Robot trajectory planning method, device and computer-readable storage medium

Abstract

The present application discloses a robot trajectory planning method, device, and computer-readable storage medium. The method includes: in response to the end flange not changing with the movement of the mobile platform in the target scene, obtaining a first pose of the flange coordinate system in the world coordinate system; otherwise, obtaining the first pose of the flange coordinate system in the world coordinate system and the second pose of the flange coordinate system in the platform coordinate system; determining a target pose based on a first target component in the first pose and a second target component in the second pose, and determining the target pose as the first pose of the flange coordinate system in the world coordinate system; obtaining a third pose of the base coordinate system in the platform coordinate system and a fourth pose of the platform coordinate system in the world coordinate system; determining the pose of the flange coordinate system in the base coordinate system based on the first pose, the third pose, and the fourth pose, and controlling the movement of the robotic arm relative to the mobile platform based on the pose. The present application enables the robot and the mobile platform to work together.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot trajectory planning method, device, and computer-readable storage medium. Background Art

[0002] With the success of Boston Dynamics' robotic dog, more industrial scenarios have seen the benefits of this movable platform. Adding a robotic arm to the mobile platform can greatly expand the robot's workspace, but how to make the robot and the mobile platform work together is a major difficulty. Summary of the Invention

[0003] The present application provides a robot trajectory planning method, device and computer-readable storage medium, which enable the robot to work collaboratively with a mobile platform.

[0004] A first aspect of an embodiment of the present application provides a trajectory planning method for a robot, wherein the robot is mounted on a mobile platform, the robot includes a base mounted on the mobile platform and a robotic arm mounted on the base, and an end flange is mounted on the end of the robotic arm. The method includes: acquiring a target scene; in response to the end flange not changing with the movement of the mobile platform in the target scene, acquiring a first pose of the flange coordinate system in the world coordinate system, otherwise, acquiring the first pose of the flange coordinate system in the world coordinate system and the second pose of the flange coordinate system in the platform coordinate system, and determining a target pose based on a first target component in the first pose and a second target component in the second pose, and determining the target pose Determine the first posture of the flange coordinate system in the world coordinate system; obtain the third posture of the base coordinate system in the platform coordinate system; obtain the fourth posture of the platform coordinate system in the world coordinate system; determine the posture of the flange coordinate system in the base coordinate system according to the first posture, the third posture and the fourth posture; control the robot's robotic arm to move relative to the mobile platform according to the posture of the flange coordinate system in the base coordinate system; wherein, neither the first target component nor the second target component changes with the movement of the mobile platform, and the flange coordinate system is established based on the end flange, the base coordinate system is established based on the base of the robot, and the platform coordinate system is established based on the mobile platform.

[0005] According to a second aspect of an embodiment of the present application, there is provided a trajectory planning device for planning the trajectory of a robot, wherein the robot is mounted on a mobile platform, the robot comprises a base mounted on the mobile platform and a robotic arm mounted on the base, an end flange being mounted on the end of the robotic arm, and the trajectory planning device comprises: an acquisition module for acquiring a target scene; a posture module connected to the acquisition module for acquiring a first posture of a flange coordinate system in a world coordinate system in response to the end flange not changing with the movement of the mobile platform in the target scene; otherwise, acquiring the first posture of the flange coordinate system in the world coordinate system and the second posture of the flange coordinate system in the platform coordinate system, and determining the target posture according to a first target component in the first posture and a second target component in the second posture, and Determine the target posture as the first posture of the flange coordinate system in the world coordinate system; and obtain the third posture of the base coordinate system in the platform coordinate system; obtain the fourth posture of the platform coordinate system in the world coordinate system; determine the posture of the flange coordinate system in the base coordinate system according to the first posture, the third posture and the fourth posture; a control module is connected to the posture module, and is used to control the movement of the robot's robotic arm relative to the mobile platform according to the posture of the flange coordinate system in the base coordinate system; wherein, neither the first target component nor the second target component changes with the movement of the mobile platform, and the flange coordinate system is established based on the end flange, the base coordinate system is established based on the base of the robot, and the platform coordinate system is established based on the mobile platform.

