Trajectory fusion method, apparatus, device, and storage medium

Abstract

This application discloses a trajectory fusion method, device, apparatus and storage medium, which includes: determining Cartesian motion information in a Cartesian space of a fusion start point according to a first trajectory and a first fusion radius associated with the first trajectory; determining Cartesian motion information in a Cartesian space of a fusion end point according to a second trajectory, the location space of which is different from the location space of the first trajectory, and the first fusion radius; and planning a trajectory for a fusion stage between the first trajectory and the second trajectory according to the Cartesian motion information of the fusion start point and the Cartesian motion information of the fusion end point.

Description

Technical Field

[0001] This application claims the priority of a Chinese patent application with an application number of 202210270671.4, filed with the Chinese Patent Office on March 18, 2022, and all the contents of the application are incorporated herein by reference.

[0002] This application relates to the technical field of robot motion control, for example, to a trajectory fusion method, device, equipment and storage medium.

Background Art

[0003] With the continuous development of robot technology, the application scenarios of robot arms are becoming increasingly extensive. For example, in scenarios such as precision assembly, detection, sorting, application of adhesives and oils, and loading and unloading of materials. In order to ensure the accuracy of the operation of the robot arm when performing the above operations, it is necessary to accurately control the robot arm.

[0004] During the process of a robot arm executing a task, it usually moves along one or more pre-planned trajectories. When it is necessary to move along multiple trajectories, the robot needs to travel from the starting point of the current trajectory to the intermediate point where the two trajectories meet, and finally reach the end point of the next trajectory. During the traveling process, the robot starts to accelerate from a speed of 0, the speed becomes 0 again when it travels to the intermediate point, and when it tries to travel to the next trajectory, it accelerates again, and becomes 0 again when it travels to the end point. Continuously starting and stopping the movement like this will not only affect the efficiency of the robot in executing tasks, but also have a certain impact on the lifespan of the robot.

Summary of the Invention

[0005] This application provides a trajectory fusion method, device, equipment and storage medium for improving the stability of the operation when passing through the transition point between two trajectories of a robot.

[0006] According to one aspect of this application, In accordance with the first trajectory and the first fusion radius associated with the first trajectory, the Cartesian motion information of the fusion starting point in Cartesian space is determined, The Cartesian motion information of the fusion endpoint in Cartesian space is determined according to the second trajectory whose location space differs from the location space of the first trajectory and the first fusion radius, The present invention provides a trajectory fusion method that includes planning a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point.

[0007] According to another aspect of this application, A first motion information determination module is configured to determine the Cartesian motion information of the fusion starting point in Cartesian space, depending on the first trajectory and the first fusion radius associated with the first trajectory. A second motion information determination module is configured to determine the Cartesian motion information of the fusion endpoint in Cartesian space according to a second trajectory whose location space is different from the location space of the first trajectory and the first fusion radius, The present invention provides a trajectory fusion device comprising: a fusion stage trajectory planning module configured to plan a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point.

[0008] According to another aspect of this application, At least one processor, The system comprises a memory that is communicated to at least one of the processors, The memory stores a computer program executable by the at least one processor, and the computer program provides an electronic device executed by the at least one processor such that the at least one processor can perform the trajectory fusion method described in any embodiment of the present application.

[0009] According to another aspect of the present application, a computer-readable storage medium is provided which stores computer instructions configured to, when executed by a processor, realize a trajectory fusion method described in any embodiment of the present application. [Brief explanation of the drawing]

[0010] [Figure 1a] This is a flowchart of a trajectory fusion method according to one embodiment of the present invention. [Figure 1b] This is a schematic diagram that determines the Cartesian motion information of the fusion starting point according to one embodiment of the present invention. [Figure 1c] This is a schematic diagram that determines the Cartesian motion information of the fusion endpoint according to one embodiment of the present invention. [Figure 2] This is a flowchart of a trajectory fusion method according to another embodiment of the present invention. [Figure 3] This is a flowchart of a trajectory fusion method according to another embodiment of the present invention. [Figure 4] This is a flowchart of a trajectory fusion method according to another embodiment of the present invention. [Figure 5] This is a schematic diagram of the structure of a trajectory fusion device according to one embodiment of the present invention. [Figure 6] This is a schematic diagram of the structure of an electronic device that implements the trajectory fusion method of the present invention. [Modes for carrying out the invention]

[0011] Furthermore, the terms "first," "second," etc., in the specification, claims, and drawings of this application do not need to be used to describe a specific order or priority, but are intended to distinguish similar subjects. The terms used in this manner are interchangeable where appropriate, so it should be understood that the embodiments of this application described herein can be carried out in an order other than that illustrated or described herein. Also, the terms "includes" and "have" and any variations thereof are intended to cover non-exclusive inclusion, including, for example, a series of steps or units of a process, method, system, product, or server, and not necessarily limited to those steps or units explicitly mentioned, but may include other steps or units not explicitly mentioned or specific to those processes, methods, products, or devices.

[0012] Figure 1a is a flowchart of a trajectory fusion method according to one embodiment of the present invention, which is applicable when trajectories located in different spaces are fused, the method can be performed by a trajectory fusion device, the trajectory fusion device can be implemented in hardware and / or software form, and the trajectory fusion device can be deployed on various general-purpose computing devices. As shown in Figure 1a, the method includes the following:

[0013] In S110, the Cartesian motion information of the fusion starting point in Cartesian space is determined according to the first trajectory and the first fusion radius associated with the first trajectory.

[0014] To control the robot to move along a trajectory desired by the user, the user must pre-enter one or more trajectories to create a trajectory pool. During the robot's motion, the trajectory planner sequentially retrieves trajectories from the trajectory pool according to the execution order of the trajectories, and plans the velocity so that the robot moves along the trajectory pre-entered by the user. If the trajectory pool contains multiple trajectories, the robot must move along multiple trajectories sequentially. This can easily lead to situations where the velocity or acceleration is unstable during the transition between two trajectories, and furthermore, the transient path may not be unique, affecting the robot's normal operation.

