Evaluation and Optimization Method of Robot Trajectory

Abstract

The present invention provides a method for evaluating and optimizing a robot trajectory, the method comprising: obtaining waypoint information representing all trajectories of the robot, and calculating the terminal linear velocity of all trajectory points on the trajectory based on the waypoint information, wherein the trajectory points include waypoints; judging whether the waypoint is reasonable based on the terminal linear velocity of the waypoint, and modifying the waypoint information when the waypoint is unreasonable, and returning to the first step until all waypoints are reasonable. Thus, the terminal linear velocity of the waypoint can be calculated without external tools, and the waypoint can be evaluated and optimized based on the terminal linear velocity, thereby reducing the debugging cost, improving the debugging efficiency, and shortening the debugging cycle.

Description

Technical Field

[0001] The invention relates to the technical field of robot trajectory debugging, and in particular to a robot trajectory evaluation and optimization method. Background Art

[0002] At present, when robots are performing certain projects such as gluing, they have high requirements for the robot's running trajectory, which needs to meet the requirements of uniform speed and smoothness. When debugging the robot's running trajectory, users generally observe it with the naked eye or with external tools such as glue guns, and then continuously run and debug. For trajectories that do not meet the requirements, they add or delete waypoints, modify the motion attributes and posture of waypoints, etc.

[0003] However, it is difficult to observe with the naked eye whether the robot's running trajectory is uniform. It can only be observed with the help of external tools such as glue guns. This will cause a waste of material resources. Moreover, it is impossible to locate specific unreasonable waypoints through external tool-assisted observation. The specific unreasonable waypoints can only be found through continuous operation and debugging, resulting in low efficiency and long cycle of operation and debugging, such as as short as 3 to 5 days and as long as 1 to 2 months. Summary of the invention

[0004] In order to solve the problems of long R&D cycle and high cost in related technologies, the present invention proposes the following technical solutions.

[0005] The first aspect of the present invention proposes a method for evaluating and optimizing a robot trajectory, comprising: obtaining waypoint information characterizing all trajectories of the robot, and calculating the terminal linear velocity of all trajectory points on the trajectory based on the waypoint information, wherein the trajectory points include waypoints; judging whether the waypoint is reasonable based on the terminal linear velocity of the waypoint, and modifying the waypoint information when the waypoint is unreasonable, and returning to the first step until all waypoints are reasonable.

[0006] In addition, the robot trajectory evaluation and optimization method according to the above embodiment of the present invention may also have the following additional technical features.

[0007] According to one embodiment of the present invention, the terminal linear velocity of all trajectory points on the trajectory is calculated based on the waypoint information, including: obtaining the position of each trajectory point on the trajectory in the robot base coordinate system based on the waypoint information; and calculating the terminal linear velocity of each trajectory point according to the position of the trajectory point.

[0008] According to one embodiment of the present invention, the terminal linear velocity of the trajectory point is calculated by the following formula:

[0009]

[0010] Among them, Pos iIndicates the position of the i-th trajectory point in the robot base coordinate system, Pos i-1 It represents the position of the i-1th trajectory point in the robot base coordinate system, i is an integer greater than 0, and cycle represents the trajectory point update cycle.

[0011] According to one embodiment of the present invention, judging whether a waypoint is reasonable based on the terminal linear velocity of the waypoint includes: obtaining a terminal linear velocity standard value and a terminal linear velocity error value of the robot trajectory point; calculating a terminal linear velocity boundary value according to the terminal linear velocity standard value and the terminal linear velocity error value, and obtaining a terminal linear velocity reasonable range according to the terminal linear velocity boundary value; if the terminal linear velocity of the waypoint is not within the terminal linear velocity reasonable range, determining that the waypoint is unreasonable; if the terminal linear velocity of the waypoint on the trajectory curve is within the terminal linear velocity reasonable range, determining that the waypoint is reasonable.

[0012] According to one embodiment of the present invention, the number of the terminal linear velocity standard value is one, the number of the terminal linear velocity error values ​​is two, the terminal linear velocity reasonable range includes a first reasonable range, a second reasonable range and a third reasonable range which are different from each other, and the terminal linear velocity boundary value is calculated by the following formula:

[0013] L 2 =S+I 2

[0014] L 1 =S+I 1

[0015] T 1 =SI 1

[0016] T 2 =SI 2

[0017] Among them, S is the standard value of the terminal linear velocity, I 1 ,I 2 are the terminal linear velocity error values, I 1 Less than I 2 , I 1 ,I 2 Both are greater than 0, L 1 , L 2 , T 2 and T 2 are respectively the terminal linear velocity boundary values; the first reasonable range is (T 1 , L 1 ), the second reasonable range is (T 2 , T 1 ] and the third reasonable range is [L 1 , L 2 ).

[0018] According to one embodiment of the present invention, after calculating the terminal linear velocity of all trajectory points on the trajectory based on the waypoint information, it also includes: drawing the trajectory curve of the robot based on the positions and terminal linear velocities of all the trajectory points, and displaying the trajectory curve.

[0019] According to one embodiment of the present invention, drawing the trajectory curve of the robot based on the positions and terminal linear velocities of all the trajectory points includes: determining the drawing color of each trajectory point based on the terminal linear velocity of the trajectory point; drawing all the trajectory points of the robot based on the positions, terminal linear velocities and drawing colors of all the trajectory points to obtain the trajectory curve of the robot.

[0020] According to one embodiment of the present invention, determining the drawing color of each trajectory point based on the terminal linear velocity of the trajectory point includes: obtaining a terminal linear velocity standard value and a terminal linear velocity error value of the robot trajectory point; calculating a terminal linear velocity boundary value according to the terminal linear velocity standard value and the terminal linear velocity error value, and obtaining a terminal linear velocity reasonable range according to the terminal linear velocity boundary value; determining a drawing color corresponding to each terminal linear velocity reasonable range and a drawing color corresponding to an unreasonable terminal linear velocity range; determining the drawing color of each trajectory point according to the terminal linear velocity, the terminal linear velocity reasonable range and its corresponding drawing color; and determining an additional drawing color of the waypoint so that the drawing color of each waypoint is a mixture of two different colors.