[0006] A third aspect of an embodiment of the present application provides a trajectory planning device, which includes a processor, a memory, and a communication circuit. The processor is coupled to the memory and the communication circuit, respectively. Program data is stored in the memory. The processor implements the steps in the above method by executing the program data in the memory.

[0007] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps in the above method.

[0008] The beneficial effect is: in the scheme of the present application, different methods are used to determine the first posture of the flange coordinate system in the world coordinate system according to the target scene, and the first posture will not change with the movement of the mobile platform. Then, according to the first posture, the third posture of the base coordinate system in the platform coordinate system and the fourth posture of the platform coordinate system in the world coordinate system, the posture of the flange coordinate system in the base coordinate system during the operation of the mobile platform can be determined, so that the robotic arm can be driven to move relative to the mobile platform according to the posture, and finally the collaborative operation of the robot and the mobile platform is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0010] Figure 1 It is a structural diagram of the mobile platform and robot of this application;

[0011] Figure 2 This is a flow chart of an embodiment of a trajectory planning method for a robot of the present application;

[0012] Figure 3 This is a structural diagram of an embodiment of the trajectory planning device of the present application;

[0013] Figure 4 It is a structural diagram of another embodiment of the trajectory planning device of the present application;

[0014] Figure 5 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0015] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0016] It should be noted that the terms "first" and "second" in this application are only used for descriptive purposes and should not be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0017] First combine Figure 1 , introduce the mobile platform and robot of this application:

[0018] This application robot ( Figure 1 100) is mounted on a mobile platform ( Figure 1 The robot includes a base ( Figure 1 110 in the figure) and a robotic arm ( Figure 1 The base is mounted on the mobile platform, and the end of the robot arm is equipped with an end flange ( Figure 1 (Not shown). During the movement of the mobile platform, the trajectory planning device can make the robot perform corresponding actions by controlling the robotic arm. The mobile platform can be a robotic dog, an AGV cart, or a multi-degree-of-freedom mobile guide rail, etc., which is not limited here. At the same time, the trajectory planning method of the present application is executed by the trajectory planning device. The specific process can be found below. The trajectory planning device can be any control device such as a robot control cabinet, a computer, etc. For the sake of convenience, the trajectory planning device is described below as a robot control cabinet. In addition, the robotic arm of the present application can include 6 joint axes, or 4 joint axes, which is not limited here.

[0019] The present application establishes a flange coordinate system Flamge based on the end flange, establishes a base coordinate system Base based on the base of the robot, and establishes a platform coordinate system Vehicle based on the mobile platform.

[0020] See Figure 2 , the trajectory planning method of the robot in this application includes:

[0021] S110: Acquire a target scene.

[0022] Among them, the target scene is a scene in which the mobile platform and the robot work together. In different target scenes, the robot control cabinet controls the robot to perform different actions.

[0023] This application introduces three target scenarios:

[0024] In the first target scenario, the robotic arm is stable in space and does not change with the movement of the mobile platform, similar to the chicken head stabilization function of a camera. Since chicken head stabilization is the stabilization between a single axis and a sensor, and the robotic arm includes multiple joint axes and has multiple degrees of freedom, in order for the robotic arm to complete this application, this target scenario requires that the movement of the mobile platform does not change the movement of the robotic arm in the world. In other words, the end flange does not change with the movement of the mobile platform, and the end flange always remains stationary relative to the earth.

[0025] In the second target scenario, the robotic arm can follow the mobile platform's movement, but it cannot tilt or move up and down. To enable the robotic arm to complete this scenario, this target scenario requires the robotic arm to plan a trajectory that only moves horizontally during the mobile platform's motion.

[0026] In the third target scenario, the mobile platform performs irregular circular motion, requiring the robotic arm to rotate with it in the world while maintaining a fixed position. This is equivalent to a camera rotating to record a full circle (360 degrees). Since the cameras follow the motion with their own independent degrees of freedom, and the robotic arm includes multiple joint axes and multiple degrees of freedom, in order for the robotic arm to complete this scenario, this target scenario requires that the robotic arm's posture follow the rotation of the mobile platform while maintaining a fixed position.

