Method, device and equipment for generating chassis stop points in composite robot operation

Abstract

The present application relates to a method, device and equipment for generating chassis stop points in compound robot operations, the method comprising: obtaining a location area where the compound robot's operation object is located; determining a set of candidate chassis stop points of the compound robot based on the location area; determining the coverage rate, operation time and operability of the compound robot when it is located at each of the initial candidate stop points; and determining a target stop point for the compound robot to complete the operation on the operation object based on at least one condition of the coverage rate, operation time and operability of each of the initial candidate stop points, thereby improving the deployment efficiency of the compound robot's chassis stop points.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method, device, computer equipment, and storage medium for generating chassis stop points in composite robot operations. Background Art

[0002] With the development of robotics technology, the safety, simplicity of operation and flexibility of robots have been continuously improved, and their advantages have been fully utilized. They have been applied in more and more fields, including welding, unmanned retail, assembly, logistics, medical care, education, etc.

[0003] A hybrid robot is a type of mobile robot that possesses both mobility and manipulation capabilities. Motion is achieved through the robot's chassis, while manipulation is performed through its robotic arm. To complete a task, a hybrid robot must first plan the chassis's docking points, then determine the position of the robotic arm, and finally independently control both the chassis and the robotic arm.

[0004] Currently, the main method for determining the robot chassis' docking points is manual marking. Specifically, when deploying docking points, operators manually determine a location based on their experience. The feasibility of the docking point is then verified through actual field verification. This method requires multiple adjustments and verifications, resulting in long deployment times and low efficiency. Summary of the Invention

[0005] Based on this, the purpose of this application is to provide a method, device, computer equipment and storage medium for generating chassis stop points in composite robot operations, which can improve the deployment efficiency of robot chassis stop points.

[0006] According to a first aspect of an embodiment of the present application, a method for generating a chassis stop point in a composite robot operation is provided, comprising the following steps:

[0007] Obtain the location area of ​​the composite robot's work object;

[0008] Determining a chassis candidate stop point set of the composite robot according to the position area; the candidate stop point set includes a plurality of initial candidate stop points;

[0009] Determining the reachable area of ​​the manipulator end of the composite robot on the surface of the work object and the area of ​​the surface of the work object when the composite robot is located at each of the initial candidate docking points, and determining the coverage rate of the composite robot when it is located at each of the initial candidate docking points;

[0010] and / or determining the operation time of the end of the manipulator arm performing the operation on the surface of the work object when the composite robot is located at each of the initial candidate docking points;

[0011] and / or determining the joint angle of the corresponding manipulator arm when the manipulator end performs operation on the surface of the work object when the composite robot is located at each of the initial candidate docking points, and determining the degree of manipulatory power of the composite robot when the composite robot is located at each of the initial candidate docking points;

[0012] The target stop point for the compound robot to complete the operation on the operation object is determined according to at least one condition of the coverage rate, operation time and operation degree of each of the initial candidate stop points.

[0013] According to a second aspect of an embodiment of the present application, a device for generating a chassis stop point in a composite robot operation is provided, comprising:

[0014] A location area acquisition module is used to obtain the location area where the working object of the composite robot is located;

[0015] A stop point set determination module is used to determine a chassis candidate stop point set of the composite robot according to the position area; the candidate stop point set includes a plurality of initial candidate stop points;

[0016] a coverage determination module, configured to determine the area of ​​a reachable region of the manipulator end of the composite robot on the surface of the work object and the area of ​​the surface of the work object when the composite robot is located at each of the initial candidate stop points, and determine the coverage rate of the composite robot when the composite robot is located at each of the initial candidate stop points;

[0017] an operation time determination module, configured to determine the operation time for the end of the manipulator to operate on the surface of the work object when the composite robot is located at each of the initial candidate docking points;

[0018] an operability determination module, configured to determine and / or determine the joint angle of the corresponding manipulator arm when the manipulator end performs operation on the surface of the work object when the composite robot is located at each of the initial candidate docking points, and determine the operability of the composite robot when the composite robot is located at each of the initial candidate docking points;

[0019] The target stop point determination module is used to determine the target stop point for the composite robot to complete the operation on the operation object based on at least one condition of the coverage rate, operation time and operation degree of each of the initial candidate stop points.

[0020] According to a third aspect of an embodiment of the present application, a computer device is provided, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executed by the method for generating a chassis stop point in a composite robot operation as described in any one of the above items.

[0021] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for generating a chassis stop point in a composite robot operation as described in any one of the above items is implemented.

[0022] The embodiment of the present application obtains the location area where the working object of the composite robot is located; determines the chassis candidate stop point set of the composite robot according to the location area; the candidate stop point set includes several initial candidate stop points; determines the reachable area of ​​the end of the manipulator arm of the composite robot on the surface of the working object and the area of ​​the surface of the working object when the composite robot is located at each of the initial candidate stop points, determines the coverage rate of the composite robot when it is located at each of the initial candidate stop points; and / or determines the operation time of the end of the manipulator arm on the surface of the working object when the composite robot is located at each of the initial candidate stop points; and / or determines the joint angle of the corresponding manipulator arm when the end of the manipulator arm is operating on the surface of the working object when the composite robot is located at each of the initial candidate stop points, determines the manipulator degree of the composite robot when it is located at each of the initial candidate stop points; determines the target stop point of the composite robot to complete the operation on the working object according to at least one condition of the coverage rate, operation time and manipulator degree of each of the initial candidate stop points. The present application does not require manual determination of the composite robot chassis stop points, thereby improving the deployment efficiency of the composite robot chassis stop points.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

[0024] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A flowchart of a method for generating a chassis stop point in a composite robot operation provided by one embodiment of the present application;

[0026] Figure 2 A schematic flow chart of step S20 in a method for generating a chassis stop point in a composite robot operation provided in one embodiment of the present application;

[0027] Figure 3 A schematic flow chart of step S60 in a method for generating a chassis stop point in a composite robot operation according to one embodiment of the present application;

[0028] Figure 4 A schematic flow chart of step S61 in a method for generating a chassis stop point in a composite robot operation provided in one embodiment of the present application;

[0029] Figure 5 A schematic flow chart of step S62 in a method for generating a chassis stop point in a composite robot operation according to one embodiment of the present application;

[0030] Figure 6 A flowchart of step S63 of a method for generating a chassis stop point in a composite robot operation provided by one embodiment of the present application;

[0031] Figure 7 A flowchart of step S64 of a method for generating a chassis stop point in a composite robot operation provided by one embodiment of the present application;

[0032] Figure 8 A flowchart of step S67 of a method for generating a chassis stop point in a composite robot operation provided by one embodiment of the present application;

[0033] Figure 9 A structural block diagram of a device for generating a chassis stop point in a composite robot operation provided by one embodiment of the present application;

[0034] Figure 10 A schematic block diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0036] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0037] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the embodiments of the present application. The singular forms "a," "the," and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0038] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0039] In addition, in this application, unless otherwise specified, "plurality" refers to two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0040] In order to better understand the technical solution of this application, some composite robots in the technology are briefly introduced here.