[0021] According to one embodiment of the present invention, the drawing color of the track point is determined by the following formula:

[0022]

[0023] Among them, color is the drawing color of the trajectory point, color1, color2 and color3 are the first color, the second color and the third color respectively, color1, color2 and color3 are different, v i is the end linear velocity of the ith trajectory point, L 1 , L 2 、T 2 and T 2 are the terminal linear velocity boundary values ​​respectively.

[0024] According to one embodiment of the present invention, the trajectory curve of the robot includes a three-dimensional trajectory curve of the robot trajectory in the robot base coordinate system, a two-dimensional trajectory curve in the xOy plane, xOz plane and yOz plane of the robot base coordinate system, and a trajectory point number-terminal linear velocity curve of the robot.

[0025] The trajectory points of the robot are drawn based on the positions, terminal linear speeds and drawing colors of the trajectory points to obtain the trajectory curve of the robot, including: drawing the trajectory points of the robot according to the positions and drawing colors of the trajectory points in a robot base coordinate system to obtain a three-dimensional trajectory curve; drawing the trajectory points of the robot according to the positions and drawing colors of the trajectory points in an xOy plane, an xOz plane and a yOz plane of the robot base coordinate system respectively to obtain a two-dimensional trajectory curve; establishing a coordinate system with the number of trajectory points as the horizontal axis and the terminal linear speed of the trajectory points as the vertical axis, and drawing the trajectory points according to the terminal linear speed and drawing colors of the trajectory points of the robot in the coordinate system to obtain a trajectory point number-terminal linear speed curve.

[0026] According to one embodiment of the present invention, drawing the trajectory points of the robot based on the positions, terminal linear speeds and drawing colors of the trajectory points to obtain the trajectory curve of the robot also includes: drawing the shapes of the waypoints in the three-dimensional trajectory curve as preset three-dimensional shapes; and drawing the shapes of the waypoints in the two-dimensional trajectory curve and the trajectory point number-terminal linear speed curve as preset plane shapes.

[0027] According to one embodiment of the present invention, the preset three-dimensional shape is a sphere, and the shape of the waypoint in the three-dimensional trajectory curve is drawn as the preset three-dimensional shape, including: calculating the position vector of the waypoint in the three-dimensional trajectory curve under the model view matrix; calculating the radius of the sphere based on the position vector; and drawing the shape of the waypoint in the three-dimensional trajectory curve as a sphere according to the radius of the sphere.

[0028] According to one embodiment of the present invention, the position vector of the waypoint under the model view matrix is ​​calculated by the following formula:

[0029] p=M mv (Pos×1000)

[0030] Where p represents the position vector of the waypoint under the model view matrix, M mv represents the model view matrix, Pos represents the pose of the waypoint in the robot base coordinate system, and Pos×1000 represents the position of the waypoint in three-dimensional space.

[0031] The radius of the sphere is calculated using the following formula:

[0032] r=|p|×θ

[0033] Among them, r represents the radius of the sphere, |p| is the length of p, is the distance from the waypoint to the camera, and θ is the spherical size coefficient.

[0034] According to one embodiment of the present invention, the robot trajectory evaluation and optimization method is characterized in that it also includes: when a waypoint is unreasonable, calculating the unreasonable score of the waypoint, and displaying the unreasonable score.

[0035] According to one embodiment of the present invention, the unreasonable score is calculated by the following formula:

[0036] score=(1-|v 不 / S-1|)×100

[0037] Among them, score is the unreasonable score, S is the standard value of the terminal linear velocity, and v 不 is the terminal linear speed of the unreasonable waypoint.

[0038] The technical solution of the embodiment of the present invention first obtains the waypoint information representing all the trajectories of the robot, and calculates the terminal linear velocity of all the trajectory points on the trajectory based on the waypoint information, wherein the trajectory points include waypoints, and then determines whether the waypoint is reasonable based on the terminal linear velocity of the waypoint, and modifies the waypoint information when the waypoint is unreasonable, and returns to the first step until all the waypoints are reasonable. Thus, the DXF file can be converted into the robot arm motion trajectory without the need for a plug-in, which can avoid the time cost of communicating with the plug-in developer, as well as the plug-in price and maintenance costs, thereby reducing the R&D time and R&D costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The present invention is a flowchart of a method for evaluating and optimizing a robot trajectory according to an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of the main interface of an example of the present invention that displays a three-dimensional trajectory curve that meets the requirements.

[0041] Figure 3 A schematic diagram of a parameter setting area in a main interface of an example of the present invention.

[0042] Figure 4 A schematic diagram of a waypoint parameter setting interface according to an example of the present invention.

[0043] Figure 5 This is a schematic diagram of the main interface of an example of the present invention showing a three-dimensional trajectory curve that does not meet the requirements.

[0044] Figure 6 This is a schematic diagram of the main interface of an example of the present invention showing a two-dimensional xOz curve that does not meet the requirements.

[0045] Figure 7 This is a schematic diagram of the main interface showing an end linear speed curve that does not meet the requirements according to an example of the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Figure 1 The present invention is a flowchart of a method for evaluating and optimizing a robot trajectory according to an embodiment of the present invention.

[0048] The robot according to the embodiment of the present invention may be a collaborative robot.

[0049] like Figure 1 As shown, the robot trajectory evaluation and optimization method includes the following steps S1 and S2.

[0050] S1, obtaining waypoint information representing all trajectories of the robot, and calculating the terminal linear velocity of all trajectory points on the trajectory based on the waypoint information, wherein the trajectory points include waypoints.

[0051] Trajectory refers to the motion trajectory of the robot's end.

[0052] A waypoint indicates the position that the robot end wants to reach. Usually, the robot trajectory includes at least one waypoint.

[0053] Waypoint information may include the name of the waypoint, motion attributes (straight line, axis motion, circular motion, etc.), joint velocity, acceleration, angular acceleration, and posture.

