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CN-119839847-B - Method for determining working point of robot, and storage medium

CN119839847BCN 119839847 BCN119839847 BCN 119839847BCN-119839847-B

Abstract

The application discloses a method for determining a working point position of a robot, which comprises a base and a mechanical arm arranged on the base, wherein the method comprises the steps of acquiring an operation map and a working path of the mechanical arm; the method comprises the steps of determining candidate working areas of a base according to a working path and a preset working radius of a mechanical arm, determining target reachable path points corresponding to candidate working points according to joint information corresponding to each path point, calculating point position scores of the candidate working points according to the target reachable path points and the working path, and determining the candidate working points meeting preset scoring conditions as target working points in the candidate working points according to the point position scores of the candidate working points. And determining the target working point positions from the plurality of candidate working point positions by evaluating point position scores of target reachable path points corresponding to different candidate working point positions, so that the robot can execute the task on the working point position meeting the task requirement and having highest efficiency.

Inventors

  • MI KAI

Assignees

  • 广州视源电子科技股份有限公司
  • 广州视睿电子科技有限公司

Dates

Publication Date
20260508
Application Date
20231018

Claims (15)

  1. 1. A method for determining a working point of a robot, the robot including a base and a robot arm provided on the base, the method comprising: acquiring an operation map and a working path of the mechanical arm, wherein the operation map comprises a plurality of position points, each position point is configured with joint information of the mechanical arm on the position point, the working path comprises a plurality of path points, and the path points are represented by the position points; Determining a candidate working area of the base according to the working path and a preset working radius of the mechanical arm, wherein the candidate working area comprises a plurality of candidate working points; Determining the path points meeting the reachable conditions as reachable path points according to the joint information corresponding to each path point; According to the joint information corresponding to the reachable path points, determining the reachable path points meeting the preset constraint conditions as target reachable path points; Determining target joint information of the target reachable path points, wherein the target joint information comprises joint angle states and target operability corresponding to the joint angle states, and the determining of the target reachable path points comprises determining an optimal joint angle state of each target reachable path point, calculating joint distances of two adjacent reachable path points according to the optimal joint angle states of the two adjacent reachable path points, and determining the operability of the first target reachable path point as the target operability according to a preset operation sequence; Calculating point scores of candidate working points according to the target reachable path points, the operation path and the target joint information; And determining the candidate working point positions meeting the preset scoring condition as target working point positions in the plurality of candidate working point positions according to the point position scores of the plurality of candidate working point positions.
  2. 2. The method of claim 1, wherein the joint information includes an reachable joint angle state of the robotic arm, and wherein determining, based on the joint information corresponding to each of the waypoints, a waypoint satisfying a reachability condition as a reachable waypoint includes: Judging whether each path point is configured with an accessible joint angle state according to the operation map; if so, determining that the path point meets the reachable condition, wherein the path point is a reachable path point.
  3. 3. The method according to claim 1, wherein the joint information includes an reachable joint angle state of the robot arm, and further comprising, after the determining that a path point satisfying a reachable condition is a reachable path point based on the joint information corresponding to each of the path points: According to a preset sorting algorithm and a preset operation sequence, sequentially determining a joint angle state sequence of each reachable path point; and determining the reachable path point meeting the preset constraint condition as a target reachable path point according to the joint information corresponding to the reachable path point, wherein the target reachable path point is: And according to the joint information corresponding to the reachable path points, sequentially determining the reachable path points meeting the preset constraint conditions from the joint angle state sequence as target reachable path points.
  4. 4. The method of claim 3, wherein the joint information further includes an operability corresponding to the joint angle state, and wherein sequentially determining the sequence of joint angle states for each of the reachable path points according to a preset ordering algorithm and a preset job order includes: determining a plurality of the operability of the first reachable path point according to the operation sequence; and determining the joint angle state sequence of the first reachable path point according to the sequential arrangement of the operability from high to low.
  5. 5. The method of claim 4, wherein sequentially determining the sequence of joint angle states for each of the reachable path points according to a predetermined ordering algorithm and a predetermined order of operation further comprises: Determining a plurality of joint angle states of the current reachable path point and the joint angle state of the last target reachable path point according to the operation sequence; According to the joint angle state of the last reachable path point and the joint angle states of the current reachable path point, respectively determining the joint movement distance of each joint angle state of the current reachable path point corresponding to the joint angle state of the last reachable path point; and according to the joint movement distance, the joint angle state sequences of the current reachable path points are determined from the low to the high.
  6. 6. The method of claim 5, wherein the joint information further includes a terminal pose corresponding to the joint angle state, the preset constraint condition includes a desired pose condition and a preset anti-collision condition, and sequentially determining, from the joint angle state sequence, an reachable path point satisfying the preset constraint condition as a target reachable path point according to the joint information corresponding to the reachable path point includes: According to the joint angle state sequence, whether the tail end pose of the reachable path point meets the expected pose condition and/or whether the reachable path point meets the preset anti-collision condition or not is sequentially judged; If yes, determining the reachable path point as a target reachable path point.
  7. 7. The method according to any one of claims 1 to 6, wherein the coordinate system of the route points is a world coordinate system, and further comprising, before the determining the target reachable route point corresponding to the candidate working point based on the working route and the joint information corresponding to each of the route points: determining the pose relation of the mechanical arm relative to the world coordinate system according to the pose of the base relative to the world coordinate system and the pose relation of the mechanical arm relative to the base; And determining the coordinates of the path points relative to the mechanical arm according to the coordinates of the path points relative to the world coordinate system and the pose relation of the mechanical arm relative to the world coordinate system.
  8. 8. The method of any one of claims 1 to 6, wherein the determining the candidate work area of the base according to the work path and the preset work radius of the robotic arm comprises: Acquiring a moving map of the base; Determining a path center point according to the operation path; and determining the candidate working area from the moving map according to the path center point and the working radius of the mechanical arm.
  9. 9. The method of claim 8, further comprising, after the acquiring the moving map of the base: Determining a forbidden region of an obstacle in the moving map, a radius of the base and a reserved distance of the base relative to the obstacle; and expanding the forbidden region according to the radius of the base and/or the reserved distance.
  10. 10. The method according to any one of claims 1 to 6, wherein the acquiring an operation map further includes: Determining the operation space of the mechanical arm; discretizing the working space to obtain a position space composed of a plurality of position points; And determining and configuring the joint information of the mechanical arm at each position point to obtain the operation map.
  11. 11. The method of any one of claims 1 to 6, wherein the point location scores comprise a path coverage score, and wherein calculating the point location scores for candidate work points from the target reachable path points and the job path comprises calculating the path coverage scores for the candidate work points from the number of target reachable path points and the number of path points for the job path.
  12. 12. The method of any one of claims 1 to 6, wherein the point location score comprises a continuity score, and wherein calculating the point location score for a candidate working point based on the target reachable path point and the working path comprises calculating the continuity score for the candidate working point based on the operability of the target reachable path point and the joint movement distance calculated from the joint angle state.
  13. 13. The method of any one of claims 1 to 6, wherein the point location scores comprise a path coverage score and a continuity score, and wherein calculating a point location score for a candidate work point location from the target reachable path point and the job path comprises: Calculating the path coverage rate score of the candidate working point according to the ratio of the target reachable path point to the working path; Calculating the continuity score of the candidate working point according to the operability of the target reachable path point and the joint movement distance calculated by the joint angle state; And calculating the point position scores of the candidate working points according to products of the preset weight coefficients and the path coverage rate scores and the continuity scores.
  14. 14. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the robot implements the method according to any of claims 1 to 13 when the processor executes the computer program.
  15. 15. A storage medium storing a computer program which, when executed by a processor, implements the method of any one of claims 1 to 13.