[0015] To avoid situations where velocity or acceleration is unstable during the transitional phase described above, when inputting multiple trajectories, the user must simultaneously set a fusion radius corresponding to each trajectory. This allows the trajectory planner to determine the fusion start and end points based on the fusion radius and fuse two adjacent trajectories according to the fusion start and end points, enabling the robot to transition stably from one trajectory to the next.

[0016] The first trajectory is the path the robot must follow, as input by the user. The fusion radius associated with the first trajectory is used to determine the fusion stage between the first trajectory and the next adjacent trajectory (the second trajectory). Cartesian motion information refers to position, orientation, velocity, and acceleration information in Cartesian space.

[0017] In an embodiment of the present disclosure, in order to fuse the trajectories of different spaces, after determining the motion information of the fusion start point and the fusion end point, the motion information is uniformly mapped to the Cartesian space, so that the fusion of the trajectories of different spaces can be realized. After extracting the first trajectory from the trajectory pool, the trajectory planner performs a motion plan for the first trajectory, and at the same time determines whether the first fusion radius related to the first trajectory is included in the trajectory pool. If the first fusion radius related to the first trajectory is not included in the trajectory pool, it indicates that there is no need to fuse the first trajectory with other trajectories, and the motion plan for the first trajectory can be continued. If the first fusion radius related to the first trajectory is included in the trajectory pool, it indicates that the first trajectory needs to be fused with other trajectories. At this time, according to the first trajectory and the fusion radius related to the first trajectory, the Cartesian motion information in the Cartesian space of the fusion start point can be determined.

[0018] For example, when the first trajectory is a Cartesian trajectory in the Cartesian space, the Cartesian motion information in the Cartesian space of the fusion start point can be directly determined according to the first trajectory and the first fusion radius related to the first trajectory, where the Cartesian motion information is the position and orientation, velocity, and acceleration information in the Cartesian space of the fusion start point.

[0019] When the first trajectory is a joint trajectory in the joint space, first, according to the first trajectory and the first fusion radius associated with the first trajectory, the joint motion information in the joint space of the fusion start point can be determined within the first trajectory. Among them, the joint motion information is the position and orientation, velocity, and acceleration information in the joint space of the fusion start point. For example, centering on the fusion start point, a set number of first trajectory points are respectively obtained on both sides of the fusion start point in the first trajectory, the fusion start point and the obtained first trajectory points are mapped to the Cartesian space, and spline curve fitting is performed on the fusion start point and the first trajectory points mapped to the Cartesian space to obtain a fitting curve in the Cartesian space. Finally, according to the fitting curve, the Cartesian motion information in the Cartesian space of the fusion start point is determined. Among them, the Cartesian motion information includes the position and orientation, velocity, and acceleration in the Cartesian space. Among them, the spline curve fitting may include, but is not limited to, fifth-order spline, B-spline, and non-uniform rational B-spline (NURBS), etc.

[0020] In one example, the start point of the first trajectory is A and the end point is B. When the first trajectory is a Cartesian trajectory in the Cartesian space, directly determine the Cartesian motion information in the Cartesian space of the fusion start point X according to the fusion radius associated with the first trajectory.

[0021] In another example, as shown in Figure 1b, the starting point of the first trajectory is A and the ending point is B. If the first trajectory is an articular trajectory in articular space, first, the articular motion information of the fusion starting point X in articular space is determined according to the fusion radius r associated with the first trajectory. For example, a set number of first trajectory points are determined within the first trajectory with the fusion starting point as the center, for example, the first trajectory points M1, N1 and P1, Q1 are determined on both sides of the fusion starting point in the first trajectory. For example, the fusion starting point X and the first trajectory points M1, N1, P1, and Q1 may be mapped to Cartesian space, and a spline curve may be fitted to the above trajectory points mapped to Cartesian space to obtain a fitting curve in Cartesian space. Finally, the Cartesian motion information of the fusion starting point X in Cartesian space is determined based on the fitting curve.

[0022] In S120, the Cartesian motion information of the fusion endpoint in Cartesian space is determined according to the second trajectory, whose location space is different from that of the first trajectory, and the first fusion radius.

[0023] The second trajectory is the trajectory that follows the first trajectory; that is, after the robot finishes moving along the first trajectory, it enters the second trajectory and continues moving along the second trajectory. Note that the space in which the first trajectory is located and the space in which the second trajectory is located are different. For example, the first trajectory is an articular trajectory in articular space and the second trajectory is a Cartesian trajectory in Cartesian space, or the first trajectory is a Cartesian trajectory in Cartesian space and the second trajectory is an articular trajectory in articular space.

[0024] In the embodiments of this disclosure, during the process of planning motion along a first trajectory, if it is detected that the motion planning has already been completed up to halfway along the first trajectory, the next trajectory adjacent to the first trajectory, i.e., the second trajectory, can be obtained from the trajectory pool. In order to merge the first and second trajectories, the Cartesian motion information in Cartesian space of the fusion endpoint is determined in the second trajectory according to the second trajectory and the first fusion radius.

[0025] For example, if the second trajectory is a Cartesian trajectory in Cartesian space, the Cartesian motion information of the fusion endpoint in Cartesian space can be directly determined according to the second trajectory and the first fusion radius, and of this Cartesian motion information, the position, orientation, velocity, and acceleration information of the fusion starting point in Cartesian space.

[0026] If the second trajectory is an articulation trajectory in articular space, first, the articulation information of the fusion endpoint in articular space can be determined within the second trajectory according to the second trajectory and the first fusion radius. Of this, the articulation information is the position, orientation, velocity, and acceleration information of the fusion endpoint in articular space. For example, a set number of second trajectory points are obtained within the second trajectory, centered on the fusion endpoint. The fusion endpoint and the obtained second trajectory points are mapped to Cartesian space. A spline curve is fitted to the fusion endpoint and second trajectory points mapped to Cartesian space to obtain a fitting curve in Cartesian space. Finally, according to the fitting curve, the Cartesian motion information of the fusion endpoint in Cartesian space is determined, and of this, the Cartesian motion information includes the position, orientation, velocity, and acceleration in Cartesian space. The spline curve fitting may include quintic splines, B splines, and non-uniform rational B splines (NURBS), etc.

