Gantry robots and their trajectory planning methods and devices

Abstract

This invention proposes a gantry robot and its trajectory planning method and apparatus. The method includes: determining multiple target task points and initial movement points of the gantry robot; determining the motion trajectory of the gantry robot based on the target task points and initial movement points; determining multiple target trajectory points based on the motion trajectory; controlling the gantry robot to execute a first trajectory planning strategy based on the multiple target trajectory points, until the trajectory planning of the gantry robot is completed for all target task points of the multiple gantry arms. This invention, by controlling the gantry robot to execute the first trajectory planning strategy, performs collision detection on the motion of multiple gantry robots in advance, avoids collision points during gantry robot movement, ensures that the timing of the gantry robots is staggered during movement, avoids damage to components caused by collisions, and thus improves the safety of gantry robot movement.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a gantry robot and its trajectory planning method and apparatus. Background Technology

[0002] A gantry robot is a robotic arm consisting of multiple joints connected in a Cartesian coordinate system. It can be used for material handling and loading / unloading. To improve the efficiency of gantry robots, multiple gantry arms can be used simultaneously for loading or unloading.

[0003] However, gantry robots have coaxial joints. When loading or unloading materials, if their range of motion overlaps, the gantry robot is prone to collisions, which can damage the gantry robot. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] Therefore, one objective of this invention is to propose a trajectory planning method for a gantry robot that avoids collision points during the gantry robot's movement, ensures that the gantry robot's movement is staggered in sequence, avoids damage to components caused by collisions, and thus improves the safety of the gantry robot's movement.

[0006] Therefore, a second objective of the present invention is to provide a trajectory planning device for a gantry robot.

[0007] Therefore, a third objective of this invention is to provide a gantry robot.

[0008] To achieve the above objectives, an embodiment of the first aspect of the present invention provides a trajectory planning method for a gantry robot, the method comprising: determining a plurality of target task points and initial motion points of the gantry robot; determining the motion trajectory of the gantry robot based on the target task points and the initial motion points; determining a plurality of target trajectory points based on the motion trajectory; controlling the gantry robot to execute a first trajectory planning strategy based on the plurality of target trajectory points, until the trajectory planning of the gantry robot is completed when the target task points of the plurality of gantry arms have all completed trajectory planning, and determining that the trajectory planning of the gantry robot is completed.

[0009] According to an embodiment of the present invention, the gantry robot executes a first trajectory planning strategy to perform collision detection on the movement of multiple gantry robots in advance, avoid collision points during the movement of the gantry robots, ensure that the gantry robots move in a staggered sequence, avoid damage to components caused by collisions, and thus improve the safety of the gantry robot movement.

[0010] In some embodiments, controlling the gantry robot to execute a first trajectory planning strategy based on the target trajectory points includes: traversing multiple target trajectory points in a preset order and obtaining the position information of the target trajectory points; determining whether multiple gantry robots will collide based on the position information; if so, clearing the target task point of one of the gantry robots; performing trajectory planning for the target task points of the remaining gantry robots; if the gantry robot has a target trajectory point, determining that the current trajectory planning of the gantry robot is complete; if the gantry robot does not have a target trajectory point, determining that the motion of multiple gantry robots has deadlocked, and controlling the gantry robot to execute a second trajectory planning strategy when multiple gantry robots have deadlocked.

[0011] In some embodiments, controlling the gantry robot to execute a second trajectory planning strategy includes: designating one of the plurality of gantry robots as a master arm and the remaining gantry robots as slave arms; determining the range of motion of the master arm in a preset direction; determining a plurality of avoidance points of the remaining gantry robots based on the range of motion; determining a planned target trajectory point based on the plurality of avoidance points; and performing trajectory planning on the master arm and slave arms of the gantry robot based on the planned target trajectory point until the planned target trajectory points of the plurality of gantry robots have all completed the trajectory planning.

