Robot trajectory planning method, device, equipment, storage medium and program product

Abstract

The invention relates to a robot trajectory planning method and device, equipment, a storage medium and a program product. The method comprises the steps that the edge track of a to-be-polished workpiece is obtained; the edge track comprises a plurality of track points; based on the characteristic distance between the robot polishing assembly and each track point, collision interference inspection is carried out, and an interference track in the edge tracks is determined; deleting the interference track from the edge track to obtain a first polishing track; track fusion interpolation is conducted on continuous tracks in the first polishing track, and a second polishing track is obtained; based on the second polishing track, motion planning is conducted on the robot polishing assembly, and a transition track is obtained; and the second grinding track and the transition track are combined, and the expected machining track of the robot grinding assembly for the to-be-ground workpiece is obtained. The method can adapt to various grinding scenes and workpiece shapes, and the track planning efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot trajectory planning method, apparatus, device, storage medium, and program product. Background Technology

[0002] Grinding is a common process in workpiece machining. Automated grinding using robots can significantly improve machining efficiency. In robotic automated grinding systems, to ensure the safety and reliability of the grinding process, it is necessary to prevent collisions between the robot and the workpiece or the environment.

[0003] However, changes in the grinding scenario or workpiece shape can severely limit the working efficiency and rapid deployment capability of robotic grinding systems, making it difficult to adapt to the flexible production needs of multiple varieties and small batches. Summary of the Invention

[0004] Therefore, it is necessary to provide a robot trajectory planning method, device, equipment, storage medium, and program product that can improve adaptability to various grinding scenarios and workpiece shapes to address the above-mentioned technical problems.

[0005] Firstly, this application provides a robot trajectory planning method, including:

[0006] Obtain the edge trajectory of the workpiece to be ground; the edge trajectory includes multiple trajectory points;

[0007] Based on the characteristic distances between the robot grinding component and each of the trajectory points, a collision interference check is performed to determine the interference trajectory in the edge trajectory.

[0008] The interference trajectory is deleted from the edge trajectory to obtain the first polishing trajectory;

[0009] The continuous trajectories in the first polishing trajectory are fused and interpolated to obtain the second polishing trajectory;

[0010] Based on the second polishing trajectory, motion planning is performed on the robot polishing component to obtain a transition trajectory;

[0011] The second grinding trajectory and the transition trajectory are combined to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

[0012] In one embodiment, the step of performing collision interference checks based on the characteristic distances between the robot grinding component and each of the trajectory points to determine the interference trajectory in the edge trajectory includes:

[0013] Determine the characteristic distance between the center of the robot polishing component and each of the trajectory points;

[0014] Check whether the feature distance of each trajectory point is less than a preset safety threshold;

[0015] The trajectory formed by the trajectory points whose feature distance is less than the preset safety threshold is taken as the interference trajectory in the edge trajectory.

[0016] In one embodiment, the step of performing trajectory fusion interpolation on the continuous trajectories in the first polishing trajectory to obtain the second polishing trajectory includes:

[0017] Determine the interpolation start vector and interpolation end vector of the continuous trajectory, as well as the number of interpolation points;

[0018] Within the angle range formed by the interpolation start vector and the interpolation end vector, interpolation points corresponding to the number of interpolation points are inserted.

[0019] In one embodiment, the method further includes:

[0020] Determine each of the polyline trajectories in the first polishing trajectory, and the polishing sequence of each polyline trajectories;

[0021] According to the polishing sequence, determine the trajectory distance between adjacent polyline trajectories;

[0022] If the trajectory distance is less than a preset distance threshold, the adjacent polyline trajectories are determined to be continuous trajectories.

[0023] In one embodiment, the motion planning of the robot polishing component based on the second polishing trajectory to obtain a transition trajectory includes:

[0024] Identify the transition planning start point and transition planning end point of the second polishing trajectory;

[0025] Based on the coordinate positions of the transition planning start point and the planning end point, a planning area is delineated in the local coordinate system of the workpiece to be polished;

[0026] Within the planned area, a collision interference check is performed on the robot grinding component to obtain the transition trajectory.

[0027] In one embodiment, the method further includes:

[0028] Obtain the homogeneous transformation matrix of each trajectory point in the second polishing trajectory;

[0029] Based on the homogeneous transformation matrices of each point, the position of the robot grinding component is updated in the local coordinate system of the workpiece to be ground, thereby obtaining the target position of the robot grinding component.

[0030] Secondly, this application also provides a robot trajectory planning device, comprising:

[0031] Edge trajectory acquisition module, used to acquire the edge trajectory of the workpiece to be polished; the edge trajectory includes multiple trajectory points;

[0032] The collision interference detection module is used to perform collision interference detection based on the characteristic distance between the robot grinding component and each of the trajectory points, and to determine the interference trajectory in the edge trajectory.

