Path debugging method and device, equipment and storage medium
By generating the initial path cluster and performing path expansion, the problem of path no solution and point conflict in robotic arm motion path planning in the prior art is solved, and more efficient and accurate path planning is achieved, reducing the debugging difficulty of engineers.
Patent Information
- Application Number
- CN202311384744.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-24
- Publication Date
- 2025-04-25
AI Technical Summary
When planning the motion path of a robot robot arm in a simulation environment, it is easy to have no solution to the path or point conflicts, resulting in engineers needing repeated debugging, which increases work difficulty and inefficiency.
By generating an initial path cluster based on the user-configured robotic arm points and performing path expansion based on this until at least one motion path that meets the preset conditions is generated, the robotic arm runs to the target position without collision. At the same time, display the motion path that does not meet the preset conditions and prompt the reason for the failure of the planning so that the user can correct the error.
Improves the efficiency and accuracy of path planning, reduces the difficulty of debugging for engineers, and ensures that the robotic arm can successfully reach the preset target position and completes collision-free operations.
Smart Images
Figure CN119871370A_ABST
Abstract
Description
Background Art
[0002] With the development of automation and information technology, there are more and more scenarios where robots are used to replace manual labor, and the technology is becoming more and more mature. Before putting robots into real industrial applications, in order to reduce the difficulty of on-site delivery, a corresponding simulation environment is often built based on real scenarios, and various functions of the robot are rehearsed in the simulation environment during operation, so as to detect problems in advance and improve the efficiency of on-site delivery.
[0003] At present, the motion trajectory of the robot arm is generally planned in the simulation software according to the preset initial conditions, the motion path of each joint of the robot arm is obtained, and then the motion path is saved and finally loaded into the corresponding scene template. However, the motion path generated in this way is prone to the situation where there is no solution for the path, or there are conflicts (such as collisions) in the points in the path planning.
[0004] In view of the above situation, engineers need to repeatedly debug the robot's motion path parameters, which makes on-site delivery difficult, reduces work efficiency, and requires high experience and ability of engineers. Summary of the invention
[0005] In view of the defects in the prior art, an object of the present invention is to provide a path error detection method, device, equipment and storage medium.
[0006] In a first aspect, an embodiment of the present application provides a path error detection method, comprising:
[0007] Generate an initial path cluster based on the robot arm points configured by the user;
[0008] Performing path expansion based on the initial path cluster until generating at least one motion path that meets a preset condition; wherein the preset condition refers to: the robot arm moves to the target position without collision;
[0009] The motion paths generated during the path extension process that do not meet the preset conditions are displayed, and the reasons for the failure of motion path planning are prompted, where the reasons for the failure of motion path planning include: collision and unreachable target position.
[0010] Optionally, generating an initial path cluster according to the robot arm points configured by the user includes:
[0011] In the pre-built simulation interface, select the path planning control and generate the initial path cluster in series based on the robot arm points entered by the user, or
[0012] Import the preset path according to the site layout;
[0013] According to the adjustment result of the robot arm posture by the user in the simulation interface, the preset path is automatically modified to generate an initial path cluster.
[0014] Optionally, performing path extension based on the initial path cluster until at least one motion path meeting a preset condition is generated includes:
[0015] All possible positions of each robot arm point in the initial path cluster are enumerated respectively until at least one motion path with no collision at all points is obtained.
[0016] Optionally, the motion path generated during the path extension process that does not meet the preset conditions is displayed, and the reasons for the motion path planning failure are prompted, including:
[0017] In the first display area of the simulation interface, a number of motion paths that do not meet the preset conditions are displayed;
[0018] When a trigger operation for any motion path is received from the user in the first display area, the current position of each point of the corresponding motion path is displayed in a graphical manner in the second display area, and the reason for the failure of motion path planning is prompted.
[0019] Optionally, it also includes:
[0020] When the operation instruction information input by the user is received, the complete process of the robot arm running according to the selected motion path is displayed in the third display area;
[0021] Compare the abnormal situation that occurs during the operation of the robot arm with the prompted failure cause to see if it is consistent. If it is consistent, adjust the points of the motion path according to the prompted failure cause until a motion path that meets the preset conditions is obtained.