[0012] In some embodiments, determining multiple target trajectory points based on the motion trajectory includes: discretizing the motion trajectory according to a preset time interval to obtain multiple target trajectory points.

[0013] In some embodiments, determining whether the gantry robot will collide based on the position information includes: determining the spatial motion poses of multiple gantry robots; performing collision detection on the multiple gantry robots according to the spatial motion poses; determining the collision distance of the gantry robots based on the position coordinates; and determining that the gantry robots will collide when the distance between the gantry robots is less than the collision distance.

[0014] In some embodiments, clearing a target task point of one of the gantry robots includes: identifying a first target gantry robot and a second target gantry robot that will collide; calculating a first movement distance of the first target gantry robot in a preset direction and a second movement distance of the second target gantry robot in the preset direction; and clearing a target task point of one of the gantry robots based on the relationship between the first movement distance and the second movement distance.

[0015] In some embodiments, clearing a target task point of one of the gantry robots based on the relationship between the first moving distance and the second moving distance includes: clearing the target task point of the second target gantry robot when the first moving distance is less than the second moving distance; clearing the target task point of the first target gantry robot when the first moving distance is greater than the second moving distance; and determining the movement direction of the first target gantry robot and the second target gantry robot when a preset distance in the first moving distance coincides with a preset distance in the second moving distance, or when the first moving distance and the second moving distance do not coincide, and clearing the target task point of one of the target gantry robots based on the movement direction.

[0016] In some embodiments, clearing the target task point of one of the target truss robots according to the direction of movement includes: clearing the target task point of the first target truss robot when the first target truss robot and the second target truss robot move in the same direction and the first target truss robot is behind the second target truss robot; clearing the target task point of the second target truss robot when the first target truss robot and the second target truss robot move in opposite directions and the movement distance of the first target truss robot is greater than the movement distance of the second target truss robot; and clearing the target task point of the second target truss robot when the first target truss robot and the second target truss robot move in opposite directions and the movement distance of the first target truss robot is less than the movement distance of the second target truss robot.

[0017] To achieve the above objectives, a second aspect of the present invention provides a trajectory planning device for a gantry robot, comprising: a first determining module for determining target task points and initial motion points of the plurality of gantry robots; a second determining module for determining the motion trajectory of the gantry robot based on the target task points and the initial motion points; a third determining module for determining a plurality of target trajectory points based on the motion trajectory; and an execution module for controlling the gantry robot to execute a first trajectory planning strategy based on the plurality of target trajectory points, until the trajectory planning of the gantry robot is completed when the target task points of the plurality of gantry arms have all been completed.

[0018] The trajectory planning device for a gantry robot according to an embodiment of the present invention controls the gantry robot to execute a first trajectory planning strategy to perform collision detection on the movement of multiple gantry robots in advance, avoid collision points during the movement of the gantry robots, ensure that the gantry robots move in a staggered sequence, avoid damage to components caused by collisions, and thereby improve the safety of the gantry robot movement.

[0019] To achieve the above objectives, a third aspect of the present invention provides a gantry robot that uses a trajectory planning device for gantry robots as described in the above embodiments to perform trajectory planning for the gantry robot.

[0020] According to an embodiment of the present invention, the gantry robot executes a first trajectory planning strategy to perform collision detection on the movement of multiple gantry robots in advance, avoid collision points during the movement of the gantry robots, ensure that the gantry robots move in a staggered sequence, avoid damage to components caused by collisions, and thus improve the safety of the gantry robot movement.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0023] Figure 1 This is a schematic diagram of the structure of a gantry robot according to an embodiment of the present invention;

[0024] Figure 2 This is a flowchart of a trajectory planning method for a gantry robot according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of collision detection for a gantry robot according to an embodiment of the present invention;

[0026] Figure 4 This is a block diagram of a trajectory planning device for a gantry robot according to an embodiment of the present invention. Detailed Implementation

[0027] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0028] In related technologies, deep reinforcement learning methods are used to determine the motion planning of gantry robots in order to ensure that they are not damaged during operation. However, deep reinforcement learning methods require training on a large amount of data, and the motion planning process is complex.