[0033] An interference trajectory deletion module is used to delete the interference trajectory from the edge trajectory to obtain a first polishing trajectory;

[0034] The trajectory fusion interpolation module is used to perform trajectory fusion interpolation on the continuous trajectory in the first grinding trajectory to obtain the second grinding trajectory.

[0035] The trajectory motion planning module is used to perform motion planning on the robot grinding component based on the second grinding trajectory to obtain a transition trajectory;

[0036] The transition trajectory merging module is used to merge the second grinding trajectory and the transition trajectory to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

[0037] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0038] Obtain the edge trajectory of the workpiece to be ground; the edge trajectory includes multiple trajectory points;

[0039] Based on the characteristic distances between the robot grinding component and each of the trajectory points, a collision interference check is performed to determine the interference trajectory in the edge trajectory.

[0040] The interference trajectory is deleted from the edge trajectory to obtain the first polishing trajectory;

[0041] The continuous trajectories in the first polishing trajectory are fused and interpolated to obtain the second polishing trajectory;

[0042] Based on the second polishing trajectory, motion planning is performed on the robot polishing component to obtain a transition trajectory;

[0043] The second grinding trajectory and the transition trajectory are combined to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

[0044] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0045] Obtain the edge trajectory of the workpiece to be ground; the edge trajectory includes multiple trajectory points;

[0046] Based on the characteristic distances between the robot grinding component and each of the trajectory points, a collision interference check is performed to determine the interference trajectory in the edge trajectory.

[0047] The interference trajectory is deleted from the edge trajectory to obtain the first polishing trajectory;

[0048] The continuous trajectories in the first polishing trajectory are fused and interpolated to obtain the second polishing trajectory;

[0049] Based on the second polishing trajectory, motion planning is performed on the robot polishing component to obtain a transition trajectory;

[0050] The second grinding trajectory and the transition trajectory are combined to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

[0051] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0052] Obtain the edge trajectory of the workpiece to be ground; the edge trajectory includes multiple trajectory points;

[0053] Based on the characteristic distances between the robot grinding component and each of the trajectory points, a collision interference check is performed to determine the interference trajectory in the edge trajectory.

[0054] The interference trajectory is deleted from the edge trajectory to obtain the first polishing trajectory;

[0055] The continuous trajectories in the first polishing trajectory are fused and interpolated to obtain the second polishing trajectory;

[0056] Based on the second polishing trajectory, motion planning is performed on the robot polishing component to obtain a transition trajectory;

[0057] The second grinding trajectory and the transition trajectory are combined to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

[0058] The aforementioned robot trajectory planning method, apparatus, equipment, storage medium, and program product acquire the edge trajectory of the workpiece to be polished; the edge trajectory includes multiple trajectory points; based on the characteristic distances between the robot polishing component and each trajectory point, a collision interference check is performed to determine the interference trajectory in the edge trajectory; the interference trajectory is deleted from the edge trajectory to obtain the first polishing trajectory; trajectory fusion interpolation is performed on the continuous trajectories in the first polishing trajectory to obtain the second polishing trajectory; based on the second polishing trajectory, motion planning is performed on the robot polishing component to obtain the transition trajectory; the second polishing trajectory and the transition trajectory are merged to obtain the motion planning trajectory for the workpiece to be polished by the robot polishing component. In the chamfering scenario, the desired machining trajectory for grinding a workpiece is determined by using the characteristic distances between the robot grinding component and each trajectory point in the edge trajectory. Collision interference is checked, and interference trajectories that cause interference are filtered out to obtain the first grinding trajectory. Then, through trajectory fusion interpolation, a continuous second grinding trajectory is obtained. The transition trajectory obtained from motion planning and the second grinding trajectory are merged, and the robot grinding component processes according to the desired machining trajectory. Since interference trajectories are filtered out, there will be no collision problems during the processing. The characteristic distances can identify workpieces of various shapes, making it widely applicable and highly efficient. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a diagram illustrating the application environment of a robot trajectory planning method in one embodiment.

[0061] Figure 2 This is a flowchart illustrating a robot trajectory planning method in one embodiment;

[0062] Figure 3 This is a flowchart illustrating the process of determining the interference trajectory in the edge trajectory by performing collision interference checks based on the characteristic distance between the robot grinding component and each trajectory point in one embodiment.

[0063] Figure 4 This is a schematic diagram simulating the collision interference between the workpiece to be polished and the polishing disc in one embodiment;

[0064] Figure 5 This is a schematic diagram illustrating a collision interference check in one embodiment;

[0065] Figure 6This is a schematic diagram of the process of performing trajectory fusion interpolation on continuous trajectories in the first grinding trajectory to obtain the second grinding trajectory in one embodiment.