[0041] A composite robot consists of a robot chassis, a robot base, and a robotic arm. The robot chassis can dock or move within the work environment. The robot base is mounted on the robot chassis, and the robotic arm is mounted on the robot base. The robotic arm includes multiple joints, which are devices that connect two components. The connection is not fixed but allows for limited relative motion. Optionally, motion can include rotation and translation. The robotic arm achieves its own movement by controlling the movement of the joints. The end of the robotic arm, that is, the end of the most distal joint, is used to interact with the environment, for example, to wipe or spray the work object.

[0042] The hybrid robot also includes one or more processors; the processors can be used to control the end of the robotic arm to move along a preset working path toward the work object based on the robot control signal. Optionally, the processors can execute the collision detection method of the present application and, based on the obstacle detection results, control the robot chassis to move around obstacles during the operation.

[0043] Optionally, the processor can be built into the composite robot and function as a whole with the composite robot; the processor can also be placed externally within the composite robot to independently control the movement of the composite robot. Optionally, the processor can also simply execute the method for generating a chassis stop point during composite robot operation. That is, the method for generating a chassis stop point during composite robot operation of the present application can also be executed by other processing centers connected to the processor. The other processing centers transmit the obtained method for generating a chassis stop point during composite robot operation to the processor, which further executes and controls the composite robot to operate at the target stop point.

[0044] Example 1

[0045] See also Figure 1 , which is a flow chart of a method for generating a chassis stop point in a composite robot operation provided by an embodiment of the present application. The method for generating a chassis stop point in a composite robot operation provided by an embodiment of the present application comprises the following steps:

[0046] S10: Obtain the location area where the working object of the composite robot is located.

[0047] In the embodiment of the present application, the operation object is the target object that the composite robot needs to operate when performing the operation task. For example, for a cleaning task, the operation object is the target object to be cleaned, such as a table, a sink, and a toilet.

[0048] The location area is a specific area of ​​a plane occupied by the work object. This area can be obtained by capturing an image of the environment captured by a camera. This image includes the work object's location area and its surrounding area. Alternatively, the location area can be obtained by collecting point cloud data of the work object's environment using a LiDAR sensor.

[0049] S20: Determine a set of candidate stopping points for the chassis of the composite robot according to the location area; the set of candidate stopping points includes a number of initial candidate stopping points.

[0050] In an embodiment of the present application, a set of candidate stopping points for the chassis of the composite robot can be determined in the surrounding area of ​​the position area. Specifically, the position area can be expanded outward by a preset distance along a specific direction, or the position area can be expanded outward by preset distances along multiple specific directions to obtain an expanded position area. The expanded position area includes the position area and the surrounding area of ​​the position area. For example, if the position area is a rectangular area, the rectangular area can be extended outward by a preset distance along the diagonal direction of the rectangle to obtain the expanded position area, or the rectangular area can be extended outward by a preset distance along the length direction and the width direction to obtain the expanded position area. For example, if the position area is a circular area, the circular area can be extended outward by a preset distance along the radial direction to obtain the expanded position area.

[0051] Several position points can be randomly selected from the expanded position area as the initial candidate stopping points of the composite robot chassis, or the expanded position area can be divided according to a preset resolution to obtain several sub-areas, and a position point is selected from each sub-area as the initial candidate stopping point of the composite robot chassis, thereby obtaining a set of candidate stopping points of the composite robot chassis.

[0052] Optionally, after obtaining the candidate stop point set of the composite robot chassis, collision detection is also performed on each initial candidate stop point. That is, the composite robot chassis occupies a certain spatial area. When the composite robot chassis is located at the current initial candidate stop point, it is detected whether the spatial area where the composite robot chassis is located overlaps with the spatial area where the work object is located. If so, it means that the composite robot chassis collides with the work object, and the current initial candidate stop point is deleted from the candidate stop point set, thereby improving the selection accuracy of the initial candidate stop point.

[0053] S30: Determine the reachable area of ​​the end of the manipulator arm of the composite robot on the surface of the work object and the area of ​​the surface of the work object when the composite robot is located at each initial candidate stop point, and determine the coverage rate of the composite robot when it is located at each initial candidate stop point.

[0054] In an embodiment of the present application, after obtaining a set of candidate stop points for the composite robot chassis, each initial candidate stop point in the candidate stop point set can be numbered, for example, numbered Z1, Z2, ..., Zn. The reachable area is the area where the end of the manipulator can operate on the surface of the work object when the composite robot chassis is located at the initial candidate stop point. Based on the ratio of the area of ​​the reachable area to the area of ​​the surface of the work object, the coverage rate of the composite robot when it is located at each initial candidate stop point is obtained, and the advantages and disadvantages of different initial candidate stop points can be evaluated based on the coverage rate. Specifically, the greater the coverage rate, the better the effect of the composite robot chassis operating at the initial candidate stop point.

[0055] S40: Determine the operation time of the end of the manipulator arm performing the operation on the surface of the work object when the composite robot is located at each initial candidate stop point.

[0056] In the embodiment of the present application, the operation time of the end of the robot arm performing the operation on the surface of the work object is the time required for the end of the robot arm to complete the operation in the accessible area.

[0057] S50: Determine the joint angle of the corresponding manipulator arm when the manipulator end operates on the surface of the work object when the composite robot is located at each initial candidate stop point, and determine the manipulator degree when the composite robot is located at each initial candidate stop point.