[0054] The terminal linear velocity of a trajectory point refers to the linear velocity of the robot terminal corresponding to the trajectory point, that is, the linear velocity of the robot terminal when it moves to the trajectory point.

[0055] Specifically, the waypoint information of the robot can be first obtained by any feasible method, and the waypoint information represents the trajectory of the robot. The waypoint information can be interpolated and processed to obtain each trajectory of the robot and all trajectory points containing waypoints on each trajectory, and then the terminal linear velocity of each trajectory point can be calculated.

[0056] S2. Determine whether the waypoint is reasonable based on the end linear speed of the waypoint, and modify the waypoint information if the waypoint is unreasonable, and return to the first step until all waypoints are reasonable.

[0057] After calculating the terminal linear velocity of all trajectory points, obtain the terminal linear velocity of the waypoint, and judge whether the waypoint is reasonable based on this. If the waypoint is unreasonable, modify the motion attributes, joint velocity, acceleration, angular acceleration and / or posture information of the waypoint, and return to the first step, i.e., step S1, to calculate the terminal linear velocity of the waypoint again and judge whether the waypoint is reasonable. In this way, steps S1 and S2 are executed repeatedly to judge whether the trajectory is optimized, and repeatedly adjust and evaluate until all waypoints are reasonable and the trajectory meets the requirements; if all waypoints are reasonable, save the waypoint information and verify or use it on a real machine.

[0058] Compared with the related art, the embodiments of the present invention do not require the naked eye or external tools to observe whether the trajectory is uniform, thereby reducing costs; it is capable of calculating the terminal linear velocity and directly judging whether a specific waypoint is reasonable based on the terminal linear velocity, so that unreasonable waypoints can be directly located, and the waypoint information can be adjusted and re-evaluated, thereby improving debugging efficiency and shortening the debugging cycle.

[0059] Therefore, the robot trajectory evaluation and optimization method of the embodiment of the present invention can calculate the terminal linear velocity of the waypoint without the need for external tools, and evaluate and optimize the waypoint based on the terminal linear velocity, thereby reducing the debugging cost, improving the debugging efficiency, and shortening the debugging cycle.

[0060] In one embodiment of the present invention, calculating the terminal linear velocity of all trajectory points on the trajectory based on the waypoint information in step S1 may include: obtaining the position of each trajectory point on the trajectory in the robot base coordinate system based on the waypoint information; and calculating the terminal linear velocity of each trajectory point according to the position of the trajectory point.

[0061] Specifically, first, you can select and load a project file (such as a gluing project file) that has been edited online by a robot teaching pendant (such as AuboPE). The project file includes all the waypoint information of the robot, and parse the project file to obtain the waypoint information. Then, you can call the underlying trajectory planning algorithm to complete the trajectory planning for the waypoint information, and obtain the position (three-dimensional coordinates) of each trajectory and all trajectory points on each trajectory in the robot base coordinate system, and mark the names of the waypoints. Finally, calculate the terminal linear velocity of the i-th trajectory point based on the position of the i-th trajectory point and the position of the i-1-th trajectory point, that is, calculate the terminal linear velocity of each trajectory point using the following formula:

[0062]

[0063] Among them, Pos i Indicates the position of the i-th trajectory point in the robot base coordinate system, Pos i-1 It represents the position of the i-1th trajectory point in the robot base coordinate system, i is an integer greater than 0, and cycle represents the trajectory point update cycle.

[0064] After calculating the terminal linear speed of all trajectory points including the waypoint, step S2 is executed, that is, judging whether the waypoint is reasonable based on the terminal linear speed of the waypoint.

[0065] In one embodiment of the present invention, judging whether a waypoint is reasonable based on the terminal linear velocity of the waypoint may include: obtaining a terminal linear velocity standard value and a terminal linear velocity error value of the robot trajectory point; calculating a terminal linear velocity boundary value according to the terminal linear velocity standard value and the terminal linear velocity error value, and obtaining a terminal linear velocity reasonable range according to the terminal linear velocity boundary value; if the terminal linear velocity of the waypoint is not within the terminal linear velocity reasonable range, determining that the waypoint is unreasonable; if the terminal linear velocity of the waypoint is within the terminal linear velocity reasonable range, determining that the waypoint is reasonable.

[0066] Among them, the terminal linear velocity standard value of the robot trajectory point refers to the terminal linear velocity that meets the requirements when the robot terminal moves to the trajectory point, and the terminal linear velocity error value refers to the value allowed to fluctuate up and down based on the terminal linear velocity standard value. The terminal linear velocity standard value and the linear velocity error value can be configured by the user according to actual needs, and the number of each can be at least one, and the number of the two can be the same or different, such as one standard value and one error value, one standard value and two error values, etc.

[0067] Furthermore, the number of terminal linear velocity standard values ​​is one, the number of terminal linear velocity error values ​​is two, and the terminal linear velocity reasonable range includes a first reasonable range, a second reasonable range and a third reasonable range which are different from each other.

[0068] Specifically, first obtain a terminal linear velocity standard value and two terminal linear velocity error values ​​configured in advance by the user, and calculate the terminal linear velocity boundary value by the following formula:

[0069] L 2 =S+I 2

[0070] L 1 =S+I 1

[0071] T 1 =SI 1

[0072] T 2 =SI 2

[0073] Among them, S is the standard value of the terminal linear velocity, I 1 ,I 2 are the terminal linear velocity error values, I 1 Less than I 2 , I 1 ,I2 Both are greater than 0, L 1 , L 2 , T 2 and T 2 are the terminal linear velocity boundary values ​​respectively.

[0074] According to the terminal linear velocity boundary value L 1 , L 2 , T 2 and T 2 Get the reasonable range of terminal linear velocity, where the first reasonable range is (T 1 , L 1 ), the second reasonable range is (T 2 , T 1 ] and the third reasonable range is [L 1 , L 2 ), the first reasonable range indicates that the terminal line speed meets the demand, the second reasonable range indicates that the terminal line speed is acceptable, and the third reasonable range indicates that the terminal line speed is also acceptable. The terminal line speed that is not within these three reasonable ranges is unacceptable.