[0029] Alternatively, by setting up a buffer assembly, collisions between the gantry robot and the first or second crossbar can be avoided during use. However, setting up a buffer assembly only reduces the force of the collision between the two crossbars when a collision occurs, and cannot prevent the collision from happening altogether.

[0030] Alternatively, by using a combination of guide frames, rotating shafts, motors, and infrared sensors, the gantry robot can sense objects that are about to collide and move the workpieces on the guide frames at an overall angle to avoid collisions.

[0031] However, adjusting the gantry robot's motion state by setting up buffer components and shifting the overall angle of the workpiece on the guide frame only addresses motion conflicts that occur during the gantry robot's movement. These methods cannot reduce the risk of collisions. Therefore, by implementing collision avoidance planning for the gantry robot's trajectory, ensuring it moves along a pre-planned path and staggering the movements of multiple gantry robots in sequence, the collision problem during gantry robot movement is fundamentally solved, thus preventing damage during operation.

[0032] like Figure 1 The diagram shown is a structural schematic of a gantry robot according to an embodiment of the present invention. The gantry robot can move along a pre-planned path. This embodiment of the present invention uses a three-arm gantry robot as an example to illustrate the trajectory planning of the gantry robot.

[0033] The following is combined Figure 2 The trajectory planning method for the gantry robot in this embodiment of the invention will be illustrated by example, such as... Figure 2 As shown, the trajectory planning method for the gantry robot in this embodiment of the invention includes at least steps S1-S4.

[0034] Step S1: Determine the target task points and initial motion points of multiple gantry robots.

[0035] Among them, the target task point of the gantry robot is the target task position that the gantry robot needs to reach during one movement. Each gantry robot stores a task queue, which stores multiple target task points.

[0036] The initial motion point, i.e., the starting position of the gantry robot's motion, is determined when planning the trajectory of the gantry robot. A target task point is determined from the gantry robot's task queue, and the initial motion point corresponding to that target task point is determined.

[0037] Step S2: Determine the motion trajectory of the gantry robot based on the target task point and the initial motion point.

[0038] In this embodiment, after determining the target task point and the initial motion point of the gantry robot, the motion trajectory between the target task point and the initial motion point is determined. By determining the motion trajectory between the target task point and the initial motion point, it is convenient to perform trajectory planning for the gantry robot based on the motion trajectory.

[0039] Step S3: Determine multiple target trajectory points based on the motion trajectory.

[0040] The target trajectory point is the point that makes up the motion trajectory. After the motion trajectory is determined, the motion trajectory is discretized to obtain the target trajectory point under the motion trajectory.

[0041] Step S4: Control the gantry robot to execute the first trajectory planning strategy based on multiple target trajectory points until the trajectory planning of the target task points of multiple gantry arms is completed, and then determine that the trajectory planning of the gantry robot is completed.

[0042] The first trajectory planning strategy involves pre-planning the trajectories of the gantry robots based on target trajectory points. For example, it performs interference checks on the target trajectory points of multiple gantry robots. If interference (collision risk) exists when gantry robots are moving according to their respective target trajectory points, the gantry robots with collision risk are selectively removed. During the subsequent movement of the gantry robots, the target trajectory points of the gantry robots are continuously determined, and the gantry robots are controlled to execute the first trajectory planning strategy until all target task points of the gantry robots have completed trajectory planning. That is, when the task lists of multiple gantry robots are not empty, the trajectory planning of the gantry robots is considered complete. In essence, controlling multiple gantry robots to execute the first control strategy enables the gantry robots to perform interference checks based on target trajectory points, thereby achieving trajectory planning for multiple gantry robots.