[0066] Figure 7 This is a schematic diagram of a transition trajectory planning scenario in one embodiment;

[0067] Figure 8 This is a flowchart illustrating the robot trajectory planning method in another embodiment;

[0068] Figure 9 This is a flowchart illustrating the robot trajectory planning method in another embodiment;

[0069] Figure 10 This is a structural block diagram of a robot trajectory planning device in one embodiment;

[0070] Figure 11 This is an internal structural diagram of a computer device in one embodiment;

[0071] Figure 12 This is a diagram of the internal structure of a computer device in another embodiment. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0073] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0074] In current robotic automated grinding systems, to ensure the safety and reliability of the grinding process and prevent collisions between the robot and the workpiece or environment, interference inspection methods based on collision detection are commonly used. The core of this method is to construct a simplified three-dimensional geometric model of the robot's grinding head to detect collisions between these collision bodies using algorithms, thereby avoiding collisions during trajectory planning or real-time operation.

[0075] The configuration process for colliders is cumbersome and highly dependent on the specific environment. For each new workpiece model, technicians need to manually and precisely configure or adjust the corresponding collider model. This not only demands high levels of expertise from operators but also requires a significant amount of time for preparation. When faced with new grinding scenarios or changes in workpiece shape, the entire collider configuration process must start almost from scratch, severely limiting the efficiency and rapid deployment capabilities of the robotic grinding system and making it difficult to adapt to the flexible production needs of multi-variety, small-batch operations.

[0076] The robot trajectory planning method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed on a cloud or other network server. Terminal 102 acquires the edge trajectory of the workpiece to be ground; the edge trajectory includes multiple trajectory points; based on the characteristic distance between the robot grinding component and each trajectory point, a collision interference check is performed to determine the interference trajectory in the edge trajectory; the interference trajectory is deleted from the edge trajectory to obtain the first grinding trajectory; trajectory fusion interpolation is performed on the continuous trajectories in the first grinding trajectory to obtain the second grinding trajectory; based on the second grinding trajectory, motion planning is performed on the robot grinding component to obtain the transition trajectory; the second grinding trajectory and the transition trajectory are merged to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, etc. Server 104 can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0077] In one exemplary embodiment, such as Figure 2 As shown, a robot trajectory planning method is provided, which can be applied to... Figure 1 The following steps are used as an example of the terminal in the example, including steps 202 to 212.

[0078] Step 202: Obtain the edge trajectory of the workpiece to be ground.

[0079] The workpiece to be ground refers to the workpiece that will undergo the grinding process during machining. The edge trajectory of the workpiece to be ground is a trajectory that characterizes the shape and size of the workpiece's edges, and can be presented through the visual information of the edges. The edge trajectory includes multiple trajectory points. The visual information of the edges can include image information or point cloud information. The edge position is identified from the image information or point cloud information, and the edge trajectory is extracted.

[0080] For example, a workpiece point cloud is acquired, edge point clouds are extracted from the workpiece point cloud, and line segment fitting is performed on the edge point clouds to obtain the edge trajectory of the workpiece to be ground. A 3D scan of the workpiece to be ground can obtain the workpiece point cloud. The workpiece point cloud can include surface contour point clouds and edge point clouds. The surface contour point cloud can represent the positional information of each surface of the workpiece, and the intersection of two surfaces forms the edge point cloud.

[0081] Step 204: Based on the characteristic distances between the robot grinding component and each trajectory point, perform collision interference checks to determine the interference trajectory in the edge trajectory.

[0082] The robotic grinding assembly is the end effector that performs the grinding operation. Feature distance refers to the distance between a trajectory point and a feature point within the robotic grinding assembly; it is used to check for potential interference between the robotic grinding assembly and the trajectory point. Collision interference check refers to checking whether collisions occur during the grinding process of the robotic grinding assembly on the edge trajectory. Interference trajectory refers to the trajectory where the robotic grinding assembly is determined to interfere with the edge trajectory, making grinding impossible.

[0083] For example, feature points are determined from the robotic grinding assembly. The distance between each feature point and each trajectory point is used as the feature distance. The feature distance is compared with the collision distance to perform a collision interference check and determine the interference trajectory in the edge trajectory. If the feature distance is less than the collision distance, it is determined that a collision will occur at the trajectory point, and this trajectory point is included in the interference trajectory. If the feature distance is greater than or equal to the collision distance, the trajectory point is determined to be safe. The collision distance can be set according to the selected location of the feature points and the size of the grinding assembly to ensure that the grinding assembly does not collide with the workpiece during the grinding process.

[0084] Step 206: Delete the interference trajectory from the edge trajectory to obtain the first polishing trajectory.