[0075] Then, for each waypoint, determine whether its terminal linear velocity v is within or outside the three reasonable ranges. If it is within the three reasonable ranges, that is, ((T 1 >v>L 1 )∪(L 2 >v>L 1 ]∪(T 2 >v>T 1 ]), then the waypoint is determined to be reasonable; if it is not within the three reasonable ranges, that is, (v>L 2 )∪(v <T 2 ), then the waypoint is determined to be unreasonable and the trajectory is evaluated.

[0076] Finally, when an unreasonable waypoint is determined, the waypoint information of the unreasonable waypoint can be fed back to the user, and the user can locate the specific waypoint according to the name in the fed-back waypoint information, and can modify the waypoint information, and can also modify the waypoint information (motion attributes, posture, etc.) of other waypoints such as nearby waypoints, and can also add and delete waypoints to optimize the trajectory. Re-evaluate the optimized trajectory based on the modified waypoint information, that is, recalculate the terminal linear speed of all trajectory points and judge whether the waypoint is reasonable based on the terminal linear speed of the waypoint, and optimize the trajectory if the waypoint is unreasonable.

[0077] If all waypoints are reasonable, save the waypoint information and write it into the project file loaded in step S1. Use AuboPE to load the project on the real machine and verify the running effect of the trajectory.

[0078] In this way, a cyclic evaluation and optimization of the robot's trajectory waypoints is achieved. During each evaluation and optimization, it is possible to evaluate whether each waypoint is reasonable. If it is unreasonable, the specific waypoint can be quickly located and optimized. The evaluation and optimization is implemented in a targeted manner, which improves the debugging efficiency, shortens the debugging cycle, and ensures the debugging reliability.

[0079] In the related art, the robot trajectory is not intuitive and cannot be observed with the naked eye. External equipment is required to assist in observation, which will cause waste of material resources. Therefore, the embodiment of the present invention draws the trajectory for display, so that the trajectory and its trajectory points are intuitive and can be directly viewed by the user.

[0080] That is, in one embodiment of the present invention, after step S1, the method may further include: drawing a trajectory curve of the robot based on the positions of all trajectory points and the terminal linear velocity, and displaying the trajectory curve.

[0081] In one example, drawing a trajectory curve of a robot based on the positions and terminal linear velocities of all trajectory points may include: determining a drawing color of each trajectory point based on the terminal linear velocity of the trajectory point; and drawing all trajectory points of the robot based on the positions, terminal linear velocities, and drawing colors of all trajectory points to obtain the trajectory curve of the robot.

[0082] Further, determining the drawing color of each trajectory point based on the terminal linear velocity of the trajectory point may include: obtaining a terminal linear velocity standard value and a terminal linear velocity error value of the robot trajectory point; calculating a terminal linear velocity boundary value according to the terminal linear velocity standard value and the terminal linear velocity error value, and obtaining a terminal linear velocity reasonable range according to the terminal linear velocity boundary value; determining a drawing color corresponding to each terminal linear velocity reasonable range and a drawing color corresponding to an unreasonable terminal linear velocity range; determining the drawing color of each trajectory point according to the terminal linear velocity, the terminal linear velocity reasonable range and its corresponding drawing color; and determining an additional drawing color of the waypoint so that the drawing color of each waypoint is a mixture of two different colors.

[0083] Specifically, the terminal linear velocity boundary value can be calculated by the following formula:

[0084] L 2 =S+I 2

[0085] L 1 =S+I 1

[0086] T 1 =SI 1

[0087] T 2 =SI 2

[0088] Among them, S is the standard value of the terminal linear velocity, I 1 ,I 2 are the linear velocity error, I 1 Less than I 2 , I 1 ,I 2 Both are greater than 0, L 1 , L 2 , T 2 and T 2 are the terminal linear velocity boundary values ​​respectively. The first reasonable range is (T 1 , L 1 ), the second reasonable range is (T 2 , T 1 ] and the third reasonable range is [L 1 , L 2 ).

[0089] Then, three different drawing colors can be randomly determined, corresponding to the first reasonable range, the second and third reasonable ranges, and the unreasonable range of the terminal linear velocity, to obtain the drawing color corresponding to each range. After determining the range of the terminal linear velocity of all trajectory points (including waypoints), the trajectory point drawing color of each trajectory point can be determined, that is, the drawing color of each trajectory point is determined by the following formula:

[0090]

[0091] Among them, color is the drawing color of the trajectory point, color1, color2 and color3 are the first color, the second color and the third color respectively, color1, color2 and color3 are different, v i is the end linear velocity of the ith trajectory point, L 1 , L 2 , T 2 and T 2 are the terminal linear velocity boundary values ​​respectively.

[0092] For example, the first color color1, the second color color2, and the third color color3 are green, yellow, and red respectively.

[0093] It can be seen that the drawing color of each track point is one color. On this basis, in order to distinguish the waypoints from non-waypoints in the track points, an additional drawing color (such as blue) can be added to the drawing color of the waypoints, that is, the drawing color of each waypoint is a mixture of two different colors. For example, the drawing color of a certain waypoint is a mixture of green, yellow or red and blue, which is cyan, green or purple respectively.

[0094] In summary, the trajectory curve is drawn according to the position of the trajectory point and the terminal linear speed and displayed on the human-computer interface. It can not only allow users to intuitively view the trajectory curve, but also allow users to intuitively view whether the terminal linear speed of each trajectory point is reasonable through color. For non-waypoints, when it is displayed in green, the user knows that the trajectory point meets the requirements; when it is displayed in yellow, the user knows that the trajectory point is acceptable; when it is displayed in red, the user knows that the trajectory point is unacceptable. For waypoints, when it is displayed in cyan, the user knows that the waypoint meets the requirements; when it is displayed in green, the user knows that the waypoint is acceptable; when it is displayed in purple, the user knows that the waypoint is unacceptable.

[0095] In this way, users can intuitively see the trajectory and the end linear speed of all its trajectory points without the need for external tools to assist in viewing, which can save a lot of manpower and material resources.