[0022] Optionally, it also includes:
[0023] When the perspective indication information input by the user is received, the working environment of the robot arm is displayed in a wireframe manner in the third display area; wherein the working environment of the robot arm includes: any one or any combination of: a material frame, a conveying mechanism, a robot arm, an obstacle, and a pallet.
[0024] Optionally, it also includes:
[0025] Previewing the motion path that meets the preset conditions to detect whether the robot arm can perform collision-free operation;
[0026] If the robot arm collides during the rehearsal process, the corresponding motion path is adjusted until the robot arm can complete the collision-free operation according to the adjusted motion path.
[0027] In a second aspect, an embodiment of the present application provides a path error detection device, including:
[0028] The configuration module is used to generate an initial path cluster according to the robot arm points configured by the user;
[0029] A path extension module, used for performing path extension based on the initial path cluster until generating at least one motion path that meets a preset condition; wherein the preset condition refers to: the robot arm moves to a target position without collision;
[0030] The path error detection module is used to display the motion path generated during the path extension process that does not meet the preset conditions and prompt the reasons for the failure of motion path planning; among which, the reasons for the failure of motion path planning include: collision and unreachable target position.
[0031] Optionally, the configuration module is specifically used to:
[0032] In the pre-built simulation interface, select the path planning control and generate the initial path cluster in series based on the robot arm points entered by the user, or
[0033] Import the preset path according to the site layout;
[0034] According to the adjustment result of the robot arm posture by the user in the simulation interface, the preset path is automatically modified to generate an initial path cluster.
[0035] Optionally, the path extension module is specifically used to:
[0036] All possible positions of each robot arm point in the initial path cluster are enumerated respectively until at least one motion path with no collision at all points is obtained.
[0037] Optionally, the path error detection module is specifically used to:
[0038] In the first display area of the simulation interface, a number of motion paths that do not meet the preset conditions are displayed;
[0039] When a trigger operation for any motion path is received from the user in the first display area, the current position of each point of the corresponding motion path is displayed in a graphical manner in the second display area, and the reason for the failure of motion path planning is prompted.
[0040] Optionally, it also includes:
[0041] A path operation module, for displaying the complete process of the robot arm running along the selected motion path in the third display area upon receiving the operation instruction information input by the user;
[0042] The path point adjustment module is used to compare the abnormal situation that occurs during the operation of the robot arm with the prompted failure cause. If it is consistent, the points of the motion path are adjusted according to the prompted failure cause until a motion path that meets the preset conditions is obtained.
[0043] Optionally, it also includes:
[0044] The wireframe display module is used to display the working environment of the robot arm in a wireframe manner in the third display area when receiving the perspective indication information input by the user; wherein the working environment of the robot arm includes: any one or any combination of material frames, conveying mechanisms, robot arms, obstacles, and pallets.
[0045] Optionally, it further includes: a path preview module, used to preview the motion path that meets the preset conditions and detect whether the robot arm can perform collision-free operation;
[0046] If the robot arm collides during the rehearsal process, the corresponding motion path is adjusted until the robot arm can complete the collision-free operation according to the adjusted motion path.
[0047] In a third aspect, an embodiment of the present application provides a path error detection device, including: a processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to:
[0048] Execute the steps of the path error detection method as described in any one of the first aspects.
[0049] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the path error detection method as described in any one of the first aspects.