[0058] In an embodiment of the present application, the end of the manipulator has a position and posture. According to the position and posture of the manipulator and the inverse kinematics model of the manipulator, the joint angle of the manipulator can be solved. Taking a six-axis compound robot as an example, the position and posture of the end of a manipulator can correspond to solving up to 8 sets of joint angles, each set of joint angles includes 6 joint angles, that is, the spatial rotation angles of the 6 joint axes in the six-axis compound robot. Manipulation degree can be understood as the flexibility of the compound robot during operation, which refers to the number of postures that the end of the compound robot can take at a certain position in space. The degree of manipulation can be measured by the joint angle of the manipulator. Specifically, when the chassis of the compound robot is located at different initial candidate docking points, the joint angles of the manipulator are different when the end of the manipulator operates at different positions on the surface of the work object. These joint angles are obtained to determine the manipulator degree when the compound robot is located at each initial candidate docking point.

[0059] S60: Determine a target stop point for the composite robot to complete the operation on the operation object based on at least one of the coverage rate, operation time, and operability of each initial candidate stop point.

[0060] In an embodiment of the present application, an initial candidate stop point with a high coverage rate can be directly selected as the target stop point for the composite robot to complete the operation on the work object. An initial candidate stop point with a short operation time can also be selected as the target stop point for the composite robot to complete the operation on the work object. An initial candidate stop point with a high degree of operability can also be selected as the target stop point for the composite robot to complete the operation on the work object. Specifically, all initial candidate stop points are sorted by coverage rate, operation time, and operability. For example, the coverage rate is sorted from high to low, the operation time is sorted from low to high, and the operability is sorted from high to low. Several initial candidate stop points with a high coverage rate, a high operation time, or a high operability are selected as the target stop points for the composite robot to complete the operation on the work object. Alternatively, a preset number of initial candidate stop points can be selected from the candidate stop point set. For example, four candidate stop points numbered Z1, Z2, Z3, and Z4 are selected as the initial candidate stop points. Based on the coverage rate, operation time and operability of each initial candidate stop point, the total coverage rate, total operation time and total operation degree of a preset number of initial candidate stops are determined, and the preset number of initial candidate stops with large total coverage rate, short total operation time and large total operation degree are used as the target stops for the composite robot to complete the operation on the work object.

[0061] In the embodiment of the present application, the location area of ​​the composite robot's work object is obtained; a set of candidate stopping points for the composite robot's chassis is determined based on the location area; the candidate stopping point set includes several initial candidate stopping points; the reachable area of ​​the composite robot's manipulator end on the surface of the work object and the area of ​​the work object surface are determined when the composite robot is located at each initial candidate stopping point, and the coverage rate of the composite robot when it is located at each initial candidate stopping point is determined; and / or the operation time of the manipulator end performing the operation on the surface of the work object is determined when the composite robot is located at each initial candidate stopping point; and / or the joint angle of the corresponding manipulator end when the manipulator end performs the operation on the surface of the work object is determined when the composite robot is located at each initial candidate stopping point; and the target stopping point for the composite robot to complete the operation on the work object is determined based on at least one condition of the coverage rate, operation time and operation degree of each initial candidate stopping point. The present application does not require manual determination of the composite robot chassis stopping points, thereby improving the efficiency of the composite robot chassis stopping point deployment.

[0062] In an alternative embodiment, see Figure 2 Step S20 includes steps S21 to S23, which are specifically as follows:

[0063] S21: Extending the location area horizontally by a preset first distance on both sides and vertically by a preset second distance on both sides to obtain an expanded location area;

[0064] S22: discretizing the expanded location area according to a preset resolution to obtain a plurality of discrete points;

[0065] S23: Taking a number of discrete points as candidate stop points of the composite robot, and obtaining a set of candidate stop points of the chassis of the composite robot.

[0066] In the embodiment of the present application, the position area is described as a rectangular area, and the expanded position area is also a rectangular area. The coordinates of the upper right corner of the expanded position area (x low ,y low ) and the lower left corner coordinate (x upp ,y upp ), the preset resolution along the horizontal direction is δ x , the preset resolution along the vertical direction is δ y , then the coordinates of several discrete points are expressed as:

[0067]

[0068] Among them, i=0,1,2,...,i max , j = 0, 1, 2, ..., j max ,and

[0069] Optionally, the candidate docking points of the composite robot include not only the position but also the posture, which is represented by the yaw angle. The resolution of the posture can be set to 90°, and the yaw angle of each candidate docking point can be one of 0°, 90°, 180°, and 270°.

[0070] By expanding the location area and discretizing the expanded location area according to a preset resolution, a set of candidate stop points can be automatically and quickly obtained.

[0071] In an optional embodiment, step S60 includes step S601, which is specifically as follows:

[0072] S601: Determine the target stop point for the composite robot to complete the operation on the operation object based on the coverage rate, operation time and operability of each initial candidate stop point.

[0073] In an embodiment of the present application, initial candidate docking points with high coverage, short operation time, and high operability can be directly selected as target docking points for the composite robot to complete the operation on the work object. Specifically, all initial candidate docking points are sorted by coverage, operation time, and operability, for example, from highest to lowest coverage, from lowest to highest operation time, and from highest to lowest operability. Several initial candidate docking points with the highest coverage, operation time, and operability rankings are selected as target docking points for the composite robot to complete the operation on the work object, thereby improving the accuracy of target docking point selection.

[0074] In an alternative embodiment, see Figure 3 Step S60 includes steps S61 to S64, which are specifically as follows:

[0075] S61: traverse a preset number of initial candidate stop points in the candidate stop point set, and determine the total coverage rate of the composite robot at the preset number of initial candidate stop points based on the coverage rate when the composite robot is located at each initial candidate stop point.

[0076] In an embodiment of the present application, the coverage rate of the composite robot when it is located at each initial candidate stop point is summed, and the sum result is used as the total coverage rate of the composite robot at a preset number of initial candidate stop points.

[0077] S62: Determine the total operating time of the compound robot at a preset number of initial candidate stop points based on the operating time of the compound robot at each initial candidate stop point and the time it takes for the compound robot to move between each candidate stop point.

[0078] In an embodiment of the present application, the operating time of the composite robot when it is located at each initial candidate stop point and the time the composite robot takes to move between each candidate stop point are summed, and the sum result is used as the total operating time of the composite robot when it is located at a preset number of initial candidate stop points.

[0079] S63: Determine the total operability of the compound robot at a preset number of initial candidate stop points based on the operability of the compound robot when the compound robot is located at each initial candidate stop point.

[0080] In the embodiment of the present application, the maneuverability of the composite robot when it is located at each initial candidate stop point is summed, and the summed result is used as the total maneuverability of the composite robot when it is located at a preset number of initial candidate stop points.

[0081] S64: Determine the target stop point for the composite robot to complete the operation on the operation object based on the total coverage rate, total operation time and total operation degree of a preset number of initial candidate stop points.