[0027] It is understandable that the specific application scenario to be implemented is set by the user according to needs. Specifically, before starting the robot and the mobile platform, the user sets the target scenario according to needs on the robot control cabinet, so that the robot control cabinet obtains the target scenario.

[0028] S120: Determine whether the end flange changes with the movement of the mobile platform in the target scene.

[0029] If the determination result is that the end flange does not change with the movement of the mobile platform, step S130 is executed; otherwise, step S140 is executed.

[0030] S130: Obtain the first position of the flange coordinate system in the world coordinate system.

[0031] Specifically, if the end flange does not change with the movement of the mobile platform in the target scene, that is, the end flange is stationary in space, such as the target scene described in the first target scene, then the first position of the flange coordinate system in the world coordinate system is directly obtained. Since the flange coordinate system is established based on the end flange, the flange coordinate system and the world coordinate system are known, so any method can be used to directly obtain the first position of the flange coordinate system in the world coordinate system.

[0032] S140: Obtain the first pose of the flange coordinate system in the world coordinate system and the second pose of the flange coordinate system in the platform coordinate system, and determine the target pose according to the first target component in the first pose and the second target component in the second pose, and determine the target pose as the first pose of the flange coordinate system in the world coordinate system.

[0033] Specifically, if the end flange changes with the movement of the mobile platform, the first pose of the flange coordinate system in the world coordinate system and the second pose of the flange coordinate system in the platform coordinate system are obtained, and the target pose is determined based on the first target component in the first pose and the second target component in the second pose, and the target pose is determined as the first pose of the flange coordinate system in the world coordinate system. That is to say, in the subsequent process, the target pose is the first pose of the flange coordinate system in the world coordinate system.

[0034] Among them, neither the first target component nor the second target component will change with the movement of the mobile platform, so the target posture determined based on the first target component and the second target component will not change with the movement of the mobile platform.

[0035] Therefore, during the operation of the mobile platform, the first position determined in step S130 will not change with the movement of the mobile platform.

[0036] For the sake of convenience, the target pose is recorded as in, That is, the target pose is split, where T is the translation matrix, R is the rotation matrix, and R=R Z ×R Y ×R X , where X, Y, and Z are the position components in the X, Y, and Z directions respectively, and R Z 、R Y 、R X The matrices corresponding to the rotation angles around the Z, Y, and X axes are respectively. It can be understood that as long as the above X, Y, Z, R Z 、R Y 、R X, we can get the target pose. Therefore, we can think that after splitting the target pose, we can get the X, Y, Z, R Z 、R Y 、R X .

[0037] The first pose and the second pose can also be split in the same way as above: after splitting, the X, Y, Z, and R Z 、R Y 、R X , and get the X, Y, Z, R in the second pose Z 、R Y 、R X .

[0038] Among them, when the target scene is the second target scene mentioned above, the X, Y, and R in the target posture are Z Take the X, Y, and R in the second pose respectively Z , Z, R in the target pose Y 、R X Take Z and R in the first pose respectively Y 、R X .

[0039] That is to say, when the target scene is the second target scene mentioned above, the step of determining the target posture includes: determining the position components in the X and Y directions in the second posture as the components in the X and Y directions in the translation matrix respectively, and determining the position component in the Z direction in the first posture as the component in the Z direction in the translation matrix; multiplying the matrix corresponding to the rotation angle around the Z axis in the second posture, the matrix corresponding to the rotation angle around the Y axis in the first posture, and the matrix corresponding to the rotation angle around the X axis in sequence to obtain a rotation matrix.

[0040] From the above content, it can be seen that when the target scene is the second target scene mentioned above, the end flange only moves forward and backward with the mobile platform. Therefore, no matter how the mobile platform moves, the Z and R in the first pose are Y 、R X Unchanged, X, Y, R in the second pose Z Also does not change, so the target pose determined by the above scheme is also unchanged.

[0041] Among them, when the target scene is the third target scene mentioned above, the R Z Take R in the second pose Z , X, Y, Z, R in the target pose X 、R Y Take the X, Y, Z, R in the first pose X 、R Y .