[0050] Compared with the prior art, the present invention has the following beneficial effects:
[0051] In the present application, an initial path cluster is generated according to the robot arm points configured by the user; the path is extended based on the initial path cluster until at least one motion path that meets the preset conditions is generated; wherein the preset conditions refer to: the robot arm runs to the target position without collision; the motion paths generated during the path extension process that do not meet the preset conditions are displayed, and the reasons for the failure of motion path planning are prompted, wherein the reasons for the failure of motion path planning include: the existence of collisions, and the target position is unreachable. In this way, the motion paths generated by the robot arm during the solution process can be displayed in a visual manner, and the reasons for the failure of the motion paths that failed to be planned, the locations where collisions occurred, etc. are clearly displayed, so that users can correct the motion paths, improve the efficiency of path planning, and ensure that the robot arm can successfully reach the preset target position and complete collision-free operations. BRIEF DESCRIPTION OF THE DRAWINGS
[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:
[0053] FIG. 1( a ) is a schematic diagram of a simulation interface for path error detection provided in an embodiment of the present application;
[0054] FIG1( b ) is a schematic diagram of an interface of node information in an embodiment of the present application;
[0055] FIG1( c ) is a schematic diagram of an interface of path information in an embodiment of the present application;
[0056] FIG1( d ) is a schematic diagram of a progress bar of a path operation in an embodiment of the present application;
[0057] Figure 2 A schematic diagram of a flow chart of a path error detection method provided in an embodiment of the present application;
[0058] Figure 3 A schematic diagram of a flow chart of another path error detection method provided in an embodiment of the present application;
[0059] Figure 4 A flowchart of another path error detection method provided in an embodiment of the present application;
[0060] Figure 5 A schematic diagram of the structure of a path error detection device provided in an embodiment of the present application;
[0061] Figure 6 A schematic diagram of the structure of another path error detection device provided in an embodiment of the present application;
[0062] Figure 7 A schematic diagram of the structure of another path error detection device provided in an embodiment of the present application;
[0063] Figure 8 A schematic diagram of the structure of a path error detection device provided in one embodiment of the present application;
[0064] Fig. 9 It is a schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. DETAILED DESCRIPTION
[0065] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0066] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.
[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.
[0068] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0069] The following specific embodiments are used to describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.
[0070] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.
[0071] FIG1(a) is a schematic diagram of the simulation interface of the path debugging provided in the embodiment of the present application. As shown in FIG1(a), the upper left area of the simulation interface of the path debugging displays the workpiece name, path solution result, grab workspace, placement workspace, robot information, and basic information such as project path and log path. The lower left area of the simulation interface of the path debugging displays the solved path information (including sequence number, path name, solution stage, and solution result); the upper right area of the simulation interface of the path debugging displays the planning environment (3D dynamic demonstration of the robot arm operation process), and the lower right area of the simulation interface of the path debugging displays the progress bar of the path operation.
[0072] Exemplarily, when a path is selected, the path details will pop up and analyze the reasons for path failure (for example: collision, safety distance limit, kinematics no solution, intelligent planning failure, etc.). Regarding collision, the location of the collision point and the name of the collision object are displayed, and the collision point and collision object are displayed synchronously in the environment planning on the right. Regarding safety distance limits, too close points and too close objects that do not meet the safety distance limits will be displayed, and too close points and too close objects will be displayed in the environment planning on the right. Regarding kinematics no solution, basic error information will be displayed, and the end target pose will be displayed in the environment planning on the right to check whether it is reachable. Regarding intelligent planning failure, one possible situation is that the solution has timed out, and the timeout time used for the current solution will be displayed.
[0073] Figure 1(b) is a schematic diagram of the interface of node information in an embodiment of the present application. As shown in Figure 1(b), for each point configured by the user, the type, name, and relative relationship of the point will be displayed, and all candidate locations will be displayed in a table. After checking some point selections, the paths can be filtered and screened. The paths with higher matching degree with the checked options will be ranked higher (corresponding to higher priority).
[0074] Figure 1(c) is a schematic diagram of the interface of the path information in the embodiment of the present application. As shown in Figure 1(c), each path will display the path name, the stage of solution failure, and the solution result. The solution stage is displayed in a progress bar-like manner to facilitate intuitive perception of the location of solution failure. There are three ways to sort the path table, one is to sort according to the mvf solution order, one is to sort according to the stage of solution failure (the later the failure, the higher the ranking, and the successful solution ranks the highest), and one is to filter the path according to the selected point in the node table. You can select the path by clicking a path with the mouse or sliding over a path with the mouse pressed, and update the progress bar on the right and the path details label above.