[0027] In one example, the starting point of the second trajectory is B, and the ending point is C. If the second trajectory is a Cartesian trajectory in Cartesian space, the Cartesian motion information of the fusion endpoint Y in Cartesian space is directly determined according to the first fusion radius.

[0028] In another example, as shown in Figure 1c, the starting point of the second trajectory is the endpoint B of the first trajectory, and the endpoint of the second trajectory is C. If the second trajectory is an articular trajectory in articular space, first, the articular motion information of the fusion endpoint Y in articular space is determined according to the first fusion radius. For example, a set number of second trajectory points are determined within the second trajectory with the fusion endpoint as the center, for example, the second trajectory points M2, N2 and P2, Q2 are determined on both sides of the fusion endpoint in the second trajectory. For example, the fusion endpoint Y and the second trajectory points M2, N2, P2, and Q2 may be mapped to Cartesian space, and a spline curve may be fitted to the above trajectory points mapped to Cartesian space to obtain a fitting curve in Cartesian space. Finally, the Cartesian motion information of the fusion endpoint Y in Cartesian space is determined according to the obtained fitting curve.

[0029] In S130, a trajectory is planned for the fusion stage between the first and second trajectories based on the Cartesian motion information of the fusion start point and the Cartesian motion information of the fusion end point.

[0030] In the embodiments of this disclosure, after obtaining Cartesian motion information for the fusion start point and Cartesian motion information for the fusion end point, a trajectory plan is performed for the fusion stage between the first trajectory and the second trajectory according to the Cartesian motion information for the fusion start point and the Cartesian motion information for the fusion end point.

[0031] For example, after acquiring the Cartesian motion information for the fusion start point and the Cartesian motion information for the fusion end point, the planning of the first trajectory can be continued, using the currently planned trajectory point in the first trajectory as the start point and the fusion start point as the end point. For example, after completing the planning of the first trajectory, i.e., when the planning has already been carried out up to the fusion stage between the first and second trajectories, the planning of the fusion stage trajectory can be continued, using the currently planned trajectory point (located in the fusion stage) as the start point and the fusion end point as the end point, until the planning of the fusion stage trajectory is completed. Of course, after the planning of the fusion stage trajectory between the first and second trajectories is completed, the trajectory planning for the second trajectory can be continued, thereby achieving a stable transition between the robot's first and second trajectories.

[0032] The present invention's technical solution determines the Cartesian motion information of the fusion starting point in Cartesian space according to the first trajectory and the first fusion radius associated with the first trajectory, and further determines the Cartesian motion information of the fusion ending point in Cartesian space according to the second trajectory and the first fusion radius. Finally, based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point, the trajectory is planned for the fusion stage between the first trajectory and the second trajectory. By mapping both the fusion starting point and the fusion ending point to Cartesian space, the system avoids situations where it cannot stably transition between trajectories in different spaces, thereby improving the stability of the robot's operation when passing through the transition point between two trajectories.

[0033] Figure 2 is a flowchart of a trajectory fusion method according to another embodiment of the present application, and further subdivides it based on the above embodiment to provide a step of determining the Cartesian motion information of the fusion starting point in Cartesian space according to the first trajectory and the first fusion radius associated with the first trajectory. The trajectory fusion method according to the embodiment of the present application, including the following, will be described below with reference to Figure 2.

[0034] In S210, if the space where the first trajectory is located is the joint space, the joint motion information in the joint space of the fusion starting point is determined according to the first trajectory and the first fusion radius associated with the first trajectory.

[0035] In embodiments of this disclosure, if the space where the first trajectory is located is an articulated space, first, the articulated motion information of the fusion starting point in the articulated space is determined according to the first trajectory and the first fusion radius associated with the first trajectory. The fusion starting point is located on the first trajectory, and the straight-line distance from the fusion starting point to the first trajectory is equal to the first fusion radius. The articulated motion information of the fusion starting point includes position, orientation, velocity, and acceleration information of the fusion starting point in the articulated space.

[0036] In S220, a set number of first trajectory points are selected within the first trajectory, centered on the fusion starting point.

[0037] In the embodiments of this disclosure, in order to map the joint motion information of the fusion starting point to Cartesian space and obtain Cartesian motion information of the fusion starting point in Cartesian space, first, the first trajectory points of the setting data are selected on both sides of the fusion starting point in the first trajectory, with the fusion starting point as the center.

[0038] For example, the starting point of the first trajectory is A, the ending point is B, and the fusion starting point is a trajectory point X located on the first trajectory and close to the ending point B. With the fusion starting point X as the center, five trajectory points are acquired as first trajectory points along the XA direction and the XB direction, respectively.

[0039] In S230, the fusion starting point and the first trajectory point are mapped to Cartesian space, and a spline curve is fitted to the fusion starting point and the first trajectory point mapped to Cartesian space to obtain a fitting curve in Cartesian space.

[0040] In this embodiment, the motion information of the fusion starting point is mapped to Cartesian space, the fusion starting point and a set number of first trajectory points are mapped to Cartesian space, and in order to obtain the position and orientation of the trajectory points in Cartesian space, for example, a spline curve is fitted to the fusion starting point and the first trajectory points mapped to Cartesian space to obtain a fitting curve in Cartesian space.

[0041] As an example, the fusion starting point X and the first trajectory points on both sides of the fusion starting point X are mapped to Cartesian space to obtain the position and orientation of the trajectory points in Cartesian space. For example, the first trajectory points and the fusion starting point are fitted by fitting a B-spline to obtain a fitting curve in Cartesian space.

[0042] In S240, the Cartesian motion information of the fusion starting point in Cartesian space, including the position, orientation, velocity, and acceleration in Cartesian space, is determined according to the fitting curve.

[0043] In this embodiment, the Cartesian motion information of the fusion starting point in Cartesian space is determined according to the fitting curve, and for example, velocity and acceleration information of the fusion starting point in Cartesian space can be calculated and obtained according to the fitting curve. At this point, the position, orientation, velocity, and acceleration information of the fusion starting point in Cartesian space are obtained.

[0044] In S250, the Cartesian motion information of the fusion endpoint in Cartesian space is determined according to the second trajectory and the first fusion radius.