[0096] In one embodiment of the present invention, the trajectory curve of the robot includes a three-dimensional trajectory curve of the robot trajectory in the robot base coordinate system, a two-dimensional trajectory curve in the xOy plane, xOz plane and yOz plane of the robot base coordinate system, and a trajectory point number-end linear velocity curve of the robot.

[0097] Furthermore, drawing the trajectory points of the robot based on the positions, terminal linear speeds and drawing colors of the trajectory points to obtain the trajectory curve of the robot may include: drawing the trajectory points of the robot according to the positions and drawing colors of the trajectory points in the robot base coordinate system to obtain a three-dimensional trajectory curve; drawing the trajectory points of the robot according to the positions and drawing colors of the trajectory points in the xOy plane, xOz plane and yOz plane of the robot base coordinate system respectively to obtain a two-dimensional trajectory curve; establishing a coordinate system with the number of trajectory points as the horizontal axis and the terminal linear speed of the trajectory points as the vertical axis, and drawing the trajectory points according to the terminal linear speed and drawing colors of the trajectory points of the robot in the coordinate system to obtain a trajectory point number-terminal linear speed curve.

[0098] Specifically, according to the positions and drawing colors of all the trajectory points obtained above, all the trajectory points of the robot are drawn in the robot base coordinate system, the base coordinate system xOy plane, the xOz plane and the yOz plane, respectively, to obtain a three-dimensional trajectory curve with drawing colors and three two-dimensional trajectory curves, and display them for users to view at any time. At the same time, each trajectory point in the curve carries its own information. The user can pop up the information of the trajectory point by selecting the trajectory point in the curve, such as name, motion attributes, posture, etc. Therefore, the user can select an unreasonable waypoint according to the color of the waypoint, and the information of the unreasonable waypoint will pop up. The user can modify the information, save the modified information, and then redraw the curve to see whether the curve is optimized.

[0099] Among them, you can use OpenGL's glColor4d interface to set the drawing color and glDrawArrays to draw the trajectory points.

[0100] A plane coordinate system is established with the number of trajectory points as the horizontal axis and the terminal linear velocity of the trajectory points as the vertical axis. The terminal linear velocity curve of the calculated trajectory points is drawn into the plane coordinate system according to its drawing color to obtain the number of trajectory points-terminal linear velocity curve. For example, if the robot trajectory has 800 trajectory points, then the terminal linear velocity of 800 trajectory points can be drawn, where the color of the terminal linear velocity of each trajectory point is the drawing color obtained above. The user can know whether all trajectories and waypoints are reasonable by checking the color of the curve, and if it is unreasonable, the waypoint information of the waypoint to which the terminal linear velocity belongs can be popped up by selecting the terminal linear velocity. The user can modify the information, save the modified information, and then redraw the curve to see whether the curve is optimized.

[0101] In addition to displaying curves, you can also display a list of unreasonable waypoints. Users can select a specific curve to view in the human interface. While displaying the specific curve, you can display a list of unreasonable waypoints on the curve. The list may include the waypoint name, motion attributes, and terminal linear speed. Similarly, users can select a waypoint in the list to pop up the information of the waypoint. Users can modify the information, save the modified information, and then redraw the curve to see whether the curve is optimized.

[0102] Among them, the user selects a waypoint by clicking the mouse: the ray picking method is used to realize the mouse selection of the waypoint, by converting the coordinates of the mouse click on the viewport into a ray in the three-dimensional space, and calculating the distance d from the waypoint to the ray. When d is less than the threshold t, it means that the waypoint is selected.

[0103] The above describes the colors of each curve. In order to make the waypoints more intuitive and easier to distinguish, the waypoints can be drawn into a certain shape, which is explained below.

[0104] In one embodiment of the present invention, the trajectory points of the robot are drawn based on the positions and drawing colors of the trajectory points to obtain the trajectory curve of the robot, which may also include: drawing the shape of the waypoints in the three-dimensional trajectory curve as a preset three-dimensional shape; drawing the shape of the waypoints in the two-dimensional trajectory curve and the trajectory point number-terminal linear velocity curve as a preset plane shape.

[0105] The purpose of presetting the three-dimensional shape is to enable the user to better view the waypoint, so it can be a square, sphere or other shape that is easy to locate.

[0106] Furthermore, the preset three-dimensional shape may be a sphere, and drawing the shape of the waypoint in the three-dimensional trajectory curve as the preset three-dimensional shape may include: calculating the position vector of the waypoint in the three-dimensional trajectory curve under the model view matrix; calculating the radius of the sphere based on the position vector; and drawing the shape of the waypoint in the three-dimensional trajectory curve as a sphere according to the radius of the sphere.

[0107] Specifically, in order to draw the waypoints in the 3D trajectory as small balls, it is necessary to ensure that the size of the waypoints remains unchanged as the 3D viewing angle changes (in perspective projection, the size is larger when near and smaller when far). Therefore, it is necessary to calculate the spherical radius based on the distance from the waypoint to the camera. First, the radius of each waypoint in the model view matrix (ModelView) M is calculated using the following formula: mv The position vector p is:

[0108] p=M mv (Pos×1000)

[0109] Where p represents the position vector of the waypoint under the model view matrix, M mv represents the model view matrix, Pos represents the position of the waypoint in the robot base coordinate system, Pos×1000 represents the position of the waypoint in three-dimensional space. This formula does not perform homogeneous coordinate processing of vectors.

[0110] The radius of the sphere is then calculated using the following formula:

[0111] r=|p|×θ

[0112] Among them, r is the radius of the sphere, |p| is the length of the vector p, which is the distance from the waypoint to the camera, and θ is the spherical size coefficient, which is a custom value used to control the size of the sphere, such as 0.003.

[0113] Finally, the quadrilateral approximation method is used to complete the rendering of the sphere.

[0114] Adaptively, the shape of the waypoint in the two-dimensional trajectory curve and the trajectory point number-terminal linear velocity curve is drawn as a circle.

[0115] In this way, the drawing of the trajectory curve is realized, and the user can not only intuitively see the trajectory and its trajectory points, but also see the unreasonable waypoint information, and optimize the curve by modifying the waypoint information.