[0075] Figure 1(d) is a schematic diagram of the progress bar of the path operation in the embodiment of the present application. As shown in Figure 1(d), the large dot represents the end point of each segment of the trajectory, and the small dot represents the interpolation point on the trajectory. It should be noted that because each point corresponds one-to-one with the point when the MVF is solved, each large dot and the small dot immediately following it represent the same position. The square box represents the current running position. In order to highlight the failed points, other colors can be used to distinguish them from normal points.
[0076] In this embodiment, the motion path generated by the robot arm during the solution process is displayed in a visual manner, and the reasons why the motion path failed to be planned, the location where the collision occurred, etc. are clearly displayed, so that the user can correct the motion path, improve the efficiency of path planning, and ensure that the robot arm can successfully reach the preset target position and complete the collision-free operation.
[0077] Figure 2 A schematic diagram of a path error detection method provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the method in this embodiment may include:
[0078] Step S201: Generate an initial path cluster according to the robot arm points configured by the user.
[0079] In this embodiment, a path planning control can be selected in a pre-built simulation interface, and an initial path cluster can be generated in series based on the robot arm points input by the user, or a preset path can be imported based on the on-site layout. Based on the user's adjustment results of the robot arm's posture in the simulation interface, the preset path is automatically modified to generate an initial path cluster.
[0080] Exemplarily, as shown in FIG. 1( a ), the user can use the mouse to drag the position of the robot arm in the 3D interface of the environment planning, and the movement point of the robot arm will be formed according to the dragging result of the user.
[0081] Step S202: perform path extension based on the initial path cluster until at least one motion path that meets preset conditions is generated.
[0082] In this embodiment, all possible positions of each robot point in the initial path cluster are enumerated respectively until at least one motion path without collision at all points is obtained. In this embodiment, the preset condition means that the robot moves to the target position without collision.
[0083] Step S203: displaying the motion paths generated during the path extension process that do not meet the preset conditions, and indicating the reasons for the failure of motion path planning.
[0084] In this embodiment, the reasons for the failure of motion path planning include: collision, unreachable target position, unsolvable path, planning timeout, etc.
[0085] Exemplarily, several motion paths that do not meet preset conditions can be displayed in the first display area of the simulation interface; when a trigger operation is received from the user in the first display area for any motion path, the current position of each point on the corresponding motion path is displayed graphically in the second display area, and the reason for the failure of motion path planning is prompted.
[0086] In this embodiment, an initial path cluster is generated according to the robot arm points configured by the user; the path is extended based on the initial path cluster until at least one motion path that meets the preset conditions is generated; wherein the preset conditions refer to: the robot arm runs to the target position without collision; the motion paths generated during the path extension process that do not meet the preset conditions are displayed, and the reasons for the failure of motion path planning are prompted, wherein the reasons for the failure of motion path planning include: the existence of collisions and the target position is unreachable. In this way, the motion paths generated by the robot arm during the solution process can be displayed in a visual manner, and the reasons for the failure of the motion paths that failed to be planned, the locations where collisions occurred, etc. are clearly displayed, so that the user can correct the motion paths, improve the efficiency of path planning, and ensure that the robot arm can successfully reach the preset target position and complete the collision-free operation.
[0087] Figure 3 A flow chart of another path error detection method provided in an embodiment of the present application is as follows: Figure 3 As shown, the method in this embodiment may include:
[0088] Step S301: Generate an initial path cluster according to the robot arm points configured by the user.
[0089] Step S302: perform path extension based on the initial path cluster until at least one motion path that meets preset conditions is generated.
[0090] Step S303: displaying the motion paths generated during the path extension process that do not meet the preset conditions, and indicating the reasons for the failure of motion path planning.
[0091] In this embodiment, the specific implementation and technical effects of steps S301 to S303 are shown in Figure 2 The relevant descriptions of steps S201 to S203 are not repeated here.
[0092] Step S304: When the operation instruction information input by the user is received, the complete process of the robot arm operating according to the selected motion path is displayed in the third display area.
[0093] In this embodiment, as shown in FIG. 1( a ), the complete process of the robot arm moving along the selected motion path can be dynamically demonstrated in the 3D interface of the environment planning, and a progress bar of the motion path can also be displayed.
