning of a straight-line trajectory. In the reference coordinate system, the trajectory of the tool end coordinate system from the end point to the start point is a straight line. And it can be converted into the end path according to the tool end path. If there is rotation in the tool end path, the end path is often not a straight line.

[0053] The moving platform of the robot moves from point p1 to point p2, and points p1 and p2 are in the same coordinate system. Then only a straight-line trajectory from point p1 to point p2 and the corresponding motion planning need to be planned. It can correspond to the following formulas (1) and (2).

[0054] The second is the path planning with reference to the same coordinate system. If there is no motion coordinate system between the reference coordinate systems of two adjacent instructions and their first common parent coordinate system (that is, the node coordinate systems of the two coordinate systems in the coordinate system module are the same), then when these two instructions perform path planning, first convert the start point position and the end point position into the positions under the common parent coordinate system, so that the motions of the two coordinate systems can be continuously run in the same coordinate.

[0055] That is, the two instructions are in the same coordinate system.

[0056] The moving platform of the robot goes from point p1 through point p2 to point p3, where points p1, p2, and p3 are in the same coordinate system.

[0057] The change of its position points corresponds to formula (3). The instruction superposition corresponds to formula (6).

[0058] The third is the planning with reference to different coordinate systems. If there is a motion coordinate system between two coordinate systems and their common coordinate system, it means that the instructions of the two coordinate systems cannot be directly converted to the same value, because when the coordinate system moves to different positions, the conversion with another coordinate system is inconsistent. At this time, all paths within a single coordinate system need to be planned first, and then the motion planning is carried out in units of the coordinate system. At this time, it is necessary to judge whether each instruction can be planned in the same parent coordinate system as the previous instruction during the processing. If it can, this instruction is used as the previous internal coordinate system planning. If not, this instruction is planned separately according to the first motion coordinate system in its parent coordinate system.

[0059] That is, different coordinate systems. Example: (The following is only an application example)

[0060] Actual application scenario: The robot control system needs to use the end to grab an object stationary on the conveyor belt.

[0061] Known data: The coordinates of an object in the conveyor belt coordinate system, the transformation relationship between the conveyor belt coordinate system and the base coordinate system. Based on this, the representation form of the coordinate points of the object on the conveyor belt in the base coordinate system can be obtained.

[0062] The instruction superposition corresponds to formula (7).

[0063] The fourth type is the planning of the moving coordinate system. The internal planning of the moving coordinate system is the same as the external method. Starting from a certain moving coordinate system, the planning of continuously referring to the current moving coordinate system is all converted to the planning in this moving coordinate system. At this time, the entire moving coordinate system has an initial position and an end position within a coordinate system as a planning. When converting its position to the position in the base coordinate system, it is necessary to consider the position of the moving coordinate system itself relative to the base coordinate system, that is, at the beginning of the motion planning, the starting position within the coordinate system in the base coordinate system position, and after the motion planning ends, the end position within the coordinate system in the base coordinate system position. Since the planning time will definitely be earlier than the actual motion time, this time needs to be predicted.

[0064] That is, the moving coordinate system

[0065] Actual application scenario: The robot control system needs to use the end to grasp an object moving on the conveyor belt.

[0066] Known data: The starting coordinates of the object in the conveyor belt coordinate system, the transformation relationship between the conveyor belt coordinate system and the base coordinate system, the motion law (function) of the object.

[0067] The fifth type is the tracking planning. When moving relative to the moving coordinate system, the end of the robot tool needs to move relative to the object, and the movement of the object relative to the base coordinate system also needs to be compensated. At this time, this movement needs to be split into two parts. The first part is to assume that the object is stationary, and the end starts to move from the initial position relative to the object. The second part is to assume that the end overlaps with the object, and the end follows the object to move. The actual movement trajectory of the end is the superposition of these two movements.

[0068] That is, the tracking planning

[0069] Actual application scenario: The robot control system needs to use the end to move relative to an object moving on the conveyor belt at the same speed.

[0070] To facilitate the description of the instruction superposition, the relevant symbols such as paths, times, trajectory planning, and instructions are shown in Table 1.

[0071] Table 1

[0072]

[0073] Among them, p1, p2, and p3 represent three position points. is the trajectory planning. It is motion planning.

[0074] Then the motion equations corresponding to instruction I1 and instruction I2 are respectively:

[0075]

[0076]

[0077] Among them, represents the set of trajectory points during the motion of a point on path L 12 ; represents the motion planning of a point on path L 12 ; represents the set of trajectory points during the motion of a point on path L 23 ; represents the motion planning of a point on path L 23 ;

[0078] Formulas (1) and (2) correspond to the path planning of the above-mentioned first single instruction.

[0079] Assume two independent motions, and the end point of one path is the start point of the other path. Then, within the time period , the change in the running position of the instruction at the end of the robot is as shown in the left coordinate diagram in Figure 2 .

[0080] The change in the position of the end of the robot can be represented by time. Then, at a certain moment, to describe the motion process of the position of the end of the robot, the formula is as follows:

[0081]

[0082] If , formula (2) is still continuously available, and the available condition is as shown in the right coordinate diagram in Figure 2 .