[0116] In one embodiment of the present invention, the robot trajectory evaluation and optimization method may further include: when a waypoint is unreasonable, calculating an unreasonable score of the waypoint, and displaying the unreasonable score.

[0117] Specifically, after being determined as an unreasonable waypoint, the corresponding waypoint information, motion attributes, posture information, joint angle information, etc. can be found from the waypoint information parsed in step S1 according to its name, and it can be modified. The unreasonable score can also be calculated based on the terminal linear velocity of the waypoint. The calculation formula is:

[0118] score=(1-|v 不 / S-1|)×100

[0119] Among them, score is the unreasonable score, S is the standard value of the terminal linear velocity, and v 不 is the terminal linear speed of the unreasonable waypoint.

[0120] Finally, the waypoint information and unreasonable scores are displayed in the unreasonable waypoint list for users to intuitively view, evaluate and optimize.

[0121] Based on the above scheme, the embodiment of the present invention proposes a trajectory evaluation and optimization software to assist trajectory debugging. The software loads and evaluates trajectory engineering files such as gluing engineering, displays three-dimensional trajectory curves, two-dimensional trajectory curves, terminal linear velocity curves and waypoints on the curves, and marks the trajectory points or trajectory segments that meet the requirements (green), are acceptable (yellow) and are unacceptable (red) in the curves. Users can view and modify the waypoint information by clicking on the waypoint, and evaluate again, repeating this cycle until the trajectory meets the requirements.

[0122] The following introduces the design concept of trajectory evaluation and optimization software.

[0123] like Figure 2 As shown, the main interface is divided into curve display area and parameter setting area.

[0124] 1. Reference Figure 2 The curve display area is used to display the three-dimensional trajectory curve Trajectory_3D, the projection of the trajectory on the xOy plane, xOz plane, and yOz plane, namely the two-dimensional trajectory curves Trajectory_xOy, Trajectory_xOz, Trajectory_yOz, and the terminal linear speed curve realTimeTcpSpeed. The blue dots on the curves represent the trajectory waypoints, which can correspond to the WayPoint (waypoints) of AuboPE online programming.

[0125] 2. Reference Figure 2 ,The parameter setting area includes the curve selection area, the terminal linear speed standard value, the error value setting area and the unreasonable waypoint list, as well as the buttons for re-evaluation, saving and jumping to AuboPE.

[0126] Curve selection area: Click this area to select a specific curve. Figure 2The three-dimensional trajectory curve Trajectory_3D that meets the requirements is shown in FIG.

[0127] Terminal linear velocity standard value and error value setting area: Set the standard value of the terminal linear velocity and two error intervals. After the setting is successful, the curve whose terminal linear velocity is within error interval 1 will be marked in green, the curve whose terminal velocity is within error interval 2 will be marked in yellow, and the remaining curves will be marked in red. It needs to be set after the program is started before it can take effect. Figure 2 In the test, the standard value of the terminal linear velocity is 120 mm / s, the error value 1 is 1 mm / s, and the error value 2 is 2 mm / s.

[0128] Unreasonable waypoint list: Displays the waypoint names that are beyond the error range, in the format of move name / waypoint name. Figure 3 As shown in the figure, each waypoint is followed by a score indicating how close the linear speed at the end of the waypoint is to the standard value. The maximum score is 100. The larger the score, the closer it is to the standard value, and the smaller the score, the farther it is from the standard value. Figure 2 , when all waypoints meet the requirements, the list is empty.

[0129] You can click to select a waypoint in the list, and the waypoint information will be displayed as follows: Figure 4 The waypoint parameter setting interface is shown (displaying the position and posture of each joint, terminal linear velocity, linear acceleration, angular velocity, angular acceleration, etc.), and the trajectory display area marks the waypoint as selected.

[0130] Re-evaluation: Used to regenerate a new trajectory after modifying the parameter information of the selected trajectory point.

[0131] Save: Save the project Xml and script files.

[0132] The following is a specific example to illustrate the process of trajectory optimization evaluation through trajectory evaluation optimization software.

[0133] 1. Select and load a glue coating project edited by AuboPE online programming, and analyze the trajectory motion properties and waypoint information.

[0134] 2. According to the results of analysis in 1, call the underlying trajectory planning algorithm to complete trajectory planning, obtain trajectory points, and mark waypoints and waypoint names.

[0135] 3. Calculate the terminal linear velocity v of each trajectory point (including waypoints) i , calculated as:

[0136]

[0137] Among them, Pos iIndicates the position of the i-th trajectory point in the robot base coordinate system, Pos i-1 It represents the position of the i-1th trajectory point in the robot base coordinate system, i is an integer greater than 0, and cycle represents the trajectory point update cycle.

[0138] 4. Draw a three-dimensional trajectory curve graph.

[0139] This step requires the realization of drawing 3D curves, drawing 3D road points and other functions. Figure 5 shown.

[0140] (1) Draw the curve and calculate the color of the trajectory point according to the terminal velocity of the trajectory point calculated in 3. First, according to the terminal linear velocity standard value S and two error values ​​I configured in the interface design 1 ,I 2 Calculate the boundary values ​​of different colors (from small to large, T 2 、T 1 , L 1 , L 2 ),as follows:

[0141] L 2 =S+I 2

[0142] L 1 =S+I 1

[0143] T 1 =SI 1

[0144] T 2 =SI 2

[0145] According to the v calculated in 3 i Calculate the curve color displayed by the current track point. The formula is as follows:

[0146]

[0147] Finally, use OpenGL's glColor4d interface to set the color and glDrawArrays to draw the trajectory segments or trajectory points.

[0148] (2) Draw the waypoints. Draw the trajectory points marked as waypoints in 2 as blue balls. The size of the waypoints must remain unchanged as the 3D viewing angle changes (in perspective projection, the size of the waypoints is larger when near and smaller when far). Therefore, the radius of the ball must be calculated based on the distance from the waypoint to the camera. First, calculate the radius of the waypoint in the ModelView matrix M. mv The position vector p under is given by the following formula:

[0149] p=Mmv (Pos×1000)

[0150] Among them, Pos represents the position of the waypoint in the robot base coordinate system, Pos×1000 represents the position of the waypoint in three-dimensional space, and this formula does not perform homogeneous coordinate processing of vectors.