[0085] The first grinding trajectory refers to the edge trajectory that the robot grinding component can grind. Grinding of the edges of the workpiece can be performed along the edge trajectory. However, for workpieces with various shapes, due to the shape and size limitations of the grinding component, there may be points that cannot be ground. These ungrindable points are deleted from the edge trajectory, and all trajectory points in the first grinding trajectory are grindable points. For example, the first grinding trajectory is obtained by deleting the trajectory points contained in the interference trajectory from the edge trajectory.

[0086] Step 208: Perform trajectory fusion interpolation on the continuous trajectory in the first polishing trajectory to obtain the second polishing trajectory.

[0087] A continuous trajectory refers to the continuous trajectory of the grinding component's working process. Trajectory fusion interpolation refers to the operation of inserting trajectory points into the gaps in the fused trajectory. The second grinding trajectory can be regarded as the working trajectory of the robot grinding component. Through trajectory fusion interpolation, the motion compliance of the robot grinding component is increased.

[0088] For example, starting from the beginning of the first grinding trajectory, adjacent trajectories with a trajectory interval less than or equal to a preset interval threshold are identified along the first grinding trajectory. These adjacent trajectories with a trajectory interval less than or equal to the preset interval threshold are considered continuous trajectories. Circular arc interpolation is performed at the intervals of the continuous trajectories to obtain the second grinding trajectory. The starting point of the first grinding trajectory can be set according to actual conditions. The first grinding trajectory may contain multiple edge trajectories, and due to the interference trajectory deletion operation, there is a certain interval between the trajectories of each edge. Adjacent trajectories with a trajectory interval less than or equal to the preset interval threshold can be determined as continuous trajectories, and adjacent trajectories with a trajectory interval greater than the preset interval threshold can be determined as non-trajectories. Non-continuous trajectories can be connected using transition trajectories. Circular arc interpolation can be performed by constructing an arc trajectory between two trajectories, with the endpoints of the arc set as the endpoint of the previous trajectory and the starting point of the next trajectory in the adjacent trajectories.

[0089] Step 210: Based on the second polishing trajectory, perform motion planning on the robot polishing component to obtain the transition trajectory.

[0090] The transition trajectory can be seen as a supplement to the second grinding trajectory, with the aim of making the movement of the robot grinding component smoother during the grinding process. The second grinding trajectory may contain multiple discontinuous edge trajectories in space. During the grinding of these edge trajectories according to the set grinding sequence, the movement of the robot grinding component can be smoothed by the transition trajectory obtained through motion planning.

[0091] For example, starting from the beginning of the second grinding trajectory, adjacent trajectories with a trajectory interval greater than a preset interval threshold are identified along the second grinding trajectory. These adjacent trajectories with a trajectory interval greater than the preset interval threshold are considered discontinuous trajectories. Motion planning is performed at the interval positions of the discontinuous trajectories to obtain a transition trajectory. During the motion planning process of the transition trajectory, due to the influence of the interval position, there may still be collision interference between the grinding component and the workpiece to be ground. Therefore, a collision interference check can be performed again to avoid planning trajectories with interference into the transition trajectory.

[0092] Step 212: Merge the second grinding trajectory and the transition trajectory to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

[0093] The desired machining trajectory refers to the complete trajectory of the robot grinding component during the grinding process. Each workpiece to be ground can have its corresponding desired machining trajectory planned. The robot grinding component moves from the starting point to the ending point of the desired machining trajectory, completing one chamfering process.

[0094] For example, by using the endpoints of the transition trajectory as connection points, the trajectories adjacent to the transition trajectory in the second grinding trajectory are connected to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

[0095] In the above robot trajectory planning method, the edge trajectory of the workpiece to be polished is obtained; the edge trajectory includes multiple trajectory points; based on the characteristic distance between the robot polishing component and each trajectory point, a collision interference check is performed to determine the interference trajectory in the edge trajectory; the interference trajectory is deleted from the edge trajectory to obtain the first polishing trajectory; trajectory fusion interpolation is performed on the continuous trajectory in the first polishing trajectory to obtain the second polishing trajectory; based on the second polishing trajectory, motion planning is performed on the robot polishing component to obtain the transition trajectory; the second polishing trajectory and the transition trajectory are merged to obtain the expected motion of the robot polishing component for the workpiece to be polished. In the chamfering scenario, the machining trajectory is determined by using the characteristic distance between the robot grinding component and each trajectory point in the edge trajectory to perform collision interference checks. Interference trajectories that cause interference are filtered out to obtain the first grinding trajectory. Then, through trajectory fusion interpolation, a continuous second grinding trajectory is obtained. The transition trajectory obtained from motion planning and the second grinding trajectory are merged, and the robot grinding component processes according to the desired machining trajectory. Since interference trajectories are filtered out, there will be no collision problems during the processing. The characteristic distance can identify workpieces of various shapes, making it widely applicable and highly efficient.