[0082] In an embodiment of the present application, a preset number of initial candidate stop points corresponding to the maximum total coverage, the minimum total operation time, and the maximum total operability can be used as the target stop points for the composite robot to complete the operation on the work object. Specifically, all initial candidate stop points in the candidate stop point set are divided into several groups. For example, if the candidate stop point set includes 1000 initial candidate stop points and the preset number is 5, then it is divided into 200 groups. The corresponding total coverage of the 200 groups is sorted from large to small, the total operation time is sorted from small to large, and the total operability is sorted from large to small. The initial candidate stop points in the top-ranked group are used as the target stop points for the composite robot to complete the operation on the work object.

[0083] The target stop point for the composite robot to complete the operation on the work object is determined by the total coverage rate, total operation time and total operation degree of a preset number of initial candidate stop points. There is no need to manually determine the stop point of the composite robot chassis, which improves the deployment efficiency of the composite robot chassis stop point.

[0084] In an alternative embodiment, see Figure 4 Step S61 includes steps S611 to S617, which are specifically as follows:

[0085] S611: Discrete the surface of the work object into a number of small circular surfaces;

[0086] In the embodiment of the present application, a local small circular surface can be constructed in three-dimensional space to approximate the surface of the work object. The construction process is as follows:

[0087] Step A: Obtain the point cloud data of the work object, divide the point cloud area of ​​the work object into multiple small cubes at equal intervals, called voxels, set the voxel side length to δ, and count the number of point clouds falling into each small cube and the corresponding point cloud coordinates;

[0088] Step B: Set a threshold o, which represents the minimum number of point clouds in each cube. Ignore the small cubes with less than o point clouds, and perform the following operations on the small cubes with more than o point clouds in the point cloud area:

[0089] Step a: Randomly sample a point cloud p in a small cube j , and point cloud p j As the center, search within 26 voxels around the voxel with a distance of p j Less than Point cloud, all the point clouds that meet the requirements are combined to form a point cloud group PG j ={p i}, i={1,...,n j};

[0090] Step b: Calculate the center of the point cloud group

[0091] Step c: Transform all point clouds in the point cloud group, subtract the center coordinates, and obtain the matrix

[0092] Step d: Construct the covariance matrix

[0093] Step e: Perform eigenvalue decomposition on the covariance matrix C so that V -1 CV = D, where D is a diagonal matrix with eigenvalues ​​as diagonals, and V is a matrix with eigenvectors corresponding to the eigenvalues ​​as columns;

[0094] Step f: Determine whether the difference between the minimum eigenvalue and the maximum eigenvalue of C is significant. If so, take the eigenvector corresponding to the minimum eigenvalue as the normal vector, take the center of the point cloud group obtained in step b as the center, and Construct a small circular surface for the radius. This small circular surface is an approximation of the work object within the voxel range. If the maximum eigenvalue and the minimum eigenvalue are not significantly different, jump to step a.

[0095] S612: Selecting a preset number of initial candidate docking points from the candidate docking point set, traversing each initial candidate docking point and each small circular surface, and determining the position of the manipulator end relative to the world coordinate system when the composite robot is located at the current initial candidate docking point based on the geometric center and normal vector of the current small circular surface;

[0096] S613: Determine the posture of the end of the manipulator relative to the base of the composite robot according to the posture of the end of the manipulator relative to the world coordinate system, the posture of the composite robot base relative to the composite robot chassis, and the posture of the composite robot chassis relative to the world coordinate system.

[0097] In the embodiment of the present application, the position of the end of the robot arm relative to the world coordinate system is expressed as The pose of the composite robot base relative to the composite robot chassis is expressed as The pose of the composite robot chassis relative to the world coordinate system is expressed as The pose of the end of the manipulator relative to the base of the composite robot is expressed as According to the relationship satisfied by the posture:

[0098]

[0099] You can get:

[0100] S614: Inputting the position of the end of the manipulator arm relative to the base of the composite robot into the inverse dynamics solution model. If there is an invertible solution for the joint angle of the manipulator arm, determining the current small circular surface as the reachable area of ​​the end of the manipulator arm on the surface of the work object;

[0101] S615: Repeat traversing each initial candidate stop point and each small circular surface until the number of all small circular surfaces that the end of the robot arm can reach on the surface of the work object is determined.

[0102] In the embodiment of the present application, the above steps S612 to S614 are repeated for each initial candidate stop point, thereby obtaining the corresponding number of reachable small circular surfaces.

[0103] S616: Calculate the ratio of the sum of the areas of all small circular surfaces reachable from each initial candidate stop point to the sum of the areas of the multiple small circular surfaces as the coverage rate of the composite robot when it is located at each initial candidate stop point;

[0104] S617: Sum the coverage rate of each initial candidate stop point to obtain the total coverage rate.

[0105] In the embodiment of the present application, the total coverage is expressed as:

[0106]

[0107] Among them, z k represents the kth initial candidate stop, N(z k ) represents the number of small circular surfaces that the composite robot chassis can reach when it is located at the kth initial candidate stop point, m represents the number of initial candidate stop points, and S represents the area of ​​the work object surface, which can be understood as the sum of the areas of several small circular surfaces discretized from the work object surface. k The ratio of ) to S represents the coverage rate of the composite robot when it is located at the kth initial candidate docking point.

[0108] In an alternative embodiment, see Figure 5 Step S62 includes steps S621 to S623, which are specifically as follows:

[0109] S621: Obtain the number of all small circular surfaces that the end of the manipulator arm can reach on the surface of the work object and the average movement speed of the end of the manipulator arm when the composite robot is located at each initial candidate docking point;

[0110] S622: The product of the number of all reachable small circular surfaces corresponding to each initial candidate stop point, the diameter of each small circular surface, and the reciprocal of the average moving speed is used as the operation time at each initial candidate stop point;

[0111] S623: Sum the operation time at each initial candidate stop point and the time it takes the composite robot to move between a preset number of initial candidate stop points to obtain the total operation time.

[0112] In the embodiment of the present application, the total operation time is expressed as:

[0113]

[0114] in, Represents the diameter of each small circular surface, v represents the average movement speed of the end of the robot arm when operating on the surface of the work object, and t represents the time it takes for the composite robot to move between two adjacent initial candidate stopping points. It represents the operation time of the composite robot when it is located at the kth initial candidate stop point.