[0045] In S260, a trajectory is planned for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point.

[0046] For example, during the trajectory planning process, the interpolation period is adjusted according to the speed control information entered by the user.

[0047] In the embodiment of the present invention, when the trajectory planning process enters the fusion stage between the first and second trajectories, the reception of speed control information input by the user may cause deformation of the trajectory at the fusion stage due to the change in speed. At this time, it is necessary to adjust the interpolation period in the trajectory planning process of the fusion stage according to the speed control information input by the user to ensure the consistency of the path. For example, in the trajectory planning process of the fusion stage, the user can adjust the robot's movement speed from 100% to 10%, and at this time, the interpolation period can be adjusted to 1 / 10 of the original interpolation period.

[0048] For example, adjusting the interpolation period in the trajectory planning process according to the speed control information entered by the user is possible. This includes adjusting the interpolation period of the trajectory planning process by employing at least one of the following: a nonlinear interpolation algorithm, a proportional-integral-derivative PID algorithm, and an average value filtering algorithm, in response to speed control information input by the user.

[0049] In the embodiment of the present invention, in order to ensure that the consistency of the trajectory of the fusion stage is maintained when the user adjusts the speed, a method is provided to adjust the interpolation period in the trajectory planning process in accordance with the speed control information input by the user, by employing a nonlinear interpolation algorithm, a PID algorithm, or an average value filtering algorithm.

[0050] For example, in the trajectory planning process of the fusion stage, the user can adjust the robot's movement speed from 100% to 10%, and at this time, the PID algorithm can adjust the interpolation period to 1 / 10 of the original interpolation period.

[0051] In the present invention, when the space in which the first trajectory is located is joint space, a fitting curve is obtained in the Cartesian space of the fusion start point by fitting a spline curve, motion information is obtained in the Cartesian space of the fusion end point, and a trajectory is planned for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion start point and the Cartesian motion information of the fusion end point. By mapping the joint trajectory to Cartesian space using the spline curve fitting method, the fusion of trajectories of the robot in different spaces is realized, while changes in the path due to speed adjustment can be avoided by adjusting the interpolation period in the trajectory planning process according to the speed control information input by the user during the trajectory planning process.

[0052] Figure 3 is a flowchart of a trajectory fusion method according to another embodiment of the present application. Building upon the above embodiment, it further subdivides the steps provided: a step before planning the trajectory for the fusion stage between the first and second trajectories, and a step of planning the trajectory for the fusion stage between the first and second trajectories based on the Cartesian motion information of the fusion start point and the Cartesian motion information of the fusion end point. The following description of the trajectory fusion method according to an embodiment of the present application will be given with reference to Figure 3.

[0053] In S310, the Cartesian motion information of the fusion starting point in Cartesian space is determined according to the first trajectory and the first fusion radius associated with the first trajectory.

[0054] In S320, the Cartesian motion information of the fusion endpoint in Cartesian space is determined according to the second trajectory and the first fusion radius.

[0055] In S330, a pre-planning operation is performed for the fusion section based on the Cartesian motion information of the fusion start point and the Cartesian motion information of the fusion end point, and the velocities and accelerations of multiple fusion trajectory points in the fusion stage are determined.

[0056] In this embodiment, in order to avoid situations where the robot's speed exceeds the speed limit during the trajectory planning process, leading to task execution failure and ultimately robot damage, it is possible to obtain Cartesian motion information for the fusion start and end points, and then perform a pre-planning for the fusion section to obtain the velocities and accelerations of multiple fusion trajectory points in the fusion stage.

[0057] Pre-planning is the process of performing a trajectory plan once in advance, before actually planning the trajectory of the fusion stage, in order to avoid situations where the velocity exceeds the limit by directly planning the motion. For example, if the first trajectory and / or the second trajectory belong to the joint trajectory of joint space, pre-planning can be performed using a 5th-degree polynomial. If the first and second trajectories are Cartesian trajectories of Cartesian space, regardless of whether they are in joint space, pre-planning can be performed using methods such as online trajectory generation (OTG) or S-shaped trajectory planning.

[0058] In S340, if the velocity of at least one fusion trajectory point in the fusion stage reaches a velocity threshold and / or the acceleration of at least one trajectory point reaches an acceleration threshold, the velocity scale factor is determined according to the velocity and acceleration.

[0059] Of these, the velocity scaling factor is used in the actual trajectory fusion process to scale with respect to velocity and avoid situations where the velocity exceeds the limit.

[0060] In this embodiment, during the process of performing pre-planning for the fusion stage, if the velocity of at least one fusion trajectory point reaches a velocity threshold and / or the acceleration of at least one trajectory point reaches an acceleration threshold, the velocity scale factor can be determined according to the velocity and acceleration. For example, the velocity threshold is Vmax and the acceleration threshold is Amax. During the process of performing pre-planning for the fusion stage, if one or more fusion trajectory points have a velocity v greater than Vmax, they are called velocity-over-velocity trajectory points. In this case, the difference between the velocity v and Vmax of multiple velocity-over-velocity trajectory points can be calculated for each, and the velocity scale factor can be determined according to the difference. Exemplarily, the difference values ​​corresponding to multiple velocity-over-velocity trajectory points can be obtained, and the velocity scale factor can be calculated according to the largest difference.

[0061] Similarly, in the process of performing a look-ahead plan for the fusion stage, if one or more fusion trajectory points have an acceleration a greater than Amax, they are called acceleration overload trajectory points. In this case, the difference between the acceleration a and Amax of multiple acceleration overload trajectory points can be calculated for each, and the velocity scale factor can be determined according to the difference. Exemplarily, the difference values ​​corresponding to multiple acceleration overload trajectory points can be obtained, and the velocity scale factor can be calculated according to the largest difference.

[0062] In S350, a trajectory is planned for the fusion stage between the first and second trajectories based on the Cartesian motion information of the fusion start point, the Cartesian motion information of the fusion end point, and the velocity scale factor.

[0063] In this embodiment, after calculating and obtaining the velocity scale factor, a trajectory is planned for the fusion stage between the first and second trajectories based on the Cartesian motion information of the fusion start point, the Cartesian motion information of the fusion end point, and the velocity scale factor. For example, when planning the trajectory, the velocity of the planned trajectory points is multiplied by the velocity scale factor to avoid situations where the robot fails to perform its task due to the velocity exceeding a limit.