[0094] Step S305: compare the abnormal situation that occurs during the operation of the robot arm with the prompted failure cause to see if they are consistent. If they are consistent, adjust the points of the motion path according to the prompted failure cause until a motion path that meets the preset conditions is obtained.
[0095] In this embodiment, sometimes it may not be possible to obtain a motion path that meets the preset conditions. In this case, the user needs to select a path from the paths where the motion planning failed to make adjustments. According to the prompt failure reason, find the point where the problem occurs and adjust the point until the robot arm can reach the target posture without collision.
[0096] In an optional implementation, when the perspective indication information input by the user is received, the working environment of the robot arm is displayed in a wireframe manner in the third display area; wherein the working environment of the robot arm includes: any one or any combination of: a material frame, a conveying mechanism, a robot arm, an obstacle, and a tray. With such a display method, the situation of each point can be more intuitively seen.
[0097] In this embodiment, all planned motion paths can be run in the simulation interface to intuitively display the motion process of the robot arm, so that users can find the points where problems occur and make targeted adjustments to the motion path based on the failure reasons prompted. In addition, when there is no solution to the motion path, the problem can be quickly found out by adjusting the problem points, and a motion path that meets the preset conditions can be obtained.
[0098] Figure 4 A flow chart of another path error detection method provided in an embodiment of the present application is as follows: Figure 4 As shown, the method in this embodiment may include:
[0099] Step S401: Generate an initial path cluster according to the robot arm points configured by the user.
[0100] Step S402: perform path extension based on the initial path cluster until at least one motion path that meets preset conditions is generated.
[0101] Step S403: displaying the motion paths generated during the path extension process that do not meet the preset conditions, and indicating the reasons for the failure of motion path planning.
[0102] In this embodiment, the specific implementation and technical effects of steps S401 to S403 are shown in Figure 2 The relevant descriptions of steps S201 to S203 are not repeated here.
[0103] Step S404: Preview the motion path that meets the preset conditions to detect whether the robot arm can perform collision-free operation.
[0104] In this embodiment, the generated motion path that meets the preset conditions can be previewed in the simulation interface to detect whether the robot arm can operate without collision.
[0105] Step S405: If a collision occurs to the robot arm during the preview process, the corresponding motion path is adjusted until the robot arm can complete the collision-free operation according to the adjusted motion path.
[0106] In this embodiment, if a collision is found during the preview, the point where the problem occurs is found, the motion path is adjusted, and then the operation is performed again until the robot arm can complete the operation without collision.
[0107] In this embodiment, after obtaining a motion path that meets the preset conditions, a preview can be performed in a simulation interface in an intuitive manner to demonstrate the complete process of the robot arm moving along the motion path, and problems can be promptly checked to ensure that the obtained motion path can truly achieve collision-free. In addition, for some points close to the limit safety distance, these points can also be manually adjusted to make the robot arm safer when moving.
[0108] Figure 5 A schematic diagram of the structure of a path error detection device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the device in this embodiment may include: a configuration module 501, used to generate an initial path cluster according to the robot arm points configured by the user; a path extension module 502, used to perform path extension based on the initial path cluster until at least one motion path that meets the preset conditions is generated; wherein the preset conditions refer to: the robot arm runs to the target position without collision; a path error detection module 503, used to display the motion path that does not meet the preset conditions generated during the path extension process, and prompt the reasons for the failure of the motion path planning; wherein the reasons for the failure of the motion path planning include: the existence of a collision and the target position is unreachable.
[0109] Exemplarily, the configuration module 501 is specifically used for:
[0110] In the pre-built simulation interface, select the path planning control and generate the initial path cluster in series based on the robot arm points entered by the user, or
[0111] Import the preset path according to the site layout;
[0112] According to the user's adjustment results of the robot arm's posture in the simulation interface, the preset path is automatically modified to generate an initial path cluster.
[0113] Exemplarily, the path extension module 502 is specifically configured to:
[0114] All possible positions of each robot point in the initial path cluster are enumerated separately until at least one motion path with no collision at all points is obtained.