[0042] That is to say, when the target scene is the third target scene mentioned above, the step of determining the target posture includes: determining the position components in the X, Y, and Z directions in the first posture as the components in the X, Y, and Z directions in the translation matrix respectively; multiplying the matrix corresponding to the rotation angle around the Z axis in the second posture, the matrix corresponding to the rotation angle around the Y axis in the first posture, and the matrix corresponding to the rotation angle around the X axis in sequence to obtain a rotation matrix.

[0043] From the above content, it can be seen that when the target scene is the third target scene mentioned above, the end flange only follows the change of the posture of the mobile platform and does not move. Therefore, no matter how the mobile platform moves, the X, Y, Z, and R in the first posture are Y 、R X unchanged, R in the second pose Z Also does not change, so the target pose determined by the above scheme is also unchanged.

[0044] S150: Obtain the third pose of the base coordinate system in the platform coordinate system.

[0045] Specifically, since the base is installed on the mobile platform, the third pose of the base coordinate system in the platform coordinate system is also fixed and will not change with the movement of the mobile platform.

[0046] S160: Obtain the fourth pose of the platform coordinate system in the world coordinate system.

[0047] Among them, the following three methods can be used to obtain the fourth pose of the platform coordinate system in the world coordinate system:

[0048] The first method is to set the movement of the mobile platform to be controlled by the robot control cabinet. At this time, the robot control cabinet can directly obtain the position and posture of the mobile platform in the world coordinate system, and thus determine the fourth position and posture of the platform coordinate system in the world coordinate system.

[0049] The second method: The mobile platform communicates with the robot control cabinet, so that the mobile platform sends its real-time position in the world coordinate system to the robot control cabinet, and then the robot obtains the fourth position of the platform coordinate system in the world coordinate system.

[0050] The third method: Install a target sensor on the base of the robot, and use the target sensor to obtain the position and posture of the robot base in the world coordinate system, that is, the position and posture of the base coordinate system in the world coordinate system. The position and posture of the base coordinate system in the platform coordinate system are known. Therefore, according to the position and posture of the base coordinate system in the world coordinate system and the position and posture of the base coordinate system in the platform coordinate system, the fourth position and posture of the platform coordinate system in the world coordinate system can be determined.

[0051] The target sensor may be an accelerometer, or may be other sensors, as long as the position and orientation of the base coordinate system in the world coordinate system can be determined based on the data measured by the target sensor.

[0052] The fourth posture of the platform coordinate system in the world coordinate system can be determined by any of the above methods, or other methods can be used for determination. This application does not limit the specific process of determining the fourth posture.

[0053] Among them, the fourth posture of the platform coordinate system in the world coordinate system can be obtained according to a preset period, so that the posture of the flange coordinate system in the base coordinate system at multiple moments can be determined subsequently. At the corresponding moment, the robot's robotic arm can be driven to move relative to the mobile platform, thereby realizing the collaborative operation of the mobile platform and the robot.

[0054] S170: Determine the posture of the flange coordinate system in the base coordinate system according to the first posture, the third posture, and the fourth posture.

[0055] Specifically, the first position of the final flange coordinate system in the world coordinate system is recorded as The third pose of the base coordinate system in the platform coordinate system The fourth pose of the platform coordinate system in the world coordinate system is recorded as The position and posture of the flange coordinate system in the base coordinate system is recorded as Then the following transformation equation can be established:

[0056]

[0057] Then, the following formula can be used to determine the position of the flange coordinate system in the base coordinate system:

[0058] S180: Control the robot's arm to move relative to the mobile platform based on the position of the flange coordinate system in the base coordinate system.

[0059] Specifically, after determining the position of the flange coordinate system in the base coordinate system, the axis positions of each joint axis of the robot can be determined through the inverse solution of the robot kinematics. Therefore, according to the axis positions of each joint axis of the robot, the robot's mechanical arm can be driven to move relative to the mobile platform, thereby realizing the collaborative operation of the mobile platform and the robot.

[0060] From the above content, it can be seen that this application uses different methods to determine the first pose of the flange coordinate system in the world coordinate system according to the target scene, and ensures that the first pose does not change with the movement of the mobile platform. Then, based on the first pose, the third pose of the base coordinate system in the platform coordinate system, and the fourth pose of the platform coordinate system in the world coordinate system, the pose of the flange coordinate system in the base coordinate system during the operation of the mobile platform can be determined, so that the robotic arm can be driven to move relative to the mobile platform according to the pose, and finally the collaborative operation of the robot and the mobile platform is realized.