[0083] The superposition of instructions means that when one instruction has not been completed, the next instruction has already started to execute, so that the instructions within a certain Δt time are superimposed to achieve a smooth effect where the actual trajectory is superimposed. In the same coordinate system, if two motions can be continuously executed separately, for example, first moving from point M to point N and then from point N to point R, and the end point of the first motion and the start point of the second motion have a definite position representation in a certain reference coordinate system, then these two motions can be superimposed, as shown in Figure 3 .

[0084] At a certain moment within a certain Δt1, the running trajectory direction of the end of the robot is and The combined direction can be obtained by integrating n ·Δt / n time periods to get p 11 to p 31 The smooth trajectory. The expression formula for its trajectory planning is:

[0085]

[0086] In formula (4), when two trajectories are added numerically, a p2 point is added numerically, so it should be subtracted.

[0087] refers to the trajectory planning passing through p1, p2, and p3, and the actual effect is as Figure 3 shown; and respectively refer to the trajectory planning from p1 to p2 and from p2 to p3.

[0088] Similarly, in the time period the trajectory planning is:

[0089]

[0090] From this, it can be known that the final position is equal to the position of each instruction at the current moment minus the coordinates of all instruction intersection points. The formula is as follows:

[0091]

[0092] It can be intuitively expressed as: if the spatial directions of multiple (>2) instructions are different, the superposition effect of their trajectories is still the superposition effect of the running directions of each instruction, as Figure 4 shown.

[0093] Therefore, when a group of instructions below a certain coordinate move together, the instruction movement can be divided into two parts: one part is the instruction movement relative to the following coordinate system, and the other part is the movement of the coordinate system tracking. The movement of the instruction part will end after the planning is completed, but the following part may continue for some time after the planning is completed.

[0094] Under different coordinate systems, the trajectory planning formula is:

[0095]

[0096] It should be noted that formula (7) corresponds to the third category of trajectory planning and motion planning.

[0097] The premise of different coordinate systems is that the coordinate transformation relationship between the coordinate systems is known. The initial data obtained are the coordinate points under different coordinate systems. For example, for an object moving on a conveyor belt, its position is the coordinate relative to the conveyor belt coordinate system.

[0098] In the formula, Indicates the time length of the instruction sequence, indicating the path planning result within a time period in the a coordinate system, indicating the trajectory planning from P i to P i+1 in the a coordinate system, a where P i represents the position of the i-th position point in the a coordinate system, and the a coordinate system is the finally determined reference coordinate system.

[0099] In some embodiments, the movement of the robot requires point-to-point movement in a certain coordinate system, and it is necessary to switch between coordinate systems and give different movement speeds and smoothing methods. Therefore, the instruction may further include a speed parameter and a smoothing parameter. When executing the corresponding instruction according to the path planning result, the corresponding instruction can be executed according to the speed parameter and the smoothing parameter of each instruction in the path planning result. In this way, when executing a certain instruction, the robot can move along the planned route at the specified speed and smoothing parameter according to the planned route.

[0100] There are certain limitations in the planning of instructions, mainly two:

[0101] 1. To ensure the continuity of movement, the instruction planning needs to plan multiple instructions in advance.

[0102] 2. To ensure the timeliness of movement, the instruction needs to judge the conditions as late as possible.

[0103] In some embodiments, the planning of instructions takes time, and the movement of instructions also takes time. Different instructions have different requirements for time, and can be divided into pre-planned instructions and non-pre-planned instructions.

[0104] Pre-planned instruction planning refers to an instruction whose planning time of the current instruction will affect the results of subsequent planning and requires a certain amount of computing time. For example, a pre-planned instruction can reserve 10 ms from the start of planning the speed and path to the start of executing the instruction, and cannot start executing immediately when it cannot be planned.

[0105] Significance of classification: Since the instruction planning needs to ensure the real-time nature of the conditional logic judgment and plan multiple movement instructions as far back as possible to ensure the smoothness of movement.

[0106] ​The results of some instruction planning depend on the current time. For example, from a point in the stationary coordinate system to a point in the moving coordinate system. Premature instruction planning may cause the coordinate system to fail, so it must start planning as late as possible. Another part of the instruction planning depends on logical instructions, such as conditional judgment instructions. The value judged is related to time, and the truth or falsehood of the value determines which instruction is executed subsequently. Such instructions must also be planned as late as possible to ensure the timeliness of the judgment instructions. These belong to non-preplanned instructions.