[0115] Exemplarily, the path error detection module 503 is specifically used for:
[0116] In the first display area of the simulation interface, a number of motion paths that do not meet the preset conditions are displayed;
[0117] When a trigger operation of the user for any motion path is received in the first display area, the current position of each point of the corresponding motion path is displayed in a graphical manner in the second display area, and the reason for the failure of motion path planning is prompted.
[0118] In this embodiment, an initial path cluster is generated according to the robot arm points configured by the user; the path is extended based on the initial path cluster until at least one motion path that meets the preset conditions is generated; wherein the preset conditions refer to: the robot arm runs to the target position without collision; the motion paths generated during the path extension process that do not meet the preset conditions are displayed, and the reasons for the failure of motion path planning are prompted, wherein the reasons for the failure of motion path planning include: the existence of collisions and the target position is unreachable. In this way, the motion paths generated by the robot arm during the solution process can be displayed in a visual manner, and the reasons for the failure of the motion paths that failed to be planned, the locations where collisions occurred, etc. are clearly displayed, so that the user can correct the motion paths, improve the efficiency of path planning, and ensure that the robot arm can successfully reach the preset target position and complete the collision-free operation.
[0119] Figure 6 A schematic diagram of the structure of another path error detection device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the device in this embodiment is Figure 5 On the basis of the device shown, it can also include: a path operation module 504, which is used to display the complete process of the robot arm running according to the selected motion path in the third display area when receiving the operation instruction information input by the user; a path point adjustment module 505, which is used to compare whether the abnormal situation occurring during the operation of the robot arm is consistent with the prompted failure cause. If it is consistent, the point of the motion path is adjusted according to the prompted failure cause until a motion path that meets the preset conditions is obtained.
[0120] In an optional embodiment, it may also include: a wireframe display module 506, which is used to display the working environment of the robot arm in a wireframe manner in the third display area when receiving the perspective indication information input by the user; wherein the working environment of the robot arm includes: any one of the material frame, the conveying mechanism, the robot arm, the obstacle, and the pallet, or any combination of multiple items.
[0121] This embodiment can be performed Figure 2 , Figure 3 For the specific implementation principle and process of the method shown in Figure 2 , Figure 3 The relevant description in the illustrated method embodiment will not be repeated here.
[0122] Figure 7 A schematic diagram of the structure of another path error detection device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the device in this embodiment is Figure 6 On the basis of the device shown, it can also include: a path preview module 507, which is used to preview the motion path that meets the preset conditions and detect whether the robot arm can perform collision-free operations; if the robot arm collides during the preview process, the corresponding motion path is adjusted until the robot arm can complete the collision-free operation according to the adjusted motion path.
[0123] This embodiment can be performed Figure 4 For the specific implementation principle and process of the method shown in Figure 4 The relevant description in the illustrated method embodiment will not be repeated here.
[0124] Figure 8 This is a schematic diagram of the structure of a path error detection device provided in an embodiment of the present application. The path error detection device 800 in this embodiment may include: a processor 801 and a memory 802.
[0125] The memory 802 is used to store programs; the memory 802 may include volatile memory (English: volatile memory), such as random-access memory (English: random-access memory, abbreviated: RAM), such as static random-access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory 802 is used to store computer programs (such as applications, functional modules, etc. that implement the above method), computer instructions, etc., and the above computer programs, computer instructions, etc. can be partitioned and stored in one or more memories 802. And the above computer programs, computer instructions, data, etc. can be called by the processor 801.
[0126] The above-mentioned computer programs, computer instructions, etc. may be stored in partitions in one or more memories 802 . And the above-mentioned computer programs, computer instructions, data, etc. may be called by the processor 801 .
[0127] The processor 801 is used to execute the computer program stored in the memory 802 to implement each step of the method involved in the above embodiment.
[0128] For details, please refer to the relevant description in the previous method embodiment.
[0129] The processor 801 and the memory 802 may be independent structures or integrated structures. When the processor 801 and the memory 802 are independent structures, the memory 802 and the processor 801 may be coupled and connected via a bus 803 .
[0130] The path error detection device 800 of this embodiment can execute Figures 2 to 4 For the technical solution in the method shown, its specific implementation process and technical principles can be found in Figures 2 to 4 The relevant descriptions in the method shown will not be repeated here.