[0151] Then calculate the spherical radius r, the formula is as follows:

[0152] r=|p|×0.003

[0153] The length of vector p is the distance from the waypoint to the camera, and 0.003 is a custom value used to control the size of the sphere.

[0154] Finally, the quadrilateral approximation method is used to complete the rendering of the sphere.

[0155] 5. Draw the two-dimensional trajectory curve in the base coordinate system xOy, xOz, yOz plane.

[0156] Draw the xy, xz, and yz coordinate information of the trajectory points into the xOy plane coordinate system, the xOz plane coordinate system, and the yOz plane coordinate system respectively. Before drawing, you also need to calculate the color of each trajectory segment. The calculation method is the same as in step 4. Then draw the trajectory points marked as waypoints in step 2 as blue circles. The drawing results are as follows: Figure 6 shown.

[0157] 6. Draw the terminal linear velocity curve.

[0158] Using the number of trajectory points as the horizontal coordinate and the terminal velocity of the trajectory points calculated in step 3 as the vertical coordinate, the terminal linear velocity curve of the trajectory points is plotted in the plane coordinate system. Before plotting, the color of each segment of the trajectory needs to be calculated. The calculation method is the same as that in step 4. Then, the trajectory points marked as waypoints in step 2 are plotted as blue circles. The result is as follows: Figure 7 As shown, Figure 7 The curve in contains multiple unreasonable waypoints.

[0159] 7. Calculate unreasonable waypoints and scores, and display unreasonable waypoints.

[0160] The trajectory points marked as waypoints in step 2 are judged as unreasonable waypoints. The judgment method is (v>L 2 )∪(v <T 2 ), after being judged as an unreasonable waypoint, the move name, waypoint name, pose information, joint angle information or motion attributes are found from the information parsed in step 1 according to the waypoint name. The unreasonable score of the waypoint is calculated as follows:

[0161] score=(1-|v不 / S-1|)×100

[0162] Finally, the waypoint information and scores are displayed in the unreasonable waypoint list. Figure 3 , Figure 5 , Figure 6 and Figure 7 .

[0163] 8. View and adjust waypoint information.

[0164] Use the ray picking method to select a waypoint in the curve graph or in the unreasonable waypoint list with the mouse (by converting the coordinates of the mouse click on the viewport into a ray in three-dimensional space, calculating the distance d from the waypoint to the ray, and when d is less than the threshold t, it means that the waypoint is selected), and a pop-up window will pop up. Figure 4 The waypoint information interface shown in the figure, after modifying the waypoint position or motion attributes in this interface, click "Confirm" to save the modified information.

[0165] 9. Re-evaluate.

[0166] Reference Figure 5 , 6 and 7. After the waypoint parameters are modified, click the "Re-evaluate" button on the parameter configuration interface to start executing steps 2 to 7 to regenerate and display all curves to check whether the trajectory is optimized. Repeat adjustments and re-evaluations until the trajectory meets the requirements.

[0167] 10. Save.

[0168] Reference Figure 2 , after the trajectory meets the requirements, click the "Save" button to write the modified waypoint information into the project file loaded in step 1, use AuboPE to load the project on the real machine and verify the running effect of the trajectory.

[0169] In general, the software loads the edited trajectory project, calls the algorithm interface to complete the trajectory planning, draws the trajectory curve and the terminal linear velocity curve on the software interface, and uses a blue ball to mark the position of each waypoint on the curve. Set the standard value of the linear velocity at the end of the trajectory and the two-segment error value, mark the trajectory curve and the terminal linear velocity curve in sections, and use green to display the curve with the terminal linear velocity within the first error segment, indicating that it meets the requirements; use yellow to display the curve between the first and second error segments, indicating that it is acceptable, and use red to display the curve outside the second error segment, indicating that it is unacceptable. Users can view and modify the motion attributes and posture information of the waypoints by clicking on the waypoints on the curve. After modification, re-evaluate, and a new curve graph will be generated on the interface. Repeatedly evaluate and adjust until the trajectory meets the requirements. Finally, save the modified project file and run it in the robot to view the debugging results.

[0170] In summary, the embodiment of the present invention can intuitively see the end linear speed of the trajectory through the trajectory evaluation and optimization software tool, and no external tool is needed to assist in viewing, which can save a lot of manpower and material resources; the unreasonable waypoints can be quickly located on the software tool, and the waypoints can be adjusted, thereby improving debugging efficiency and shortening the debugging cycle.

[0171] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0172] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0173] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0174] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0175] A person of ordinary skill in the art can understand that all or part of the steps carried by the method of the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0176] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A robot trajectory evaluation and optimization method, characterized in that: The following steps are involved: Acquire waypoint information representing all trajectories of the robot, and calculate the terminal linear velocity of all trajectory points on the trajectory based on the waypoint information, wherein the trajectory points include waypoints; Based on the terminal linear speed of the waypoint, determine whether the waypoint is reasonable, and modify the waypoint information if the waypoint is unreasonable, and return to the first step until all waypoints are reasonable. Calculating the terminal linear velocity of all trajectory points on the trajectory based on the waypoint information includes: Based on the waypoint information, obtain the position of each trajectory point on the trajectory in the robot base coordinate system; Calculate the terminal linear velocity of each trajectory point according to the position of the trajectory point, After calculating the terminal linear speed of all track points on the track based on the waypoint information, the method further includes: Draw a trajectory curve of the robot based on the positions of all the trajectory points and the terminal linear velocity, and display the trajectory curve, Drawing a trajectory curve of the robot based on the positions and terminal linear velocities of all the trajectory points includes: Determine the drawing color of each trajectory point based on the terminal linear velocity of the trajectory point; Drawing all the trajectory points of the robot based on the positions, terminal linear velocities and drawing colors of all the trajectory points to obtain a trajectory curve of the robot, Determining the drawing color of each trajectory point based on the end linear velocity of the trajectory point includes: Obtain the terminal linear velocity standard value and terminal linear velocity error value of the robot trajectory point; Calculating a terminal linear velocity boundary value according to the terminal linear velocity standard value and the terminal linear velocity error value, and obtaining a terminal linear velocity reasonable range according to the terminal linear velocity boundary value; Determine a drawing color corresponding to a reasonable range of the terminal linear velocity and a drawing color corresponding to an unreasonable range of the terminal linear velocity; Determine the drawing color of each trajectory point according to the terminal linear velocity of the trajectory point, the reasonable range of the terminal linear velocity and the corresponding drawing color; Determines the additional paint color of waypoints so that each waypoint's paint color is a mix of two different colors.