Description

Method for determining working point of robot, and storage medium Technical Field The present invention relates to the field of robot control technologies, and in particular, to a method for determining a working point of a robot, and a storage medium. Background With the continuous development of robot technology in recent years, a robot with a composite form integrating a mobile robot and a general-purpose industrial robot has emerged. The compound robot generally includes AGVs (Automated Guided Vehicle, unmanned guided vehicles) and robotic arms, and the AGVs can perform the moving function, and the robotic arms can perform the functions of grabbing, transporting and the like similar human arms, and the compound robot performs complex tasks through the coordination of the two, so that the compound robot can be applied to industries of medical treatment, cleaning, electronic component, mechanical part manufacturing and the like. The compound robot may be assigned a continuous working path in some scenarios, such as wiping a continuous table top, welding a continuous weld, etc. In such scenarios, compound robots tend to have multiple possible working points, and compound robots are not efficient in performing tasks at most of the working points. Disclosure of Invention The application provides a working point position determining method of a robot, the robot and a storage medium, and aims to solve the problem that in the prior art, task execution efficiency of the robot at most of working point positions is low. In a first aspect, the present application provides a method for determining a working point of a robot, the robot including a base and a mechanical arm disposed on the base, the method including: acquiring an operation map and a working path of the mechanical arm, wherein the operation map comprises a plurality of position points, each position point is configured with joint information of the mechanical arm on the position point, the working path comprises a plurality of path points, and the path points are represented by the position points; Determining a candidate working area of the base according to the working path and a preset working radius of the mechanical arm, wherein the candidate working area comprises a plurality of candidate working points; determining a target reachable path point corresponding to the candidate working point according to the joint information corresponding to each path point; calculating the point scores of candidate working points according to the target reachable path points and the operation path; And determining the candidate working point positions meeting the preset scoring condition as target working point positions in the plurality of candidate working point positions according to the point position scores of the plurality of candidate working point positions. Optionally, the determining, according to the joint information corresponding to each of the path points, a target reachable path point corresponding to the candidate working point includes: Determining the path points meeting the reachable conditions as reachable path points according to the joint information corresponding to each path point; and determining the reachable path point meeting the preset constraint condition as a target reachable path point according to the joint information corresponding to the reachable path point. Optionally, the joint information includes an reachable joint angle state of the mechanical arm, and determining, according to the joint information corresponding to each path point, the path point satisfying the reachable condition as the reachable path point includes: Judging whether each path point is configured with an accessible joint angle state according to the operation map; if so, determining that the path point meets the reachable condition, wherein the path point is a reachable path point. Optionally, after determining that the reachable path point satisfying the preset constraint condition is the target reachable path point, the method further includes: Determining target joint information of the target reachable path point; And calculating the point scores of candidate working points according to the target reachable path points and the operation path as follows: and calculating the point scores of the candidate working points according to the target reachable path points, the operation path and the target joint information. Optionally, the target joint information includes a joint angle state, and a target operability corresponding to the joint angle state, and the determining the target joint information of the target reachable path point includes: Determining an optimal joint angle state of each target reachable path point; calculating joint distances of two adjacent reachable path points according to optimal joint angle states of the two adjacent target reachable path points; and determining the operability of the first target reachable path point as the ta