[0096] In one exemplary embodiment, such as Figure 3 As shown, based on the characteristic distance between the robot grinding component and each trajectory point, a collision interference check is performed to determine the interference trajectory in the edge trajectory, including steps 302 to 306.

[0097] Step 302: Determine the characteristic distance between the center of the robot grinding component and each trajectory point.

[0098] A robotic grinding assembly may include a grinding disc and a pressure plate. The grinding disc performs the grinding action, while the pressure plate provides the contact force between the grinding disc and the workpiece to be ground. The grinding disc and pressure plate can be coaxial. The center of the robotic grinding assembly is selected as a feature point; this center is located on the working plane of the grinding disc. The edge of the grinding disc, located on the working plane, contacts the workpiece to perform the grinding action. The distance between the center of the grinding disc and each trajectory point is the feature distance. The position of the grinding disc center can be obtained based on the point cloud and normal provided by visual information.

[0099] Step 304: Check whether the feature distance of each trajectory point is less than the preset safety threshold.

[0100] Reference Figure 4 , Figure 4 This is a schematic diagram simulating the collision interference between the workpiece to be ground and the grinding disc in one embodiment. The grinding disc is simplified to a circle. Since the workpiece to be ground has edges that form concave angles, if the grinding disc is to grind the corner area, the edge curve of the grinding disc will intersect with the edge of the workpiece to be ground, resulting in collision interference.

[0101] Reference Figure 5 , Figure 5 This is a schematic diagram illustrating collision interference checking in one embodiment. For a trajectory point P on the edge trajectory, collision interference checking can be performed with reference to Formula 1 and Formula 2 below.

[0102] Formula 1: .

[0103] Formula 2: .

[0104] Where O is the center of the grinding disc, p is the trajectory point, v is the normal vector of the edge trajectory at that point, extending outwards along the contour, r+Δd is the preset safety threshold, and d min Let be the feature distance. Here, Δd can be used to compensate for the accuracy issues of visual positioning and ensure the safety of the actual trajectory.

[0105] Step 306: The trajectory composed of trajectory points whose feature distance is less than the preset safety threshold is taken as the interference trajectory in the edge trajectory.

[0106] If the feature distance is less than r + Δd, it can be determined that interference will occur at this trajectory point. Trajectory points that are determined to cause interference can be categorized according to their edge trajectories. Interference trajectory points located on the same edge trajectory can be grouped into the same interference trajectory, and this interference trajectory can be removed from the edge trajectory.

[0107] In this embodiment, the characteristic distance between the center of the grinding disc and the trajectory point is used as the basis for checking whether collision interference occurs. There is no need to configure collision body models for different shapes of workpieces to be ground, so it can adapt to a variety of workpiece shapes and improve detection efficiency.

[0108] In one exemplary embodiment, such as Figure 6 As shown, the continuous trajectory in the first grinding trajectory is fused and interpolated to obtain the second grinding trajectory, including steps 602 to 604.

[0109] Step 602: Determine the interpolation start vector and interpolation end vector of the continuous trajectory, as well as the number of interpolation points.

[0110] At intervals in a continuous trajectory, the two endpoints of the interval can be used as the interpolation start and end points, respectively. Combined with the normal provided by the point cloud, the interpolation start and end point vectors representing the interpolation direction are obtained. The number of interpolation points can be preset according to the comprehensive requirements of interpolation accuracy and trajectory planning speed.

[0111] Step 604: Within the angle range formed by the interpolation start vector and the interpolation end vector, insert interpolation points corresponding to the number of interpolation points.

[0112] If we set the interpolation start point as p1, the corresponding interpolation start vector as v1, and the interpolation end point as p2, the corresponding interpolation end vector as v2, then the interpolation process can be referred to the following formula 3.

[0113] Formula 3: .

[0114] Where i represents the i-th interpolation, n represents the number of interpolation points, Δθ is the angle between v1 and v2, and p i v represents the position of the interpolation point in the i-th interpolation. i Let represent the normal of the interpolation point of the i-th interpolation, and rot represent the angle Δθ that rotates i / n parts around the direction vector v1 cross product v2.

[0115] In one embodiment, before performing trajectory fusion interpolation on the continuous trajectories in the first polishing trajectory to obtain the second polishing trajectory, the method further includes: determining each polyline trajectory in the first polishing trajectory and the polishing order of each polyline trajectory; determining the trajectory distance between adjacent polyline trajectories according to the polishing order; and determining that adjacent polyline trajectories are continuous trajectories if the trajectory distance is less than a preset distance threshold.