[0115] In an alternative embodiment, see Figure 6 Step S63 includes steps S631 to S634, which are specifically as follows:

[0116] S631: Obtaining the joint angle of the manipulator arm corresponding to each reachable small circular surface when the manipulator end performs operations on all reachable small circular surfaces on the surface of the work object when the composite robot is located at each initial candidate docking point;

[0117] S632: Calculate the determinant of the corresponding Jacobian matrix according to the joint angles of the robotic arm;

[0118] S633: taking the sum of the determinants of all Jacobian matrices corresponding to each initial candidate stop point as the operation degree of each initial candidate stop point;

[0119] S634: The sum of the corresponding operation degrees of each initial candidate stop point is taken as the total operation degree.

[0120] In the embodiment of the present application, the total operation degree is expressed as:

[0121]

[0122]

[0123] Among them, q kj It represents the joint angle of the manipulator arm when the composite robot chassis reaches the small circle j at the kth initial candidate stop point, J(q kj ) represents the joint angle q kj The corresponding Jacobian matrix, W(q kj ) represents the joint angle q kj The determinant of the corresponding Jacobian matrix. It represents the maneuverability of the composite robot when it is located at the kth initial candidate docking point.

[0124] In an alternative embodiment, see Figure 7 Step S64 includes steps S65 to S67, which are specifically as follows:

[0125] S65: Establish a target optimization function with the goals of maximizing the total coverage, minimizing the total operation time, and maximizing the total operation degree.

[0126] S66: Solve the target optimization function using a multi-objective solution algorithm, and determine a preset number of optimal candidate stop points from the traversed initial candidate stop points.

[0127] There are weighted methods, ε-constraint methods and genetic algorithms for solving multi-objective optimization problems. In an embodiment of the present application, solving the target optimization function is a multi-objective optimization problem, and a non-dominated sort genetic algorithm (NSGA II) is used to solve the target optimization function, thereby obtaining a set of Pareto front optimal solutions, that is, a preset number of optimal candidate stops. For example, there are 1000 initial candidate stops in the candidate stop point set, and finally 4 initial candidate stops are solved. The total coverage, total operation time and total operation degree of these 4 initial candidate stops are the best among the 1000 initial candidate stops, that is, the total coverage is the largest, the total operation time is the smallest and the total operation degree is the largest. These 4 initial candidate stops are used as the optimal candidate stops.

[0128] S67: Determine a target stop point for the composite robot to complete the operation on the operation object based on a preset number of optimal candidate stop points.

[0129] In an embodiment of the present application, a preset number of optimal candidate stop points can be directly used as the target stop points for the composite robot to complete the operation on the work object, or a geometric area can be expanded outward with each optimal candidate stop point as the center, and the target stop point for the composite robot to complete the operation on the work object can be determined from the geometric area.

[0130] In an alternative embodiment, see Figure 8 Step S67 includes steps S671 to S674, which are specifically as follows:

[0131] S671: Determine a plurality of operation paths for the end of the manipulator arm of the composite composite robot to operate on the operation object, so that the end of the manipulator arm operates on the operation object along each operation path; each operation path includes a plurality of path points.

[0132] In the embodiments of the present application, multiple paths for the work object can be obtained through an overlay path planning algorithm, including methods such as ox-ploughing and slicing. Each path consists of a series of path points, which ensure the continuity of posture and position to ensure that it can be executed by the end-arm.

[0133] S672: Traverse a preset number of optimal candidate stop points, establish a stop point search area with the current optimal candidate stop point as the center according to a preset length and a preset width; the stop point search area includes a number of candidate stop points.

[0134] In the embodiment of the present application, the stop point search area may be a rectangular area that includes a portion of the candidate stop points in the candidate stop point set.

[0135] S673: Traverse each candidate stop point in the stop point search area, and determine the number of path points that can be reached by the end of the robotic arm when the composite robot is located at the current candidate stop point while operating along each operation path. If the ratio of the number of reachable path points to the total number of path points of each operation path is greater than a preset threshold, the current candidate stop point is used as the target stop point.

[0136] S674: Repeat the process of traversing each candidate stop point in the stop point search area corresponding to a preset number of optimal candidate stop points until all target stop points are determined.

[0137] In this embodiment of the present application, the candidate docking points in the docking point search area are further screened. Specifically, for example, if there are four operating paths and the preset threshold is 0.4, for a candidate docking point in the docking point search area, if the ratio of the number of path points that the end-arm can reach when operating along each operating path to the total number of path points in each operating path is greater than 0.4 at that candidate docking point, then the candidate docking point is considered to be a target docking point.

[0138] Optionally, when the sum of the ratios of the number of path points that the end of the robotic arm can reach when operating along each operating path to the total number of path points of each operating path is greater than a preset threshold, the candidate stop point is considered to be a target stop point.

[0139] In one embodiment, the method for generating a chassis stop point during composite robot operation further includes steps S70 to S73, which are specifically as follows:

[0140] S70: traverse each stop point search area, and calculate the average value and covariance based on the position and posture of all target stop points in the current stop point search area;

[0141] S71: Fit a Gaussian distribution based on the mean and covariance;

[0142] S72: Taking the center point of the Gaussian distribution as the actual deployed stop point of the composite robot, and determining the confidence interval of the actual deployed stop point through the Gaussian distribution.

[0143] S73: Repeatedly traverse each docking point search area to determine the confidence intervals of all actually deployed docking points of the composite robot.

[0144] In an embodiment of the present application, by fitting the positions of all target docking points in each docking point search area into a Gaussian distribution, the error actually allowed for the composite robot chassis at the actually deployed docking point can be automatically and quickly evaluated. For example, if the chassis deviates from the actually deployed docking point by 5 cm, the probability is still 95%, indicating that even if the chassis deviates from the actually deployed docking point by 5 cm, there is still a 95% coverage rate.

[0145] Example 2

[0146] The following is an embodiment of the device of the present application, which can be used to execute the content of the method in Example 1 of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the content of the method in Example 1 of the present application.