[0064] For example, planning a trajectory for a fusion stage between a first trajectory and a second trajectory includes employing a polynomial to plan the trajectory for a fusion stage between a first trajectory and a second trajectory, provided that the space of at least one term of the first and second trajectories is an articulated space.

[0065] In an embodiment of the present application, when the space of at least one term of the first and second loci is an articulated space, a method for planning the locus for the fusion stage between the first and second loci is provided, which involves employing a polynomial. For example, a 5th-degree polynomial is employed to plan the locus.

[0066] For example, planning a trajectory for the fusion stage between the first and second trajectories further includes employing an online trajectory planning (OTG) to plan the trajectory for the fusion stage between the first and second trajectories, provided that the spatial locations of both the first and second trajectories are Cartesian spaces.

[0067] In the embodiment of the present application, when the space in which the first and second trajectories are located is a Cartesian space, the present invention provides a method for planning the trajectory for the fusion stage between the first and second trajectories by employing OTG.

[0068] The present invention's technical solution involves first performing a pre-planning of the fusion path based on the Cartesian motion information of the fusion start and end points, determining the velocities and accelerations of multiple fusion trajectory points in the fusion stage, further determining the Cartesian motion information of the fusion start point, the Cartesian motion information of the fusion end point, and the velocity scale factor, and then planning the trajectory for the fusion stage between the first and second trajectories. This avoids speed overruns in the fusion stage and improves the stability of the robot's motion.

[0069] Figure 4 is a flowchart of a trajectory fusion method according to another embodiment of the present invention, and the specific flow for planning the trajectory includes the following:

[0070] In S401, the first trajectory is acquired from the trajectory pool, and a trajectory plan is performed on the first trajectory.

[0071] In S402, it is determined whether or not the first fusion radius is associated with the first trajectory. Based on the determination that the first fusion radius is associated with the first trajectory, S403 is executed. Based on the determination that the first fusion radius is not associated with the first trajectory, the execution of the trajectory planning operation for the first trajectory is continued.

[0072] In S403, motion information of the fusion starting point is calculated according to the first trajectory and the first fusion radius.

[0073] In S404, it is determined whether the first trajectory is in the joint space. Based on the determination that the first trajectory is in the joint space, S405 is executed. Based on the determination that the first trajectory is not in the joint space, S406 is executed.

[0074] In S405, spline fitting maps a portion of the first trajectory, including the fusion starting point, to Cartesian space.

[0075] In S406, information on Cartesian motion in the Cartesian space of the fusion starting point is obtained.

[0076] In S407, it is determined whether more than half of the first trajectory has been planned. Based on the determination that more than half of the first trajectory has been planned, S408 is executed. Based on the determination that more than half of the first trajectory has not been planned, the operation to determine whether more than half of the first trajectory has been planned is continued. 。

[0077] In S408, the second trajectory is obtained from the trajectory pool, and motion information of the fusion endpoint is calculated according to the second trajectory and the first fusion radius.

[0078] In S409, it is determined whether the second trajectory is in the joint space. Based on the determination that the second trajectory is in the joint space, S410 is executed. Based on the determination that the second trajectory is not in the joint space, S411 is executed.

[0079] In S410, spline fitting maps a portion of the second trajectory, including the fusion endpoint, to Cartesian space.

[0080] In S411, information on the Cartesian motion in the Cartesian space of the fusion endpoint is obtained.

[0081] In S412, a pre-planning strategy is performed for the fusion stage based on the Cartesian motion information of the fusion start and end points.

[0082] In S413, during the pre-planning process, it is determined whether the speed has exceeded the limit. Based on the determination that the speed has exceeded the limit, S414 is executed, and based on the determination that the speed has not exceeded the limit, S415 is executed.

[0083] In S414, the speed scale coefficient is determined according to the speed limit information.

[0084] In S415, the trajectory is planned for the remaining portion of the first trajectory according to the velocity scale coefficient and the Cartesian motion information of the fusion starting point (if there is no speed overrun, the velocity scale coefficient is set to 1).

[0085] In S416, it is determined whether the execution of S415 was successful or not. Based on the determination that the execution of S415 was successful, S417 is executed. Based on the determination that the execution of S415 was unsuccessful, the trajectory fusion is canceled.

[0086] In S417, we will continue to execute the current trajectory plan.

[0087] In S418, it is determined whether or not the fusion stage has been entered. Based on the determination that the fusion stage has been entered, S419 is executed. Based on the determination that the fusion stage has not been entered, the execution of S417 continues.

[0088] In S419, the trajectory of the fusion stage is planned according to the Cartesian motion information of the currently planned trajectory points and the Cartesian motion information of the fusion endpoint.

[0089] In S420, in response to user control over speed adjustment at the fusion stage, a PID algorithm is employed to adjust the interpolation period.

[0090] In S421, it is determined whether the trajectory planning process has moved away from the fusion stage. Based on the determination that the trajectory planning process has moved away from the fusion stage, S422 is executed. Based on the determination that the trajectory planning process has not moved away from the fusion stage, the process returns to executing S419.

[0091] In S422, the second trajectory is designated as the new first trajectory, the currently planned trajectory point is used as the starting point, and the endpoint of the new first trajectory is used as the endpoint. A trajectory plan is then created for the new first trajectory, and the process returns to execution in S402.

[0092] The present invention's technical solution determines the Cartesian motion information of the fusion starting point in Cartesian space according to the first trajectory and the first fusion radius associated with the first trajectory, and further determines the Cartesian motion information of the fusion ending point in Cartesian space according to the second trajectory and the first fusion radius. Finally, based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point, the trajectory is planned for the fusion stage between the first trajectory and the second trajectory. By mapping both the fusion starting point and the fusion ending point to Cartesian space, the system avoids situations where it cannot stably transition between trajectories in different spaces, thereby improving the stability of the robot's operation when passing through the transition point between two trajectories.