[0116] A polyline trajectory refers to the segments of the first polishing trajectory. The polishing order of the polyline trajectory can be determined based on the set starting and ending points of the polishing. The goal of planning the polishing order can be set to minimize the trajectory length traversed by the polishing component. According to the polishing order, the trajectory distance can be determined by using the ending point of the previous polyline trajectory and the starting point of the current polyline trajectory. The distance between the ending point of the previous trajectory and the starting point of the current trajectory is taken as the trajectory distance. If the trajectory distance is less than a preset distance threshold Δl, it indicates that the two trajectories are continuous and are determined as a continuous trajectory.

[0117] If the trajectory distance is greater than or equal to the preset distance threshold, then the two trajectories are discontinuous polishing trajectories. After the previous polishing is completed, a transition trajectory can be planned to return to the starting point of the current polishing trajectory to continue polishing.

[0118] In an exemplary embodiment, motion planning of the robot grinding component based on the second grinding trajectory is performed to obtain a transition trajectory, including: identifying the transition planning start point and transition planning end point of the second grinding trajectory; delineating a planning area in the local coordinate system of the workpiece to be ground according to the coordinate positions of the transition planning start point and planning end point; and performing collision interference checks on the robot grinding component within the planning area to obtain the transition trajectory.

[0119] The transition planning start point refers to the starting point of the planned transition trajectory, and the transition planning end point refers to the ending point of the planned transition trajectory. Referring to the method for determining continuous trajectories, adjacent trajectories in the second polishing trajectory whose trajectory distance is greater than or equal to a preset distance threshold can be identified as two trajectories that need to be connected by a transition trajectory. The transition planning start point can be the end point of the trajectory that polishes first among the two trajectories that need to be transitioned, and the transition planning end point can be the starting point of the trajectory that polishes second.

[0120] Reference Figure 7 , Figure 7 This is a schematic diagram of a transition trajectory planning scenario in one embodiment. The grinding disc used in this embodiment can be a 360° force-controlled grinding disc. When grinding the upper edge, a fixed grinding point is raised. Similarly, during the grinding of the lower edge, a fixed transition trajectory is given. However, during the grinding of the lower edge, interference may occur because the grinding disc directly transitions to below the workpiece. The transition trajectory of the lower edge can be updated through robot motion planning, using the minimum distance between the 3D point cloud of the workpiece to be ground and the center of the grinding head for interference checking. The defined range of the planning area can be determined by the transition planning starting point P. start and transition planning endpoint P end The location determines the outcome.

[0121] Can be combined Figure 7 The robot grinding components are checked for collision interference according to Formula 4, and the planning area is delineated according to Formula 5.

[0122] Formula 4: .

[0123] Formula 5: .

[0124] Where p is the trajectory point of the center of the grinding disc, p_high represents the height of the upper end face of the workpiece to be ground, p_low represents the height of the lower end face of the workpiece to be ground, R is the radius of the pressure plate, and h is the total height of the grinding assembly. When the pressure plate and the workpiece are in the interference height range, the grinding disc and the workpiece need to maintain a distance of R. If they are not in the interference range, a distance of r needs to be maintained. This serves as the collision detection mechanism for robot motion planning.

[0125] In this embodiment, since the robot's transition trajectory posture remains unchanged, the robot's motion planning can be reduced from 6 dimensions to 3 dimensions, which increases the efficiency of detection and has flexibility. By replacing the tool size parameters according to the size of the grinding head, the motion planning of different tools can be adapted without having to update the grinding scene again.

[0126] In one exemplary embodiment, such as Figure 8 As shown, before merging the second grinding trajectory and the transition trajectory to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground, the method further includes steps 802 to 804.

[0127] Step 802: Obtain the homogeneous transformation matrix of each trajectory point in the second grinding trajectory.

[0128] The homogeneous transformation matrix is ​​used to describe the position and orientation of the robot's end effector in three-dimensional space. A 4×4 matrix can be used to represent spatial transformations of translation and rotation. In this embodiment, the grinding head used can be a 360° force-controlled grinding head; therefore, the grinding head can maintain its initial orientation, and its position can be updated by offsetting according to the grinding point and normal.

[0129] Step 804: Based on the homogeneous transformation matrix of each point, update the position of the robot grinding component in the local coordinate system of the workpiece to be ground to obtain the target position of the robot grinding component.

[0130] The position of the grinding disc can be updated according to Formula 6 below.

[0131] Formula 6: .