[0147] See Figure 9 , which shows a schematic structural diagram of a device for generating a chassis stop point in a composite robot operation according to an embodiment of the present application. The device 9 for generating a chassis stop point in a composite robot operation according to an embodiment of the present application comprises:

[0148] A location area acquisition module 91 is used to acquire the location area where the working object of the composite robot is located;

[0149] The docking point set determination module 92 is used to determine a set of candidate docking points for the chassis of the composite robot according to the location area; the candidate docking point set includes a number of initial candidate docking points;

[0150] a coverage determination module 93 for determining the reachable area of ​​the manipulator end of the composite robot on the surface of the work object and the area of ​​the work object surface when the composite robot is located at each initial candidate stop point, and determining the coverage rate of the composite robot when the composite robot is located at each initial candidate stop point;

[0151] an operation time determination module 94 for determining the operation time for the end arm of the composite robot to operate on the surface of the work object when the composite robot is located at each initial candidate stop point;

[0152] an operability determination module 95 for determining and / or determining the joint angles of the corresponding manipulator arms when the manipulator end performs operations on the surface of the work object when the composite robot is located at each initial candidate stop point, and determining the operability of the composite robot when the composite robot is located at each initial candidate stop point;

[0153] The target stop point determination module 96 is used to determine the target stop point for the composite robot to complete the operation on the operation object based on at least one condition of the coverage rate, operation time and operation degree of each initial candidate stop point.

[0154] Optionally, the stop point set determination module 92 includes:

[0155] a location area expansion unit, configured to extend the location area horizontally to the left and right sides by a preset first distance, and vertically to the top and bottom sides by a preset second distance, to obtain an expanded location area;

[0156] A discrete point obtaining unit, configured to discretize the expanded position area according to a preset resolution to obtain a plurality of discrete points;

[0157] The stop point set obtaining unit is used to take a number of discrete points as candidate stop points of the composite robot and obtain a chassis candidate stop point set of the composite robot.

[0158] Optionally, the target stop point determination module 96 includes:

[0159] The target stop point determination unit is used to determine the target stop point for the composite robot to complete the operation on the operation object based on the coverage rate, operation time and operation degree of each initial candidate stop point.

[0160] Optionally, the target stop point determination module 96 includes:

[0161] a total coverage rate determining unit, configured to traverse a preset number of initial candidate stop points in the candidate stop point set, and determine a total coverage rate of the composite robot at the preset number of initial candidate stop points based on the coverage rate of the composite robot when the composite robot is located at each initial candidate stop point;

[0162] a total operation time determination unit, configured to determine a total operation time of the composite robot at a preset number of initial candidate stop points based on an operation time of the composite robot at each initial candidate stop point and a time for the composite robot to move between each candidate stop point;

[0163] a total maneuverability determining unit, configured to determine a total maneuverability of the composite robot when it is located at a preset number of initial candidate stopping points based on the maneuverability of the composite robot when it is located at each initial candidate stopping point;

[0164] The target stop point determination unit is used to determine the target stop point for the composite robot to complete the operation on the operation object based on the total coverage rate, total operation time and total operation degree of a preset number of initial candidate stop points.

[0165] Optionally, the target stop point determination unit includes:

[0166] A target optimization function establishment unit is used to establish a target optimization function with the goals of maximizing the total coverage rate, minimizing the total operation time, and maximizing the total operation degree;

[0167] An optimal candidate stop point determination unit is used to solve the target optimization function using a multi-objective solution algorithm and determine a preset number of optimal candidate stop points from the traversed initial candidate stop points;

[0168] The first target stop point determination unit is used to determine the target stop point for the composite robot to complete the operation on the operation object based on a preset number of optimal candidate stop points.

[0169] Optionally, the first target stop point determination unit includes:

[0170] An operation path determination unit is used to determine a plurality of operation paths for the end of the manipulator arm of the composite robot to operate on the operation object; wherein the end of the manipulator arm operates on the operation object along each operation path; each operation path includes a plurality of path points;

[0171] A stop point search area establishing unit is used to traverse a preset number of optimal candidate stop points, establish a stop point search area with the current optimal candidate stop point as the center, according to a preset length and a preset width; the stop point search area includes a number of candidate stop points;

[0172] A stop point traversal unit is used to traverse each candidate stop point in the stop point search area, determine the number of path points that the end arm of the composite robot can reach when operating along each operation path when the composite robot is located at the current candidate stop point, and if the ratio of the number of reachable path points to the total number of path points of each operation path is greater than a preset threshold, the current candidate stop point is used as the target stop point;

[0173] The second target stop point determination unit is configured to repeatedly traverse each candidate stop point in the stop point search area corresponding to a preset number of optimal candidate stop points until all target stop points are determined.

[0174] Optionally, the total coverage determination unit includes:

[0175] Surface discretization unit, used to discretize the surface of the work object into several small circular surfaces;

[0176] The first pose determination unit is used to select a preset number of initial candidate stop points from the candidate stop point set, traverse each initial candidate stop point and each small circular surface, and determine the pose of the manipulator end relative to the world coordinate system when the composite robot is located at the current initial candidate stop point based on the geometric center and normal vector of the current small circular surface;

[0177] a second posture determination unit, configured to determine the posture of the end of the manipulator arm relative to the base of the composite robot according to the posture of the end of the manipulator arm relative to the world coordinate system, the posture of the composite robot base relative to the composite robot chassis, and the posture of the composite robot chassis relative to the world coordinate system;

[0178] A reachable area determination unit is used to input the position of the end of the manipulator relative to the base of the composite robot into the inverse dynamics solution model. If there is an invertible solution for the joint angle of the manipulator, the current small circular surface is determined to be the reachable area of ​​the end of the manipulator on the surface of the work object;

[0179] a quantity determination unit, configured to repeatedly traverse each initial candidate stop point and each small circular surface until the number of all small circular surfaces reachable by the end of the robot arm on the surface of the work object is determined;

[0180] a coverage determination unit, configured to take the ratio of the sum of the areas of all small circular surfaces reachable from each initial candidate stop point to the sum of the areas of the plurality of small circular surfaces as the coverage of the composite robot when the composite robot is located at each initial candidate stop point;

[0181] The first total coverage rate determining unit is configured to sum the coverage rate of each initial candidate stop point to obtain the total coverage rate.

[0182] Optionally, a total operation time determination unit includes:

[0183] A small circular surface number acquisition unit is used to acquire the number of all small circular surfaces that can be reached by the end of the manipulator arm on the surface of the work object when the composite robot is located at each initial candidate stop point, and the average movement speed of the end of the manipulator arm when operating on the surface of the work object;

[0184] An operation time acquisition unit is used to take the product of the number of all reachable small circular surfaces corresponding to each initial candidate stop point, the diameter of each small circular surface, and the reciprocal of the average movement speed as the operation time at each initial candidate stop point;

[0185] The first total operation time determining unit is configured to sum the operation time at each initial candidate stop point and the time the composite robot takes to move between a preset number of initial candidate stop points to obtain the total operation time.