[0093] Figure 5 is a schematic diagram of the structure of a trajectory fusion device according to an embodiment of the present invention. This embodiment is applicable when trajectory fusion is performed on the trajectory of a robot, and is particularly suitable when trajectory fusion is performed on trajectories in different spaces. The trajectory fusion device can be implemented in hardware and / or software form and can be integrated into an electronic device equipped with a trajectory fusion function, such as a server. As shown in Figure 5, the device is A first motion information determination module 510 is configured to determine the Cartesian motion information of the fusion starting point in Cartesian space according to the first trajectory and the first fusion radius associated with the first trajectory, A second motion information determination module 520 is configured to determine the Cartesian motion information of the fusion endpoint in Cartesian space according to a second trajectory whose location space is different from the location space of the first trajectory and the first fusion radius, The system includes a fusion stage trajectory planning module 530 configured to plan a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point.

[0094] The present invention's technical solution determines the Cartesian motion information of the fusion starting point in Cartesian space according to the first trajectory and the first fusion radius associated with the first trajectory, and further determines the Cartesian motion information of the fusion ending point in Cartesian space according to the second trajectory and the first fusion radius. Finally, based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point, the trajectory is planned for the fusion stage between the first trajectory and the second trajectory. By mapping both the fusion starting point and the fusion ending point to Cartesian space, the system avoids situations where it cannot stably transition between trajectories in different spaces, thereby improving the stability of the robot's operation when passing through the transition point between two trajectories.

[0095] For example, the first motion information determination module 510 is: If the space in which the first trajectory is located is an articular space, the joint motion information in the articular space of the fusion starting point is determined according to the first trajectory and the first fusion radius associated with the first trajectory. Centered on the aforementioned fusion starting point, a set number of first trajectory points are selected within the first trajectory. The fusion starting point and the first trajectory point are mapped to Cartesian space, and a spline curve is fitted to the fusion starting point and the first trajectory point mapped to Cartesian space to obtain a fitting curve in Cartesian space. The system is configured to determine the Cartesian motion information of the fusion starting point in Cartesian space, including the position, orientation, velocity, and acceleration in Cartesian space, according to the fitting curve.

[0096] For example, the trajectory fusion device is A look-ahead planning module is configured to perform a look-ahead plan for the fusion section based on the Cartesian motion information of the fusion start point and the Cartesian motion information of the fusion end point, and to determine the velocity and acceleration of multiple fusion trajectory points in the fusion stage. The system further comprises a velocity scale factor determination module configured to determine the velocity scale factor in accordance with the velocity and acceleration when the velocity of at least one fusion trajectory point in the fusion stage reaches a velocity threshold and / or the acceleration of at least one trajectory point reaches an acceleration threshold, Fusion stage trajectory planning module 530 is, Based on the Cartesian motion information of the fusion starting point, the Cartesian motion information of the fusion ending point, and the velocity scale factor, the system is configured to plan the trajectory for the fusion stage between the first trajectory and the second trajectory.

[0097] For example, the trajectory fusion device is The system further includes an interpolation period adjustment module configured to adjust the interpolation period in the trajectory planning process according to speed control information input by the user.

[0098] For example, the interpolation period adjustment module is The system is configured to adjust the interpolation period of the trajectory planning process by employing at least one of the following algorithms: a nonlinear interpolation algorithm, a proportional-integral-derivative PID algorithm, and an average value filtering algorithm, in response to speed control information input by the user.

[0099] For example, the fusion stage trajectory planning module 530 further... If the space in which at least one term of the first and second loci is located is an articulated space, the system is configured to use a polynomial to plan the locus for the fusion stage between the first and second loci.

[0100] For example, the fusion stage trajectory planning module 530 further... If the locations of both the first and second trajectories are Cartesian spaces, the system is configured to employ online trajectory planning (OTG) to plan the trajectory for the fusion stage between the first and second trajectories.

[0101] The trajectory fusion device according to the embodiment of the present application is capable of performing the trajectory fusion method according to any embodiment of the present application, and is equipped with a functional module and beneficial effects corresponding to the performance of the method.

[0102] Figure 6 shows a schematic diagram of the structure of an electronic device 10 that can be used to carry out an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can further represent various forms of mobile devices, such as personal digital processing devices, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are illustrative and are not intended to limit the realization of the present application as described and / or required herein.

[0103] As shown in Figure 6, the electronic device 10 includes at least one processor 11 and at least one memory connected to the processor 11, such as read-only memory (ROM) 12 and random access memory (RAM) 13. The memory stores computer programs that can be executed by at least one processor, and the processor 11 can perform various appropriate operations and processes according to the computer programs stored in the read-only memory (ROM) 12 or the computer programs loaded into the random access memory (RAM) 13 from the storage unit 18. The RAM 13 can also store various programs and data necessary for the operation of the electronic device 10. The processor 11, ROM 12 and RAM 13 are connected to each other by a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0104] Multiple components of an electronic device 10 are connected to the I / O interface 15, which includes, for example, an input unit 16 such as a keyboard or mouse, an output unit 17 such as various types of displays or speakers, a storage unit 18 such as a magnetic disk or optical disk, and a communication unit 19 such as a network card, modem, or wireless communication transceiver. The communication unit 19 enables the electronic device 10 to exchange information / data with other devices, for example, via the Internet computer network and / or various telecommunication networks.

[0105] The processor 11 may be a general-purpose and / or dedicated processing component having various processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, processors that run various machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs some of the methods and processes described above, such as the trajectory fusion method.

[0106] In some embodiments, the trajectory fusion method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, the computer program can be loaded and / or installed in the electronic device 10, in part or in whole, via a ROM 12 and / or a communication unit 19. Once the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the trajectory fusion method described above can be executed. Alternatively, in other embodiments, the processor 11 is configured to execute the trajectory fusion method by any other suitable means (e.g., by firmware).

[0107] In this specification, various embodiments of the systems and technologies described above can be implemented as digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific general-purpose products (ASSPs), systems-on-chip (SOCs), complex-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor capable of receiving data and instructions from a memory system, at least one input device, and at least one output device, and transmitting data and instructions to the memory system, the at least one input device, and the at least one output device.