[0061] See Figure 3 , Figure 3 It is a structural diagram of an embodiment of the trajectory planning device of the present application. The trajectory planning device 300 includes a processor 310, a memory 320 and a communication circuit 330. The processor 310 is coupled to the memory 320 and the communication circuit 330 respectively. The memory 320 stores program data. The processor 310 implements the steps in any of the above-mentioned implementation methods by executing the program data in the memory 320. The detailed steps can be found in the above-mentioned implementation and will not be repeated here.

[0062] The trajectory planning device 300 may be any device with algorithm processing capabilities, such as a computer and a robot control cabinet, and is not limited here.

[0063] See Figure 4 , Figure 4 It is a structural diagram of another embodiment of the trajectory planning device of the present application. The trajectory planning device 400 is used to plan the trajectory of a robot. The robot is installed on a mobile platform. The robot includes a base installed on the mobile platform and a robotic arm installed on the base. The end of the robotic arm is installed with an end flange. The trajectory planning device 400 includes an acquisition module 410, a posture module 420 and a control module 430 connected in sequence.

[0064] The acquisition module 410 is used to acquire the target scene.

[0065] The posture module 420 is used to obtain the first posture of the flange coordinate system in the world coordinate system in response to the end flange not changing with the movement of the mobile platform in the target scene; otherwise, obtain the first posture of the flange coordinate system in the world coordinate system and the second posture of the flange coordinate system in the platform coordinate system, and determine the target posture according to the first target component in the first posture and the second target component in the second posture, and determine the target posture as the first posture of the flange coordinate system in the world coordinate system; and obtain the third posture of the base coordinate system in the platform coordinate system; obtain the fourth posture of the platform coordinate system in the world coordinate system; and determine the posture of the flange coordinate system in the base coordinate system according to the first posture, the third posture and the fourth posture.

[0066] The control module 430 is used to control the movement of the robot's robotic arm relative to the mobile platform based on the position of the flange coordinate system in the base coordinate system; wherein, the first target component and the second target component will not change with the movement of the mobile platform, and the flange coordinate system is established based on the end flange, the base coordinate system is established based on the base of the robot, and the platform coordinate system is established based on the mobile platform.

[0067] The trajectory planning device 400 may be any device with algorithm processing capabilities, such as a computer or a robot control cabinet, without limitation. The trajectory planning device 400 executes the method steps of any of the above-mentioned embodiments during operation. The detailed method steps can be found in the above-mentioned related content and will not be repeated here.

[0068] See Figure 5 , Figure 5 The computer-readable storage medium 500 stores a computer program 510, which can be executed by a processor to implement the steps of any of the above methods.

[0069] Among them, the computer-readable storage medium 500 can specifically be a device that can store the computer program 510, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or it can also be a server that stores the computer program 510. The server can send the stored computer program 510 to other devices for execution, or it can also run the stored computer program 510 itself.