[0132] Among them, T polish T represents the homogeneous transformation matrix of the points after position update. dot Let T be the homogeneous transformation matrix of the trajectory points. init Let Trans(r,y) be the initial homogeneous transformation matrix for the robot's grinding disc. Trans(r,y) is the homogeneous transformation matrix for moving a distance r along the y-axis of the local coordinate system, where y is the y-direction (0, 1, 0) and r is the radius of the grinding disc. Trans(d,z) represents moving a distance d along the z-direction, where d is the pressing process parameter, and its value can be adjusted according to actual needs. This represents the inverse of the homogeneous transformation matrix of the trajectory points. It can also obtain the new grinding pose of the grinding head based on the current local coordinate system of the grinding process.

[0133] In this embodiment, the position of the robot's grinding components is updated by utilizing the force control characteristics of the grinding disc, which simplifies the update process and improves trajectory planning efficiency.

[0134] In one exemplary embodiment, such as Figure 9As shown, the robot trajectory planning method includes steps S1 to S6.

[0135] S1. Visual point input. The workpiece to be polished is visually scanned to obtain the visual point input of the workpiece.

[0136] S2. Filtering out ungrindable points. Based on the point cloud and normal provided by the vision system, the center position of the grinding head is obtained, and then it is determined whether the grinding head will interfere with the workpiece. This is done by calculating the minimum distance d between the center of the grinding head and the workpiece point cloud. min By comparing it with r+Δd, points that cannot be ground due to geometric interference (such as concave angles) can be identified and filtered out, thus removing ungrindable points from the edge trajectory.

[0137] S3. Merge continuous polishing segments. Based on a preset distance threshold Δl, determine the continuity of the discrete polyline trajectories provided by the vision system and merge the continuous trajectories. Using an interpolation formula that considers the angle between direction vectors, generate interpolation points with smooth transitions to achieve continuity in position and smooth transition in direction.

[0138] S4. Planning Transition Trajectory. Based on a preset distance threshold Δl, the continuity of the discrete polyline trajectory provided by the vision system is determined. Transition trajectories can also be used to connect adjacent trajectories whose distance is greater than or equal to the preset distance threshold. Collision detection is also added during the transition trajectory planning process. For the upper edge of the workpiece, it can be directly fixed and lifted; for the lower edge, a dimensionality reduction motion plan is performed to avoid collisions during the transition to the lower edge.

[0139] S5. Transition trajectory concatenation. Transition trajectories are used to concatenate discontinuous trajectories to obtain a complete robot motion trajectory.

[0140] S6. Complete the planning.

[0141] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0142] Based on the same inventive concept, this application also provides a robot trajectory planning device for implementing the robot trajectory planning method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more robot trajectory planning device embodiments provided below can be found in the limitations of the robot trajectory planning method described above, and will not be repeated here.

[0143] In one exemplary embodiment, such as Figure 10 As shown, a robot trajectory planning device 1000 is provided, including: an edge trajectory acquisition module 1001, a collision interference detection module 1002, an interference trajectory deletion module 1003, a trajectory fusion interpolation module 1004, a trajectory motion planning module 1005, and a transition trajectory merging module 1006.

[0144] Edge trajectory acquisition module 1001 is used to acquire the edge trajectory of the workpiece to be ground; the edge trajectory includes multiple trajectory points.

[0145] The collision interference check module 1002 is used to perform collision interference checks based on the characteristic distances between the robot grinding component and each trajectory point, and to determine the interference trajectory in the edge trajectory.

[0146] The interference trajectory deletion module 1003 is used to delete the interference trajectory from the edge trajectory to obtain the first polishing trajectory.

[0147] The trajectory fusion interpolation module 1004 is used to perform trajectory fusion interpolation on the continuous trajectory in the first grinding trajectory to obtain the second grinding trajectory.

[0148] The trajectory motion planning module 1005 is used to perform motion planning on the robot grinding component based on the second grinding trajectory to obtain the transition trajectory.

[0149] The transition trajectory merging module 1006 is used to merge the second grinding trajectory and the transition trajectory to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

[0150] In an exemplary embodiment, the collision interference checking module 1002 is further configured to: determine the characteristic distance between the center of the robot grinding component and each trajectory point; check whether the characteristic distance of each trajectory point is less than a preset safety threshold; and take the trajectory composed of the trajectory points whose characteristic distance is less than the preset safety threshold as the interference trajectory in the edge trajectory.

[0151] In an exemplary embodiment, the trajectory fusion interpolation module 1004 is further configured to: determine the interpolation start vector and interpolation end vector of the continuous trajectory, as well as the number of interpolation points; and insert interpolation points corresponding to the number of interpolation points within the angle range formed by the interpolation start vector and the interpolation end vector.

[0152] In an exemplary embodiment, the robot trajectory planning device 1000 further includes a continuous trajectory determination module, configured to: determine each polyline trajectory in the first grinding trajectory, and the grinding order of each polyline trajectory; determine the trajectory distance between adjacent polyline trajectories according to the grinding order; and determine that adjacent polyline trajectories are continuous trajectories when the trajectory distance is less than a preset distance threshold.