[0186] Optionally, the total operation degree determination unit includes:

[0187] The joint angle acquisition unit is used to acquire the joint angle of the manipulator arm corresponding to each reachable small circular surface when the manipulator end operates on all reachable small circular surfaces on the surface of the work object when the composite robot is located at each initial candidate stop point;

[0188] A determinant calculation unit, used for calculating the determinant of the corresponding Jacobian matrix according to the joint angle of the robotic arm;

[0189] an operation degree determining unit, configured to take the sum of the determinants of all Jacobian matrices corresponding to each initial candidate stop point as the operation degree of each initial candidate stop point;

[0190] The first total operation degree determining unit is configured to take the sum of the operation degrees corresponding to each initial candidate stop point as the total operation degree.

[0191] In the embodiment of the present application, the location area of ​​the composite robot's work object is obtained; a set of candidate stopping points for the composite robot's chassis is determined based on the location area; the candidate stopping point set includes several initial candidate stopping points; the reachable area of ​​the composite robot's manipulator end on the surface of the work object and the area of ​​the work object surface are determined when the composite robot is located at each initial candidate stopping point, and the coverage rate of the composite robot when it is located at each initial candidate stopping point is determined; and / or the operation time of the manipulator end performing the operation on the surface of the work object is determined when the composite robot is located at each initial candidate stopping point; and / or the joint angle of the corresponding manipulator end when the manipulator end performs the operation on the surface of the work object is determined when the composite robot is located at each initial candidate stopping point; and the target stopping point for the composite robot to complete the operation on the work object is determined based on at least one condition of the coverage rate, operation time and operation degree of each initial candidate stopping point. The present application does not require manual determination of the composite robot chassis stopping points, thereby improving the efficiency of the composite robot chassis stopping point deployment.

[0192] Example 3

[0193] The following is an embodiment of the device of the present application, which can be used to execute the content of the method in Example 1 of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the content of the method in Example 1 of the present application.

[0194] See also Figure 10 The present application also provides an electronic device 300, which can be specifically a computer, a mobile phone, a tablet computer, an interactive tablet, etc. In an exemplary embodiment of the present application, the electronic device 300 is an interactive tablet, which can include: at least one processor 301, at least one memory 302, at least one display, at least one network interface 303, a user interface 304 and at least one communication bus 305.

[0195] The user interface 304 is mainly used to provide an input interface for the user and obtain data input by the user. Optionally, the user interface can also include a standard wired interface or a wireless interface.

[0196] The network interface 303 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0197] The communication bus 305 is used to realize the connection and communication between these components.

[0198] Among them, the processor 301 may include one or more processing cores. The processor uses various interfaces and lines to connect the various parts of the entire electronic device, and performs various functions of the electronic device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor can be implemented in the form of at least one hardware of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor can integrate one or more combinations of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed by the display layer; and the modem is used to handle wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor and may be implemented separately through a chip.

[0199] Among them, the memory 302 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory can be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory may also be at least one storage device located away from the aforementioned processor. The memory as a computer storage medium may include an operating system, a network communication module, a user interface module, and an operating application.

[0200] The processor can be used to call the application of the video resolution adjustment method stored in the memory and specifically execute the method steps of the above-mentioned embodiment 1. The specific execution process can be referred to the specific description shown in embodiment 1 and will not be repeated here.

[0201] Example 4

[0202] This application also provides a computer-readable storage medium having a computer program stored thereon, with instructions suitable for being loaded by a processor and executing the method steps of the above-described embodiment 1. The specific execution process can be referred to the specific description of the embodiment, and is not described in detail here. The device where the storage medium is located can be a personal computer, laptop computer, smartphone, tablet computer, or other electronic device.

[0203] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely illustrative, wherein the components described as separate parts may or may not be physically separated, and the parts shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0204] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0205] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the function selected in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 function selected in a box or multiple boxes.

[0206] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 steps for the function selected in a box or multiple boxes.

[0207] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0208] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0209] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0210] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0211] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for generating chassis stop points in composite robot operation, characterized in that: The method comprises the following steps: Obtain the location area of ​​the composite robot's work object; Determining a chassis candidate stop point set of the composite robot according to the position area; the candidate stop point set includes a plurality of initial candidate stop points; Determining the reachable area of ​​the manipulator end of the composite robot on the surface of the work object and the area of ​​the surface of the work object when the composite robot is located at each of the initial candidate docking points, and determining the coverage rate of the composite robot when it is located at each of the initial candidate docking points; and / or determining the operation time of the end of the manipulator arm performing the operation on the surface of the work object when the composite robot is located at each of the initial candidate docking points; and / or determining the joint angle of the corresponding manipulator arm when the manipulator end performs operation on the surface of the work object when the composite robot is located at each of the initial candidate docking points, and determining the degree of manipulatory power of the composite robot when the composite robot is located at each of the initial candidate docking points; The target stop point for the compound robot to complete the operation on the operation object is determined according to at least one condition of the coverage rate, operation time and operation degree of each of the initial candidate stop points.

2. The method for generating chassis stop points in composite robot operation according to claim 1, characterized in that: The step of determining a target stop point for the composite robot to complete the operation on the operation object based on at least one of the coverage rate, operation time, and operability of each of the initial candidate stop points comprises: The target stop point for the composite robot to complete the operation on the operation object is determined based on the coverage rate, operation time and operability of each of the initial candidate stop points.

3. The method for generating chassis stop points in composite robot operation according to claim 2, characterized in that: The step of determining a target stop point for the composite robot to complete the operation on the operation object based on the coverage rate, operation time, and operability of each of the initial candidate stop points comprises: In the candidate stop point set, traverse a preset number of initial candidate stop points, and determine the total coverage rate of the composite robot at the preset number of initial candidate stop points according to the coverage rate of the composite robot when it is located at each of the initial candidate stop points; Determining the total operating time of the compound robot at a preset number of initial candidate stop points based on the operating time of the compound robot at each of the initial candidate stop points and the time the compound robot takes to move between each of the candidate stop points; determining a total operability of the compound robot at a preset number of initial candidate stopping points based on the operability of the compound robot when the compound robot is located at each of the initial candidate stopping points; The target stop point for the composite robot to complete the operation on the operation object is determined according to the total coverage rate, total operation time and total operation degree of a preset number of the initial candidate stop points.