[0043] According to the trajectory planning method for gantry robots of the present invention, by controlling the gantry robots to execute a first trajectory planning strategy, collision detection is performed on the movement of multiple gantry robots in advance to avoid collision points during the movement of the gantry robots, ensuring that the timing of the gantry robots is staggered during the movement, avoiding damage to components caused by collisions, thereby improving the safety of the gantry robot movement.

[0044] In some embodiments, controlling the gantry robot to execute a first trajectory planning strategy based on target trajectory points includes: traversing multiple target trajectory points in a preset order and obtaining the position coordinates of the target trajectory points; determining whether multiple gantry robots will collide based on the position coordinates; if so, clearing the target task point of one of the gantry robots; performing trajectory planning for the target task points of the remaining multiple gantry robots that have not yet undergone trajectory planning; if a gantry robot has a target trajectory point, determining that the current gantry robot trajectory planning is complete; if a gantry robot does not have a target trajectory point, determining that the movement of multiple gantry robots has deadlocked, and controlling the gantry robot to execute a second trajectory planning strategy when multiple gantry robots have deadlocked. It is understood that by determining whether gantry robots will collide based on their position information and planning the trajectories of gantry robots that may collide in advance, multiple gantry robots can move as simultaneously as possible, reducing waiting time and improving efficiency.

[0045] In an embodiment, such as Figure 3 The diagram illustrates a collision detection process for a gantry robot according to an embodiment of the present invention. When controlling the gantry robot to execute a first trajectory planning strategy, target trajectory points are stored in the gantry robot's task queue. Multiple target trajectory points are traversed sequentially according to a preset order, such as the order in the task queue. While traversing multiple target trajectory points, the position information of the gantry robot is obtained. After obtaining the position information, the collision distance of the gantry robot is determined based on the position information. Its spatial motion pose is calculated using the forward kinematics of the gantry robot. Each geometric model of the gantry robot is traversed, and collision detection is performed on the geometric models of multiple gantry robots. For example, a hierarchical bounding box algorithm is used to detect whether a collision will occur between the gantry robots. If the distance between the gantry robots is less than the collision distance, it is considered that a collision will occur between the gantry robots.

[0046] When a collision is determined to occur between gantry robots, the target task point of one gantry robot should be cleared, for example, by removing the motion trajectory of one gantry robot. After removing the motion trajectory of one gantry robot, trajectory planning should be performed on the target task points of the remaining gantry robots. That is, the remaining gantry robots should retrace the target trajectory points and repeat the above removal process. When performing trajectory planning on the target task points of the remaining gantry robots, if there are still unremoved target trajectory points in the task queue after traversing all target trajectory points, the trajectory planning of that gantry robot is considered successful, and trajectory planning should be performed on the target task points of the gantry robots in other task queues until all gantry robot task queues are empty.

[0047] If, after traversing all target trajectory points of multiple gantry robots, no target trajectory points remain to be removed from the task queues of the multiple gantry robots, then a deadlock is considered to have occurred among the multiple gantry robots. In this case, the gantry robots are controlled to execute the second trajectory planning strategy.

[0048] In some embodiments, controlling a gantry robot to execute a second trajectory planning strategy includes: designating one of a plurality of gantry robots as a master arm and the remaining gantry robots as slave arms; determining the range of motion of the master arm in a preset direction; determining multiple avoidance points of the remaining gantry robots based on the range of motion; storing the multiple avoidance points in the target trajectory points of the gantry robots to determine the planned target trajectory points; and performing trajectory planning on the master arm and slave arms of the gantry robots based on the planned target trajectory points until the planned target trajectory points of the plurality of gantry robots have all completed trajectory planning.