[0131] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "platforms".
[0132] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When at least one processor of a user device executes the computer-executable instructions, the user device executes the above-mentioned various possible methods.
[0133] Among them, computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also be present in a communication device as discrete components.
[0134] The present application also provides a program product, which includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium. At least one processor executes the computer program so that the server implements any method of the above-mentioned embodiments of the present invention.
[0135] Those skilled in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Various media that can store program codes.
[0136] Fig. 9 Schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. Fig. 9As shown, a program product 900 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.
[0137] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.
[0138] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.
[0139] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).
[0140] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.
[0141] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.
Claims
1. A path error detection method, characterized in that: include: Generate an initial path cluster based on the robot arm points configured by the user; Performing path expansion based on the initial path cluster until generating at least one motion path that meets a preset condition; wherein the preset condition refers to: the robot arm moves to the target position without collision; The motion paths generated during the path extension process that do not meet the preset conditions are displayed, and the reasons for the failure of motion path planning are prompted, where the reasons for the failure of motion path planning include: collision and unreachable target position.
2. The path error detection method according to claim 1, characterized in that: The generating of the initial path cluster according to the robot arm point position configured by the user includes: In the pre-built simulation interface, select the path planning control and generate the initial path cluster in series based on the robot arm points entered by the user, or Import the preset path according to the site layout; According to the adjustment result of the robot arm posture by the user in the simulation interface, the preset path is automatically modified to generate an initial path cluster.
3. The path error detection method according to claim 1, characterized in that: Performing path extension based on the initial path cluster until generating at least one motion path that meets preset conditions includes: All possible positions of each robot arm point in the initial path cluster are enumerated respectively until at least one motion path with no collision at all points is obtained.
4. The path error detection method according to claim 1, characterized in that: The motion paths generated during the path extension process that do not meet the preset conditions are displayed, and the reasons for the motion path planning failure are prompted, including: In the first display area of the simulation interface, a number of motion paths that do not meet the preset conditions are displayed; When a trigger operation for any motion path is received from the user in the first display area, the current position of each point of the corresponding motion path is displayed in a graphical manner in the second display area, and the reason for the failure of motion path planning is prompted.
5. The path error detection method according to claim 4, characterized in that: Also includes: When the operation instruction information input by the user is received, the complete process of the robot arm running according to the selected motion path is displayed in the third display area; Compare the abnormal situation that occurs during the operation of the robot arm with the prompted failure cause to see if it is consistent. If it is consistent, adjust the points of the motion path according to the prompted failure cause until a motion path that meets the preset conditions is obtained.
6. The path error detection method according to claim 4, characterized in that: Also includes: When the perspective indication information input by the user is received, the working environment of the robot arm is displayed in a wireframe manner in the third display area; wherein the working environment of the robot arm includes: any one or any combination of: a material frame, a conveying mechanism, a robot arm, an obstacle, and a pallet.
7. The path error detection method according to any one of claims 1 to 6, characterized in that: Also includes: Previewing the motion path that meets the preset conditions to detect whether the robot arm can perform collision-free operation; If the robot arm collides during the rehearsal process, the corresponding motion path is adjusted until the robot arm can complete the collision-free operation according to the adjusted motion path.
8. A path error detection device, characterized in that: include: The configuration module is used to generate an initial path cluster according to the robot arm points configured by the user; A path extension module, used for performing path extension based on the initial path cluster until generating at least one motion path that meets a preset condition; wherein the preset condition refers to: the robot arm moves to a target position without collision; The path error detection module is used to display the motion path generated during the path extension process that does not meet the preset conditions and prompt the reasons for the failure of motion path planning; among which, the reasons for the failure of motion path planning include: collision and unreachable target position.
9. A path error detection device, characterized in that: include: A processor and a memory, wherein the memory stores executable program instructions; When the processor calls the program instructions in the memory, the processor is used to: Execute the steps of the path error detection method described in any one of claims 1 to 7.
10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the path error detection method according to any one of claims 1 to 7 are implemented.