2. The robot trajectory evaluation and optimization method according to claim 1, characterized in that: The end linear velocity of the trajectory point is calculated by the following formula: , in, Indicates i The position of each trajectory point in the robot base coordinate system, Indicates i -The position of 1 trajectory point in the robot base coordinate system, i is an integer greater than 0, Indicates the track point update period.

3. The robot trajectory evaluation and optimization method according to claim 1 or 2, characterized in that: Judging whether the waypoint is reasonable based on the terminal linear speed of the waypoint includes: Obtain the terminal linear velocity standard value and terminal linear velocity error value of the robot trajectory point; Calculating a terminal linear velocity boundary value according to the terminal linear velocity standard value and the terminal linear velocity error value, and obtaining a terminal linear velocity reasonable range according to the terminal linear velocity boundary value; If the terminal linear velocity of the waypoint is not within the reasonable range of the terminal linear velocity, then determining that the waypoint is unreasonable; If the terminal linear velocity of the waypoint is within the reasonable range of the terminal linear velocity, the waypoint is determined to be reasonable.

4. The robot trajectory evaluation and optimization method according to claim 3 is characterized in that: The number of the terminal linear velocity standard value is one, the number of the terminal linear velocity error values ​​is two, and the terminal linear velocity reasonable range includes a first reasonable range, a second reasonable range and a third reasonable range which are different from each other. The terminal linear velocity boundary value is calculated by the following formula: , , in, S is the standard value of the terminal line speed, I 1. I 2 are the terminal linear velocity errors, I 1 is less than I 2, I 1. I 2 are both greater than 0, L 1. L 2. T 2 and T 2 are the terminal linear velocity boundary values; The first reasonable range is ( T 1, L 1) The second reasonable range is ( T 2, T 1] and the third reasonable range is [ L 1, L 2).

5. The robot trajectory evaluation and optimization method according to claim 1, characterized in that: The drawing color of the trajectory point is determined by the following formula: , in, color is the drawing color of the trajectory points, color 1. color 2 and color 3 are the first color, the second color and the third color respectively. color 1. color 2 and color 3 are different, v i For the i The end linear velocity of each trajectory point is L 1. L 2. T 2 and T 2 are the terminal linear velocity boundary values.

6. The robot trajectory evaluation and optimization method according to claim 1, characterized in that: The robot trajectory curve includes a three-dimensional trajectory curve of the robot trajectory in the robot base coordinate system, a two-dimensional trajectory curve in the xOy plane, xOz plane and yOz plane of the robot base coordinate system, and a trajectory point number-terminal linear velocity curve of the robot. Drawing the trajectory points of the robot based on the positions, terminal linear velocities and drawing colors of the trajectory points to obtain a trajectory curve of the robot includes: Drawing the trajectory points of the robot according to the positions and drawing colors of the trajectory points in the robot base coordinate system to obtain a three-dimensional trajectory curve; Drawing the trajectory points of the robot in the xOy plane, xOz plane and yOz plane of the robot base coordinate system according to the positions and drawing colors of the trajectory points to obtain a two-dimensional trajectory curve; A coordinate system is established with the number of trajectory points as the horizontal axis and the terminal linear velocity of the trajectory points as the vertical axis, and the trajectory points are plotted according to the terminal linear velocity and drawing color of the trajectory points of the robot in the coordinate system to obtain a trajectory point number-terminal linear velocity curve.

7. The robot trajectory evaluation and optimization method according to claim 6, characterized in that: Drawing the trajectory points of the robot based on the positions, terminal linear speeds and drawing colors of the trajectory points to obtain a trajectory curve of the robot further includes: Drawing the shape of the waypoint in the three-dimensional trajectory curve into a preset three-dimensional shape; The two-dimensional trajectory curve and the shape of the waypoint in the trajectory point number-terminal linear speed curve are drawn as a preset plane shape.

8. The robot trajectory evaluation and optimization method according to claim 7, characterized in that: The preset three-dimensional shape is a sphere, and the shape of the waypoint in the three-dimensional trajectory curve is drawn as the preset three-dimensional shape, including: Calculating the position vector of the waypoint in the three-dimensional trajectory curve under the model view matrix; Calculate the radius of the sphere based on the position vector; The shape of the waypoint in the three-dimensional trajectory curve is drawn as a sphere according to the radius of the sphere.

9. The robot trajectory evaluation and optimization method according to claim 8, characterized in that: The position vector of the waypoint under the model view matrix is ​​calculated by the following formula: , in, Represents the position vector of the waypoint under the model view matrix, represents the model view matrix, represents the position and posture of the waypoint in the robot base coordinate system, Represents the position of the waypoint in three-dimensional space; The radius of the sphere is calculated using the following formula: , in, represents the radius of the sphere, for The length is the distance from the waypoint to the camera, is the spherical size coefficient.

10. The robot trajectory evaluation and optimization method according to claim 1, characterized in that: Also includes: When a waypoint is unreasonable, an unreasonable score of the waypoint is calculated and the unreasonable score is displayed.

11. The robot trajectory evaluation and optimization method according to claim 10, characterized in that: The unreasonable score is calculated by the following formula: ， in , score For unreasonable scores, S is the standard value of the terminal line speed, v 不 is the terminal linear speed of the unreasonable waypoint.

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