[0049] In this embodiment, after determining that multiple gantry robots have deadlocked, one of the gantry robots is designated as the master arm, and the remaining gantry robots are designated as slave arms. The range of motion of the master arm in a preset direction, such as the X direction, is determined. The slave arms adjacent to the master arm are then traversed sequentially. If a positive slave arm exists, its target trajectory point is accumulated by a certain step size. After each accumulation, collision detection is performed between the slave arm and its negatively adjacent gantry arms until a collision-free target trajectory point is detected. This target trajectory point is then designated as the avoidance point for the slave arm. Similarly, the avoidance points for negative slave arms are determined using the same method. After determining the avoidance points for the remaining slave arms, the avoidance points are then used to determine the avoidance points for the slave arms. The system determines the motion trajectory and target trajectory point, and stores the target trajectory points of both the main arm and the slave arm in the task queue. It then determines the planned target trajectory point, iterates through the planned target trajectory points of the gantry robot, and performs collision detection on these points. If interference is detected at a target trajectory point, the system continues to plan the robot's trajectory because the gantry robot is still moving and its task queue is dynamically changing. If no interference is detected, the gantry robot's trajectory is considered successfully planned, and the trajectories of the remaining gantry robots are planned until the planned target trajectory points of multiple gantry robots have all been planned.

[0050] In some embodiments, determining multiple target trajectory points based on the motion trajectory includes: discretizing the motion trajectory according to a preset time interval to obtain multiple target trajectory points.

[0051] In this embodiment, the motion trajectories of each gantry robot are discretized at certain time intervals to obtain multiple target trajectory points under the motion trajectory. Each target trajectory point represents the position reached by the gantry robot at a certain moment. It is understood that when discretizing the motion trajectory, if the motion trajectory satisfies velocity continuity, multiple target trajectory points can be obtained through cubic polynomial interpolation; if the motion trajectory satisfies acceleration continuity, multiple target trajectory points can be obtained through quintic polynomial or hyperbolic interpolation.

[0052] In some embodiments, clearing the target task point of one of the gantry robots includes: identifying a first target gantry robot and a second target gantry robot that will collide; calculating a first movement distance of the first target gantry robot in a preset direction and a second movement distance of the second target gantry robot in the preset direction; and clearing the target task point of one of the gantry robots according to the relationship between the first movement distance and the second movement distance.

[0053] In an embodiment, when clearing the target task point of one of the gantry robots, the first target gantry robot and the second target gantry robot that collided are identified. The first moving distance of the first target gantry robot in a preset direction is calculated, such as the moving distance of the first target gantry robot in the X-axis direction and the moving distance of the second target gantry robot in the X direction. The distance between the first moving distance and the second moving distance in the X direction is compared. Based on the distance relationship between the two, the target task point of one of the gantry robots is cleared.

[0054] For example, when the first moving distance is less than the second moving distance, that is, the first moving distance is a subset of the second moving distance, the target task point of the second target gantry robot is cleared, for example, the target task point of the second target gantry robot is cleared; when the first moving distance is greater than the second moving distance, that is, the second moving distance is a subset of the first moving distance, the target task point of the first target gantry robot is cleared, for example, the target task point of the first target gantry robot is cleared.

[0055] When the preset distance in the first moving distance coincides with the preset distance in the second moving distance, or when the first moving distance and the second moving distance do not coincide, that is, when the first moving distance and the second moving distance are empty sets or have partial subsets, the movement directions of the first target gantry robot and the second target gantry robot are determined, and the target task point of one of the target gantry robots is cleared according to the movement direction.

[0056] Furthermore, when the first moving distance and the second moving distance are empty sets or exist as partial subsets, if the movement direction of the first target gantry robot is the same as the movement direction of the second target gantry robot, and the first target gantry robot is located behind the second target gantry robot, then the target task point of the first target gantry robot is cleared.

[0057] If the first target gantry robot and the second target gantry robot move in the same direction, and the first target gantry robot is in front of the second target gantry robot, then the target task point of the second target gantry robot is cleared.

[0058] If the first target gantry robot and the second target gantry robot move in opposite directions, and the movement distance of the first target gantry robot is greater than the movement distance of the second target gantry robot, then the target task point of the first target gantry robot is cleared.