[0070] The above description is merely an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A robot trajectory planning method, characterized in that: The robot is mounted on a mobile platform, the robot comprising a base mounted on the mobile platform and a robotic arm mounted on the base, the end of the robotic arm being mounted with an end flange, and the method comprising: Get the target scene; In response to the end flange not changing with the movement of the mobile platform in the target scene, obtaining a first pose of the flange coordinate system in the world coordinate system; otherwise, obtaining a first pose of the flange coordinate system in the world coordinate system and a second pose of the flange coordinate system in the platform coordinate system, and determining a target pose according to a first target component in the first pose and a second target component in the second pose, and determining the target pose as the first pose of the flange coordinate system in the world coordinate system; Obtaining a third pose of the base coordinate system in the platform coordinate system; Obtaining a fourth pose of the platform coordinate system in the world coordinate system; Determining a posture of the flange coordinate system in the base coordinate system according to the first posture, the third posture, and the fourth posture; Controlling the movement of the robot arm relative to the mobile platform according to the position of the flange coordinate system in the base coordinate system; Wherein, neither the first target component nor the second target component changes with the movement of the mobile platform, and the flange coordinate system is established based on the end flange, the base coordinate system is established based on the base of the robot, and the platform coordinate system is established based on the mobile platform; The target pose includes a translation matrix and a rotation matrix; Wherein, when the target scene is that the robotic arm only translates during the movement of the mobile platform, the step of determining the target posture according to the first target component in the first posture and the second target component in the second posture includes: determining the position components in the X and Y directions of the second posture as the components in the X and Y directions of the translation matrix, respectively, and determining the position component in the Z direction of the first posture as the component in the Z direction of the translation matrix; multiplying the matrix corresponding to the rotation angle around the Z axis in the second posture, the matrix corresponding to the rotation angle around the Y axis in the first posture, and the matrix corresponding to the rotation angle around the X axis in sequence to obtain the rotation matrix; When the target scene is that the mobile platform rotates and the robotic arm follows the rotation but the position remains unchanged, the step of determining the target posture according to the first target component in the first posture and the second target component in the second posture includes: Determine the position components in the X, Y, and Z directions of the first posture as the components in the X, Y, and Z directions of the translation matrix respectively; The matrix corresponding to the rotation angle around the Z axis in the second posture, the matrix corresponding to the rotation angle around the Y axis in the first posture, and the matrix corresponding to the rotation angle around the X axis are multiplied in sequence to obtain the rotation matrix.

2. The method according to claim 1, characterized in that The step of determining the posture of the flange coordinate system in the base coordinate system according to the first posture, the third posture, and the fourth posture includes: The following formula is used to determine the position of the flange coordinate system in the base coordinate system: in, is the first posture, is the third posture, This is the fourth posture.

3. The method according to claim 1, characterized in that The step of obtaining the fourth pose of the platform coordinate system in the world coordinate system includes: Determining the position and orientation of the base coordinate system in the world coordinate system using a target sensor mounted on the base; The fourth posture of the platform coordinate system in the world coordinate system is determined according to the posture of the base coordinate system in the world coordinate system and the posture of the base coordinate system in the platform coordinate system.

4. The method according to claim 3, characterized in that The target sensor includes an accelerometer.

5. The method according to claim 1, wherein The step of obtaining the fourth pose of the platform coordinate system in the world coordinate system includes: Obtaining the real-time location sent by the mobile platform; The fourth posture of the platform coordinate system in the world coordinate system is determined according to the real-time position.

6. A trajectory planning device, characterized in that: The trajectory planning device is used to perform the steps in the method according to any one of claims 1 to 5, and the trajectory planning device is used to plan the trajectory of a robot, the robot is installed on a mobile platform, the robot includes a base installed on the mobile platform and a robotic arm installed on the base, the end of the robotic arm is installed with an end flange, and the trajectory planning device includes: Acquisition module, used to acquire the target scene; a posture module connected to the acquisition module, and configured to, in response to the end flange not changing with the movement of the mobile platform in the target scene, acquire a first posture of the flange coordinate system in the world coordinate system; otherwise, acquire a first posture of the flange coordinate system in the world coordinate system and a second posture of the flange coordinate system in the platform coordinate system, and determine a target posture according to a first target component in the first posture and a second target component in the second posture, and determine the target posture as the first posture of the flange coordinate system in the world coordinate system; and acquire a third posture of the base coordinate system in the platform coordinate system; acquire a fourth posture of the platform coordinate system in the world coordinate system; and determine the posture of the flange coordinate system in the base coordinate system according to the first posture, the third posture and the fourth posture; a control module, connected to the posture module, for controlling the movement of the robot's mechanical arm relative to the mobile platform according to the posture of the flange coordinate system in the base coordinate system; Among them, neither the first target component nor the second target component will change with the movement of the mobile platform, and the flange coordinate system is established based on the end flange, the base coordinate system is established based on the base of the robot, and the platform coordinate system is established based on the mobile platform.

7. A trajectory planning device, characterized in that: The trajectory planning device includes a processor, a memory and a communication circuit, the processor is coupled to the memory and the communication circuit respectively, the memory stores program data, and the processor implements the steps in the method according to any one of claims 1 to 5 by executing the program data in the memory.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps in the method according to any one of claims 1 to 5.

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