[0108] Computer programs for carrying out the method of the present invention may be written using any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a dedicated computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations defined in the flowchart and / or block diagram are performed. The computer programs may be executed entirely on a device, partially on a device, as a standalone software package, partially on a device and partially on a remote device, or entirely on a remote device or server.

[0109] In the context of this application, a computer-readable storage medium may be a tangible medium that contains or can store computer programs used in or in combination with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or apparatus, or any appropriate combination of the above. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include one or more line-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical memory devices, magnetic memory devices, or any appropriate combination of the above.

[0110] To provide user interaction, the systems and techniques described herein can be implemented in electronic devices, which include a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) and a keyboard or pointing device (e.g., a mouse or trackball), and the user can provide input to the electronic device via the keyboard or pointing device. Other types of devices can be used to provide user interaction, for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form (including sound input, voice input, or tactile input).

[0111] The systems and technologies described herein may be implemented in a computing system including background components (e.g., as a data server), or in a computing system including middleware components (e.g., an application server), or in a computing system including front-end components (a user computer having a graphical user interface or network browser, through which the user can interact with embodiments of the systems and technologies described herein), or in a computing system including any combination of such background components, middleware components, or front-end components. The components of the system may be connected to one another by digital data communication (e.g., a communication network) in any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0112] A computer system may include client terminals and servers. Client terminals and servers are generally geographically separated and typically interact via a communication network. The relationship between client terminals and servers is established by corresponding computer programs running on those computers and having a client-server relationship with one another. The server may also be a cloud server, a hosting product within a cloud computing service system, also known as a cloud computing server or cloud host, designed to avoid the management difficulties and limited operational flexibility inherent in traditional physical hosts and VPS services.

[0113] It should be understood that steps can be rearranged, added, or deleted using the various forms of flows described above. For example, the steps described herein may be executed in parallel, sequentially, or in different orders, as long as the desired results of the present invention are achieved, and are not limited to these in this specification. The invention described in the original claims of this application is listed below. [1] In accordance with the first trajectory and the first fusion radius associated with the first trajectory, the Cartesian motion information of the fusion starting point in Cartesian space is determined, The Cartesian motion information of the fusion endpoint in Cartesian space is determined according to the second trajectory whose location space differs from the location space of the first trajectory and the first fusion radius, This includes planning a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point. Trajectory fusion method. [2] Determining the Cartesian motion information of the fusion starting point in Cartesian space, according to the first trajectory and the first fusion radius associated with the first trajectory, In response to the determination that the space where the first trajectory is located is an articular space, the joint motion information in the articular space of the fusion starting point is determined according to the first trajectory and the first fusion radius associated with the first trajectory, Centered on the aforementioned fusion starting point, a set number of first trajectory points are selected within the aforementioned first trajectory. The fusion starting point and the first trajectory point are mapped to Cartesian space, and a spline curve is fitted to the fusion starting point and the first trajectory point mapped to Cartesian space to obtain a fitting curve in Cartesian space. This includes determining the Cartesian motion information of the fusion starting point in Cartesian space, including its position, orientation, velocity, and acceleration in Cartesian space, according to the fitting curve, The method described in [1]. [3] Before planning the trajectory for the fusion stage between the first and second trajectories, Based on the Cartesian motion information of the fusion start point and the Cartesian motion information of the fusion end point, a pre-planning is performed for the fusion section to determine the velocity and acceleration of multiple fusion trajectory points in the fusion stage. The further includes determining a velocity scale factor in response to the determination of at least one of the following: that the velocity of at least one fusion trajectory point in the fusion stage has reached a velocity threshold, and that the acceleration of at least one trajectory point has reached an acceleration threshold, in accordance with the velocity and acceleration. Based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point, planning the trajectory for the fusion stage between the first trajectory and the second trajectory is: This includes planning a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point, the Cartesian motion information of the fusion ending point, and the velocity scale factor. The method described in [1]. [4] The trajectory planning process further includes adjusting the interpolation period in the trajectory planning process according to the speed control information input by the user. The method described in [1]. [5] Adjusting the interpolation period in the trajectory planning process according to the speed control information input by the user, as described above, This includes adjusting the interpolation period of the trajectory planning process by employing at least one of the following: a nonlinear interpolation algorithm, a proportional-integral-derivative PID algorithm, and an average-value filtering algorithm, in accordance with the speed control information input by the user. The method described in [4]. [6] As described above, planning the trajectory for the fusion stage between the first trajectory and the second trajectory is In response to the determination that the space where at least one term of the first and second loci is located is an articulated space, the method includes employing a polynomial to plan the locus for the fusion stage between the first and second loci, The method described in [1]. [7] As described above, planning the trajectory for the fusion stage between the first trajectory and the second trajectory is In response to the determination that the locations of the first and second trajectories are each Cartesian spaces, the method further includes employing an online trajectory planning (OTG) to plan the trajectory for the fusion stage between the first and second trajectories. The method described in [1]. [8] A first motion information determination module is configured to determine the Cartesian motion information of the fusion starting point in Cartesian space, depending on the first trajectory and the first fusion radius associated with the first trajectory. A second motion information determination module is configured to determine the Cartesian motion information of the fusion endpoint in Cartesian space according to the second trajectory, whose location space is different from the location space of the first trajectory, and the first fusion radius, The system includes a fusion stage trajectory planning module configured to plan a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point. Trajectory fusion device. [9] At least one processor, The system comprises a memory that is communicated to at least one of the processors, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor such that the at least one processor can execute the trajectory fusion method described in any one of items [1] to [7]. electronic equipment.

[10] A computer instruction is stored which, when executed by the processor, is configured to implement the trajectory fusion method described in any one of items [1] to [7]. Computer-readable storage medium.