[0059] If the first target gantry robot and the second target gantry robot move in opposite directions, and the distance traveled by the first target gantry robot is less than the distance traveled by the second target gantry robot, then the target task point of the second target gantry robot is cleared. By clearing the target task point of the target gantry robot that has moved a greater distance, interference with the gantry robot's trajectory planning is reduced, thereby improving the accuracy of the gantry robot's trajectory planning.

[0060] The trajectory planning device for a gantry robot according to an embodiment of the present invention is described below.

[0061] like Figure 4 As shown, the trajectory planning device 2 for the gantry robot in this embodiment of the invention includes: a first determining module 20, a second determining module 21, a third determining module 22, and an execution module 23. The first determining module 20 is used to determine multiple target task points and initial motion points of the gantry robot; the second determining module 21 is used to determine the motion trajectory of the gantry robot based on the target task points and initial motion points; the third determining module 22 is used to determine multiple target trajectory points based on the motion trajectory; and the execution module 23 is used to control the gantry robot to execute a first trajectory planning strategy based on the multiple target trajectory points until the target task points of multiple gantry arms have all completed trajectory planning, at which point the trajectory planning of the gantry robot is determined to be complete.

[0062] The trajectory planning device for a gantry robot according to an embodiment of the present invention controls the gantry robot to execute a first trajectory planning strategy to perform collision detection on the movement of multiple gantry robots in advance, avoid collision points during the movement of the gantry robots, ensure that the gantry robots move in a staggered sequence, avoid damage to components caused by collisions, and thereby improve the safety of the gantry robot movement.

[0063] The gantry robot according to an embodiment of the present invention is described below.

[0064] The gantry robot in this embodiment of the invention uses a trajectory planning device for the gantry robot as described above to perform trajectory planning.

[0065] According to an embodiment of the present invention, the gantry robot executes a first trajectory planning strategy to perform collision detection on the movement of multiple gantry robots in advance, avoid collision points during the movement of the gantry robots, ensure that the gantry robots move in a staggered sequence, avoid damage to components caused by collisions, and thus improve the safety of the gantry robot movement.

[0066] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0067] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A trajectory planning method for a gantry robot, characterized in that, include: Determine the target task points and initial motion points of the plurality of gantry robots; The motion trajectory of the gantry robot is determined based on the target task point and the initial motion point; Multiple target trajectory points are determined based on the described motion trajectory; The gantry robot is controlled to execute a first trajectory planning strategy based on multiple target trajectory points until the target task points of multiple gantry arms have completed trajectory planning. The trajectory planning of the gantry robot is then determined to be complete. The first trajectory planning strategy involves performing interference checks on the target trajectory points of multiple gantry robots. If there is a risk of interference or collision when the gantry robots are running according to their respective target trajectory points, the gantry robots with the risk of collision are selectively removed. In the subsequent movement of the gantry robots, the target trajectory points of the gantry robots are continued to be determined.

2. The trajectory planning method for a gantry robot according to claim 1, characterized in that, Controlling the gantry robot to execute a first trajectory planning strategy based on the target trajectory points includes: The system traverses multiple target trajectory points in a preset order and obtains the position information of the target trajectory points. Based on the location information, it is determined whether the multiple gantry robots will collide; If so, clear one of the target task points of the gantry robot that would collide with it; For the remaining target task points of the gantry robot, trajectory planning is performed. If the gantry robot has target trajectory points, the trajectory planning of the current gantry robot is determined to be complete. If the target trajectory point is not found in the gantry robot, it is determined that the motion of multiple gantry robots is deadlocked, and when multiple gantry robots are deadlocked, the gantry robot is controlled to execute the second trajectory planning strategy.