4. The method for generating chassis stop points in composite robot operation according to claim 3, characterized in that: The step of determining a target stop point for the composite robot to complete the operation on the operation object based on the total coverage rate, total operation time, and total operation degree of the preset number of initial candidate stop points includes: Establishing a target optimization function with the goals of maximizing the total coverage rate, minimizing the total operation time, and maximizing the total operation degree; A multi-objective solution algorithm is used to solve the objective optimization function, and a preset number of optimal candidate stop points are determined from the traversed initial candidate stop points; A target stop point for the compound robot to complete the operation on the operation object is determined based on the preset number of optimal candidate stop points.

5. The method for generating chassis stop points in composite robot operation according to claim 4, characterized in that: The step of determining a target stop point for the composite robot to complete the operation on the operation object based on the preset number of optimal candidate stop points includes: Determining a plurality of operation paths for the end of the manipulator arm of the composite robot to move toward the work object; wherein the end of the manipulator arm operates on the work object along each operation path; and each operation path includes a plurality of path points; Traversing a preset number of optimal candidate stop points, establishing a stop point search area with the current optimal candidate stop point as the center according to a preset length and a preset width; the stop point search area includes a plurality of candidate stop points; Traversing each candidate stop point in the stop point search area, determining the number of path points that the manipulator end can reach when operating along each work path when the composite robot is located at the current candidate stop point, and if a ratio of the number of reachable path points to the total number of path points in each work path is greater than a preset threshold, setting the current candidate stop point as the target stop point; Repeat the process of traversing each candidate stop point in the stop point search area corresponding to a preset number of optimal candidate stop points until all target stop points are determined.

6. The method for generating chassis stop points in composite robot operation according to claim 3, characterized in that: The step of traversing a preset number of initial candidate stop points in the candidate stop point set and determining a total coverage rate of the composite robot at the preset number of initial candidate stop points based on the coverage rate of the composite robot when the composite robot is located at each of the initial candidate stop points comprises: Discrete the surface of the work object into a plurality of small circular surfaces; Selecting a preset number of initial candidate stopping points from the candidate stopping point set, traversing each of the initial candidate stopping points and each small circular surface, and determining the position of the manipulator end relative to the world coordinate system when the compound robot is located at the current initial candidate stopping point based on the geometric center and normal vector of the current small circular surface; Determine the position of the manipulator end relative to the compound robot base according to the position of the manipulator end relative to the world coordinate system, the position of the compound robot base relative to the compound robot chassis, and the position of the compound robot chassis relative to the world coordinate system; Inputting the position of the end of the manipulator arm relative to the base of the composite robot into an inverse dynamics solution model, and if there is an invertible solution for the joint angle of the manipulator arm, determining the current small circular surface as the reachable area of ​​the end of the manipulator arm on the surface of the work object; Repeating the traversal of each of the initial candidate stop points and each small circular surface until the number of all small circular surfaces reachable by the end of the robot arm on the surface of the work object is determined; The ratio of the sum of the areas of all small circular surfaces reachable from each initial candidate stop point to the sum of the areas of a plurality of said small circular surfaces is used as the coverage rate of the composite robot when it is located at each of said initial candidate stop points; The coverage rate of each of the initial candidate stop points is summed up to obtain the total coverage rate.

7. The method for generating chassis stop points in composite robot operation according to claim 3, characterized in that: The step of determining the total operating time of the composite robot at a preset number of initial candidate stop points based on the operating time of the composite robot at each of the initial candidate stop points and the time the composite robot takes to move between each of the candidate stop points comprises: Obtaining the number of all small circular surfaces that the end of the manipulator arm can reach on the surface of the work object and the average movement speed of the end of the manipulator arm when the composite robot is located at each of the initial candidate docking points; The product of the number of all reachable small circular surfaces corresponding to each initial candidate stop point, the diameter of each small circular surface, and the reciprocal of the average moving speed is used as the operation time at each initial candidate stop point; The total operating time is calculated by summing the operating time at each of the initial candidate stop points and the time the composite robot takes to move between a preset number of the initial candidate stop points.

8. The method for generating chassis stop points in composite robot operation according to claim 3, characterized in that: The step of determining the total operability of the compound robot at a preset number of initial candidate stopping points based on the operability of the compound robot when the compound robot is at each of the initial candidate stopping points comprises: Obtaining the joint angle of the manipulator arm corresponding to each reachable small circular surface when the manipulator arm end performs operations on all reachable small circular surfaces on the surface of the work object when the composite robot is located at each of the initial candidate docking points; Calculating the determinant of the corresponding Jacobian matrix according to the joint angles of the robotic arm; The sum of the determinants of all Jacobian matrices corresponding to each of the initial candidate stop points is used as the operation degree of each of the initial candidate stop points; The sum of the operation degrees corresponding to each of the initial candidate stop points is used as the total operation degree.

9. The method for generating chassis stop points in composite robot operation according to any one of claims 1 to 8, characterized in that: The step of determining a set of candidate stopping points for the chassis of the composite robot according to the position area comprises: Extending the position area horizontally by a preset first distance on both sides and vertically by a preset second distance on both sides to obtain an expanded position area; Discretizing the expanded location area according to a preset resolution to obtain a plurality of discrete points; A plurality of the discrete points are used as candidate stop points of the compound robot to obtain a set of candidate stop points of the chassis of the compound robot.

10. A device for generating chassis stop points in composite robot operation, characterized in that: include: A location area acquisition module is used to obtain the location area where the working object of the composite robot is located; A stop point set determination module is used to determine a chassis candidate stop point set of the composite robot according to the position area; the candidate stop point set includes a plurality of initial candidate stop points; a coverage determination module, configured to determine the area of ​​a reachable region of the manipulator end of the composite robot on the surface of the work object and the area of ​​the surface of the work object when the composite robot is located at each of the initial candidate stop points, and determine the coverage rate of the composite robot when the composite robot is located at each of the initial candidate stop points; an operation time determination module, configured to determine the operation time for the end of the manipulator to operate on the surface of the work object when the composite robot is located at each of the initial candidate docking points; an operability determination module, configured to determine and / or determine the joint angle of the corresponding manipulator arm when the manipulator end performs operation on the surface of the work object when the composite robot is located at each of the initial candidate docking points, and determine the operability of the composite robot when the composite robot is located at each of the initial candidate docking points; The target stop point determination module is used to determine the target stop point for the composite robot to complete the operation on the operation object based on at least one condition of the coverage rate, operation time and operation degree of each of the initial candidate stop points.

11. A computer device comprising: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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