[0153] In an exemplary embodiment, the transition trajectory merging module 1006 is further configured to: identify the transition planning start point and transition planning end point of the second grinding trajectory; delineate a planning area in the local coordinate system of the workpiece to be ground according to the coordinate positions of the transition planning start point and planning end point; and perform collision interference checks on the robot grinding components within the planning area to obtain the transition trajectory.

[0154] In an exemplary embodiment, the robot trajectory planning device 1000 further includes a grinding position update module, used to: obtain the point homogeneous transformation matrix of each trajectory point in the second grinding trajectory; and update the position of the robot grinding component in the local coordinate system of the workpiece to be ground based on the point homogeneous transformation matrix to obtain the target position of the robot grinding component.

[0155] Each module in the aforementioned robot trajectory planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0156] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs in the non-volatile storage media to run. The database stores the edge trajectory data of the workpiece to be ground. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a robot trajectory planning method.

[0157] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 12 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a robot trajectory planning method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0158] Those skilled in the art will understand that Figure 11 and Figure 12The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0159] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0160] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0161] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0162] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0163] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0164] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robot trajectory planning method, characterized in that, The method includes: Obtain the edge trajectory of the workpiece to be ground; the edge trajectory includes multiple trajectory points; Based on the characteristic distances between the robot grinding component and each of the trajectory points, a collision interference check is performed to determine the interference trajectory in the edge trajectory. The interference trajectory is deleted from the edge trajectory to obtain the first polishing trajectory; The continuous trajectories in the first polishing trajectory are fused and interpolated to obtain the second polishing trajectory; Based on the second polishing trajectory, motion planning is performed on the robot polishing component to obtain a transition trajectory; The second grinding trajectory and the transition trajectory are combined to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

2. The method according to claim 1, characterized in that, The step of performing collision interference checks based on the characteristic distances between the robot grinding component and each of the trajectory points to determine the interference trajectory in the edge trajectory includes: Determine the characteristic distance between the center of the robot polishing component and each of the trajectory points; Check whether the feature distance of each trajectory point is less than a preset safety threshold; The trajectory formed by the trajectory points whose feature distance is less than the preset safety threshold is taken as the interference trajectory in the edge trajectory.

3. The method according to claim 1, characterized in that, The step of performing trajectory fusion interpolation on the continuous trajectories in the first grinding trajectory to obtain the second grinding trajectory includes: Determine the interpolation start vector and interpolation end vector of the continuous trajectory, as well as the number of interpolation points; Within the angle range formed by the interpolation start vector and the interpolation end vector, interpolation points corresponding to the number of interpolation points are inserted.

4. The method according to claim 3, characterized in that, The method further includes: Determine each of the polyline trajectories in the first polishing trajectory, and the polishing sequence of each polyline trajectories; According to the polishing sequence, determine the trajectory distance between adjacent polyline trajectories; If the trajectory distance is less than a preset distance threshold, the adjacent polyline trajectories are determined to be continuous trajectories.

5. The method according to claim 1, characterized in that, The motion planning of the robot polishing component based on the second polishing trajectory to obtain the transition trajectory includes: Identify the transition planning start point and transition planning end point of the second polishing trajectory; Based on the coordinate positions of the transition planning start point and the planning end point, a planning area is delineated in the local coordinate system of the workpiece to be polished; Within the planned area, a collision interference check is performed on the robot grinding component to obtain the transition trajectory.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Obtain the homogeneous transformation matrix of each trajectory point in the second polishing trajectory; Based on the homogeneous transformation matrices of each point, the position of the robot grinding component is updated in the local coordinate system of the workpiece to be ground, thereby obtaining the target position of the robot grinding component.

7. A robot trajectory planning device, characterized in that, The device includes: Edge trajectory acquisition module, used to acquire the edge trajectory of the workpiece to be polished; the edge trajectory includes multiple trajectory points; The collision interference detection module is used to perform collision interference detection based on the characteristic distance between the robot grinding component and each of the trajectory points, and to determine the interference trajectory in the edge trajectory. An interference trajectory deletion module is used to delete the interference trajectory from the edge trajectory to obtain a first polishing trajectory; The trajectory fusion interpolation module is used to perform trajectory fusion interpolation on the continuous trajectory in the first grinding trajectory to obtain the second grinding trajectory. The trajectory motion planning module is used to perform motion planning on the robot grinding component based on the second grinding trajectory to obtain a transition trajectory; The transition trajectory merging module is used to merge the second grinding trajectory and the transition trajectory to obtain the desired processing trajectory of the robot grinding component for the workpiece to be ground.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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