3. The trajectory planning method for a gantry robot according to claim 2, characterized in that, Controlling the gantry robot to execute a second trajectory planning strategy includes: One of the multiple gantry robots is used as the master arm, and the remaining gantry robots are used as slave arms; Determine the range of motion of the main arm in a preset direction; Based on the range of motion, determine multiple avoidance points for the remaining gantry robots; The target trajectory point is determined based on the multiple avoidance points mentioned above; The main arm and slave arm of the gantry robot are trajectories planned according to the planned target trajectory points until the trajectory planning of multiple planned target trajectory points of the gantry robot is completed.

4. The trajectory planning method for a gantry robot according to claim 1, characterized in that, Multiple target trajectory points are determined based on the motion trajectory, including: The motion trajectory is discretized according to a preset time interval to obtain multiple target trajectory points.

5. The trajectory planning method for a gantry robot according to claim 2, characterized in that, Determining whether the gantry robot will collide based on the location information includes: Determine the spatial motion poses of multiple gantry robots; Collision detection is performed on multiple gantry robots according to their spatial motion poses; The collision distance of the gantry robot is determined based on the position coordinates. When the distance between the gantry robots is less than the collision distance, it is determined that a collision will occur between the gantry robots.

6. The trajectory planning method for a gantry robot according to claim 5, characterized in that, Clearing one of the target task points of the gantry robot includes: Identify the first and second target gantry robots that will collide; Calculate the first movement distance of the first target gantry robot in the preset direction, and the second movement distance of the second target gantry robot in the preset direction; Based on the relationship between the first movement distance and the second movement distance, one of the target task points of the gantry robot is cleared.

7. The trajectory planning method for a gantry robot according to claim 6, characterized in that, Based on the relationship between the first travel distance and the second travel distance, clearing one of the target task points of the gantry robot includes: When the first moving distance is less than the second moving distance, the target task point of the second target gantry robot is cleared. When the first moving distance is greater than the second moving distance, the target task point of the first target gantry robot is cleared. When the preset distance in the first movement distance coincides with the preset distance in the second movement distance, or when the first movement distance and the second movement distance do not coincide, the movement direction of the first target gantry robot and the second target gantry robot is determined, and the target task point of one of the target gantry robots is cleared according to the movement direction.

8. The trajectory planning method for a gantry robot according to claim 7, characterized in that, Based on the direction of motion, clearing one of the target gantry robots' target task points includes: When the first target gantry robot and the second target gantry robot move in the same direction, and the first target gantry robot is behind the second target gantry robot, the target task point of the first target gantry robot is cleared. When the first target gantry robot and the second target gantry robot move in the same direction, and the first target gantry robot is in front of the second target gantry robot, then the target task point of the second target gantry robot is cleared. When the first target gantry robot and the second target gantry robot move in opposite directions, and the movement distance of the first target gantry robot is greater than the movement distance of the second target gantry robot, then the target task point of the first target gantry robot is cleared. When the first target gantry robot and the second target gantry robot move in opposite directions, and the movement distance of the first target gantry robot is less than the movement distance of the second target gantry robot, then the target task point of the second target gantry robot is cleared.

9. A trajectory planning device for a gantry robot, characterized in that, include: The first determining module is used to determine the target task points and initial motion points of the plurality of gantry robots; The second determining module is used to determine the motion trajectory of the gantry robot based on the target task point and the initial motion point; The third determining module is used to determine multiple target trajectory points based on the motion trajectory; The execution module is used to control the gantry robot to execute a first trajectory planning strategy based on multiple target trajectory points until the target task points of multiple gantry arms have completed trajectory planning, and then determine that the trajectory planning of the gantry robot is completed. The first trajectory planning strategy is to perform interference checks on the target trajectory points of multiple gantry robots, and when there is an interference risk (i.e., collision risk) when the gantry robots are running according to their respective target trajectory points, selectively remove the gantry robots with collision risk, and continue to determine the target trajectory points of the gantry robots in the subsequent movement of the gantry robots.

10. A gantry robot, characterized in that, include: The trajectory planning device for the gantry robot as described in claim 9 is used to perform trajectory planning for the gantry robot.

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