[0107] Based on this, when performing path planning and obtaining the instruction sequence of the actions to be executed by the robot, the to-be-executed instructions in the instruction stream can be obtained in sequence. And when obtaining each to-be-executed instruction, the following steps are executed: Detect whether the current to-be-executed instruction is a preplanned instruction; if the current to-be-executed instruction is a preplanned instruction, add the current to-be-executed instruction to the preplanned instruction sequence, and continue to read the subsequent instructions until the number of instructions in the preplanned instruction sequence meets the preset number, then determine the preplanned instruction sequence with the number of instructions meeting the preset number as the instruction sequence; if the current to-be-executed instruction is not a preplanned instruction, add the current to-be-executed instruction to the preplanned instruction sequence, and determine the added preplanned instruction sequence as the instruction sequence. That is, if the to-be-executed instruction is initially a preplanned instruction, it needs to meet a certain number in the sequence before being used as the instruction sequence for path planning to meet the delayed execution of the preplanned instruction. And if it is not the initially preplanned instruction, after adding it to the preplanned instruction sequence, immediately use the preplanned instruction sequence as the instruction sequence and start execution. It should be noted that when the program processes the planning instructions, it takes the preplanned type instructions as nodes. Each time it plans to a preplanned instruction, it then waits for a fixed planning reservation time from the start of this instruction and continues to plan the subsequent instructions.

[0108] Specifically, when implementing, the robot instruction planning starts reading from the first instruction in the robot instruction stream. Each time a to-be-executed instruction is read, it needs to be detected to determine whether the to-be-executed instruction is a preplanned instruction. If a preplanned instruction is read, add this instruction to the planning list (preplanned instruction sequence) until the next to-be-executed instruction is not a preplanned instruction or the number of instructions in the planning list reaches the preset number. At this time, pause reading and start planning all the instructions in the planning list. That is, use the sequence composed of all the instructions in the planning list as the instruction sequence and perform the operations after obtaining the instruction sequence of the actions to be executed by the robot.

[0109] Among them, the preset number can be set according to actual needs and is not limited here.

[0110] After each planning session, the planning list is cleared. Then, instructions in the instruction stream are read continuously, and each instruction to be executed is inspected. Once a pre-planning instruction is detected, it is added to the pre-planning instruction sequence, and the above operations are repeated. In some embodiments, the pre-planning instruction carries a pre-planning identifier. Correspondingly, when checking whether the current instruction to be executed is a pre-planning instruction, it can be determined by checking whether the current instruction to be executed carries a pre-planning identifier. If the current instruction to be executed carries a pre-planning identifier, it is determined that the current instruction to be executed is a pre-planning instruction; if the current instruction to be executed does not carry a pre-planning identifier, it is determined that the current instruction to be executed is not a pre-planning instruction.

[0111] Specifically, the pre-planning identifier can be set according to requirements and is not limited herein.

[0112] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not described in detail in some embodiments can be found in the same or similar content of other embodiments.

[0113] It should be noted that in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "a plurality of" refers to at least two.

[0114] Any process or method description in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of executable instructions including one or more steps for implementing a specific logical function or process. The scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, and this should be understood by those skilled in the technical field to which the embodiments of this application belong.

[0115] It should be understood that each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0116] Those of ordinary skill in the art can understand that all or part of the steps carried out in implementing the above-described method embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0117] In addition, in each of the embodiments of the present application, the functional units can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0118] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, or the like.

[0119] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for superimposed planning of path instructions, characterized in that, Including: Obtain an instruction sequence for an action to be executed by a robot; The instruction sequence includes multiple instructions; the instructions include: a reference coordinate system, a reference tool, a position point, and a time; Input the instruction sequence into a trajectory planning formula to obtain a path planning result; the trajectory planning formula includes: In the formula, represents the time length of the instruction sequence, represents the path planning result within time in the a coordinate system, represents the trajectory planning from P i to P i+1 in the a coordinate system, a P i represents the position of the i-th position point in the a coordinate system; Execute corresponding instructions according to the path planning result.

2. The overlay planning method for path instructions according to claim 1, wherein The instructions further include a speed parameter and a smoothing parameter.

3. The superposition planning method for path instructions according to claim 2, wherein The step of executing corresponding instructions according to the path planning result includes: Execute corresponding instructions according to the path planning result, in accordance with the speed parameter and the smoothing parameter.

4. The superimposed planning method for path instructions according to claim 1, characterized in that The step of obtaining an instruction sequence for an action to be executed by a robot includes: Sequentially obtain the instructions to be executed in an instruction stream, and when each instruction to be executed is obtained, perform the following steps: Detect whether the current instruction to be executed is a pre-planned instruction; if the current instruction to be executed is a pre-planned instruction, add the current instruction to the pre-planned instruction sequence, and continue to read subsequent instructions until the number of instructions in the pre-planned instruction sequence meets a preset number, and determine the pre-planned instruction sequence with the number of instructions meeting the preset number as the instruction sequence; if the current instruction to be executed is not a pre-planned instruction, add the current instruction to the pre-planned instruction sequence, and determine the added pre-planned instruction sequence as the instruction sequence.

5. The superimposed planning method of the path instruction according to claim 4, characterized in that The pre-planned instruction carries a pre-planned identifier; The step of detecting whether the current instruction to be executed is a pre-planned instruction includes: Detect whether the current instruction to be executed carries the pre-planned identifier, if the current instruction to be executed carries the pre-planned identifier, then determine that the current instruction to be executed is a pre-planned instruction; if the current instruction to be executed does not carry the pre-planned identifier, then determine that the current instruction to be executed is not a pre-planned instruction.

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