Claims

1. In accordance with the first trajectory and the first fusion radius associated with the first trajectory, the Cartesian motion information of the fusion starting point in Cartesian space is determined, In accordance with the second trajectory and the first fusion radius, the Cartesian motion information of the fusion endpoint in Cartesian space is determined, This includes planning a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point, Determining the Cartesian motion information of the fusion starting point in Cartesian space, according to the first trajectory and the first fusion radius associated with the first trajectory, If the space in which the first trajectory is located is a Cartesian space, then the Cartesian motion information of the fusion starting point in the Cartesian space is directly determined according to the first trajectory and the first fusion radius associated with the first trajectory, If the space where the first trajectory is located is an articular space, the joint motion information in the articular space of the fusion starting point is determined according to the first trajectory and the first fusion radius associated with the first trajectory, Centered on the aforementioned fusion starting point, a set number of first trajectory points are selected within the first trajectory. The fusion starting point and the first trajectory point are mapped to Cartesian space, and a spline curve is fitted to the fusion starting point and the first trajectory point mapped to Cartesian space to obtain a fitting curve in Cartesian space. This includes determining the Cartesian motion information of the fusion starting point in Cartesian space, including the position, orientation, velocity, and acceleration in Cartesian space, according to the fitting curve, Determining the Cartesian motion information of the fusion endpoint in Cartesian space, according to the second trajectory and the first fusion radius as described above, If the space in which the second trajectory is located is a Cartesian space, then the Cartesian motion information of the fusion endpoint in the Cartesian space is directly determined according to the second trajectory and the first fusion radius, If the space where the second trajectory is located is an articular space, the joint motion information in the articular space at the fusion endpoint is determined according to the second trajectory and the first fusion radius, Centered on the aforementioned fusion endpoint, a set number of second trajectory points are selected within the aforementioned second trajectory. The fusion endpoint and the second trajectory point are mapped to Cartesian space, and a spline curve is fitted to the fusion endpoint and the second trajectory point mapped to Cartesian space to obtain a fitting curve in Cartesian space. This includes determining the Cartesian motion information of the fusion endpoint in Cartesian space, including the position, orientation, velocity, and acceleration in Cartesian space, according to the fitting curve, Trajectory fusion method.

2. Before planning the trajectory for the fusion stage between the first trajectory and the second trajectory, Based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point, a pre-planning is performed for the fusion stage, and the velocities and accelerations of multiple fusion trajectory points in the fusion stage are determined. The further includes determining a velocity scale factor in response to the determination of at least one of the following: that the velocity of at least one fusion trajectory point in the fusion stage has reached a velocity threshold, and that the acceleration of at least one trajectory point has reached an acceleration threshold, in accordance with the velocity and acceleration. Based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point, planning the trajectory for the fusion stage between the first trajectory and the second trajectory is as follows: This includes planning a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point, the Cartesian motion information of the fusion ending point, and the velocity scale factor. The method according to claim 1.

3. The trajectory planning process further includes adjusting the interpolation period in the trajectory planning process according to the speed control information input by the user. The method according to claim 1.

4. Adjusting the interpolation period in the trajectory planning process according to the speed control information input by the user, as described above, This includes adjusting the interpolation period of the trajectory planning process by employing at least one of the following: a nonlinear interpolation algorithm, a proportional-integral-derivative PID algorithm, and an average-value filtering algorithm, in accordance with the speed control information input by the user. The method according to claim 3.

5. Planning the trajectory for the fusion stage between the first trajectory and the second trajectory, In response to the determination that the space where at least one term of the first and second trajectories is located is an articulated space, the method includes employing a polynomial to plan the trajectory for the fusion stage between the first and second trajectories. The method according to claim 1.

6. As described above, planning the trajectory for the fusion stage between the first trajectory and the second trajectory is In response to the determination that the locations of the first and second trajectories are each Cartesian spaces, the method further includes employing an online trajectory planning (OTG) to plan the trajectory for the fusion stage between the first and second trajectories. The method according to claim 1.

7. A first motion information determination module is configured to determine the Cartesian motion information of the fusion starting point in Cartesian space, according to the first trajectory and the first fusion radius associated with the first trajectory. A second motion information determination module is configured to determine the Cartesian motion information of the fusion endpoint in Cartesian space according to the second trajectory and the first fusion radius, The system includes a fusion stage trajectory planning module configured to plan a trajectory for the fusion stage between the first trajectory and the second trajectory based on the Cartesian motion information of the fusion starting point and the Cartesian motion information of the fusion ending point, Specifically, the first motion information determination module is: If the space in which the first trajectory is located is a Cartesian space, then the Cartesian motion information of the fusion starting point in the Cartesian space is determined directly according to the first trajectory and the first fusion radius associated with the first trajectory. If the space where the first trajectory is located is an articular space, the joint motion information in the articular space of the fusion starting point is determined according to the first trajectory and the first fusion radius associated with the first trajectory. Centered on the aforementioned fusion starting point, a set number of first trajectory points are selected within the first trajectory. The fusion starting point and the first trajectory point are mapped to Cartesian space, and a spline curve is fitted to the fusion starting point and the first trajectory point mapped to Cartesian space to obtain a fitting curve in Cartesian space. Used to determine the Cartesian motion information of the fusion starting point in Cartesian space, including the position, orientation, velocity, and acceleration in Cartesian space, according to the fitting curve, Specifically, the first motion information determination module is: If the space in which the second trajectory is located is a Cartesian space, then the Cartesian motion information of the fusion endpoint in the Cartesian space is directly determined according to the second trajectory and the first fusion radius. If the space where the second trajectory is located is an articular space, the joint motion information in the articular space of the fusion endpoint is determined according to the second trajectory and the first fusion radius. Centered on the aforementioned fusion endpoint, a set number of second trajectory points are selected within the aforementioned second trajectory. The aforementioned fusion endpoint and the second trajectory point are mapped to Cartesian space, and a spline curve is fitted to the fusion endpoint and the second trajectory point mapped to Cartesian space to obtain a fitting curve in Cartesian space. In accordance with the fitting curve, the Cartesian motion information of the fusion endpoint in Cartesian space, including position, orientation, velocity, and acceleration in Cartesian space, is used to determine the Cartesian motion information of the fusion endpoint in Cartesian space. Trajectory fusion device.

8. At least one processor, The system comprises a memory that is communicated to at least one of the processors, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor such that the at least one processor can execute the trajectory fusion method described in any one of claims 1 to 6. electronic equipment.

9. A computer instruction is stored which, when executed by the processor, is configured to realize the trajectory fusion method described in any one of claims 1 to 6. Computer-readable storage medium.

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