CN116652926A - Motion path planning method, device, robot and storage medium - Google Patents

Abstract

The application discloses a motion path planning method, device, robot and storage medium. The motion path planning method includes: obtaining the current UWB position signal of the target object, determining the current position of the target object according to the current UWB position signal of the target object, and calculating the current position information of the target object when the current position of the target object changes , according to the current position information of the target object, plan the movement path of the robot to the target object. In this way, by acquiring the current UWB position signal of the target object, the current position of the target object can be determined simply and accurately, so as to determine whether the position of the target object changes, and if there is a change, calculate the target object’s position according to the current UWB position signal The current position information, and then plan the movement path of the robot to the target object. In this way, it is simple and easy to plan the movement path of the robot to the target object through UWB positioning technology, and the cost is low while ensuring high accuracy.

Description

Motion path planning method, device, robot and storage medium

technical field

The present application relates to the technical field of robots, and in particular to a motion path planning method, device, robot and storage medium.

Background technique

With the development of technology, robots are widely used in production and life. However, in the process of searching for objects to be grasped by the robot and implementing the grasping process, in order to accurately locate the relative positions of each joint of the robot and the object to be grasped, the object to be grasped To carry out the task of picking up objects requires complex motion control algorithms and more high-resolution encoders for position positioning, which is cumbersome and costly to implement.

Contents of the invention

Embodiments of the present application provide a motion path planning method, device, robot, and storage medium.

The motion path planning method of the embodiment of the present application is used for a robot, and the motion path planning method includes:

Obtain the current UWB position signal of the target object;

determining the current position of the target object according to the current UWB position signal of the target object;

If the current position of the target object changes, calculate the current position information of the target object;

A movement path of the robot to the target object is planned according to the current position information of the target object.

The motion path planning method in this application can easily and accurately determine the current position of the target object by acquiring the current UWB position signal of the target object, so as to determine whether the position of the target object changes, and if there is a change, according to the current The UWB position signal calculates the current position information of the target object, and then plans the movement path of the robot to the target object. In this way, it is simple and easy to plan the movement path of the robot to the target object through UWB positioning technology, and the cost is low while ensuring high accuracy. .

In an embodiment of the present application, a motion path planning device is provided, and the motion path planning device includes:

An acquisition module, configured to acquire the current UWB position signal of the target object;

A determination module, configured to determine the current position of the target object according to the current UWB position signal of the target object;

A calculation module, configured to calculate the current position information of the target object when the current position of the target object changes;

A planning module, configured to plan a movement path of the robot to the target object according to the current position information of the target object.

An embodiment of the present application provides a robot, the robot includes a chassis, an actuator and a processor arranged on the chassis, the chassis is provided with a UWB signal receiving device, and the actuator is provided with a UWB signal transmitting device, so The processor is configured to execute the motion path planning method in the above embodiment to control the chassis and the actuator to move toward the target object according to the planned motion path.

The embodiments of the present application provide a non-volatile computer-readable storage medium of computer-executable instructions. When the computer-executable instructions are executed by one or more processors, the processors execute any of the above embodiments. The motion path planning method described above.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and understandable from the description of the embodiments in conjunction with the following drawings, wherein:

FIG. 1 is a schematic flow diagram of a motion path planning method in an embodiment of the present application;

FIG. 2 is a block diagram of a motion path planning device in an embodiment of the present application;

FIG. 3 is a schematic diagram of a scene where a robot moves toward a target object in an embodiment of the present application;

Fig. 4 is another schematic flowchart of the motion path planning method in the embodiment of the present application;

Fig. 5 is another schematic flowchart of the motion path planning method in the embodiment of the present application;

Fig. 6 is another schematic flowchart of the motion path planning method in the embodiment of the present application;

FIG. 7 is a schematic flowchart of a motion path planning method in an embodiment of the present application;

FIG. 8 is a schematic flowchart of a motion path planning method in an embodiment of the present application;

FIG. 9 is a schematic flowchart of a motion path planning method in an embodiment of the present application;

FIG. 10 is a schematic flowchart of a motion path planning method in an embodiment of the present application.

Description of main component symbols:

Robot 100, chassis 10, actuator 20, processor 30, UWB receiving device 40, UWB transmitting device 50, motion path planning device 200, acquisition module 21, determination module 22, calculation module 23, planning module 24, target object 2000;

Detailed ways

Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, are only for explaining the present application, and should not be construed as limiting the present application.

The following disclosure provides many different implementations or examples for implementing different structures of the present application. To simplify the disclosure of the present application, components and arrangements of specific examples are described below. Of course, they are examples only and are not intended to limit the application. Furthermore, the present application may repeat reference numerals and/or reference letters in various instances, such repetition is for simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, various specific process and material examples are provided herein, but one of ordinary skill in the art may recognize the use of other processes and/or the use of other materials.

Please refer to FIG. 1, FIG. 2 and FIG. 3, the embodiment of the present application provides a motion path planning method for the robot 100, wherein the motion path planning method includes:

Step S10: Obtain the current UWB position signal of the target object 2000;

Step S20: Determine the current position of the target object 2000 according to the current UWB position signal of the target object 2000;

Step S30: In the case that the current position of the target object 2000 changes, calculate the current position information of the target object 2000;

Step S40 : According to the current position information of the target object 2000 , plan a moving path from the robot 100 to the target object 2000 .

Referring to FIG. 2 , an embodiment of the present application provides a motion path planning device 200 , wherein the motion path planning device 200 includes an acquisition module 21 , a determination module 22 , a calculation module 23 and a planning module 24 . The acquisition module 21 is used to acquire the current UWB position signal of the target object 2000, the determination module 22 is used to determine the current position of the target object 2000 according to the current UWB position signal of the target object 2000, and the calculation module 23 is used to determine the current position of the target object 2000 In case of a change, the current position information of the target object 2000 is calculated, and the planning module 24 is used to plan the movement path from the robot 100 to the target object 2000 according to the current position information of the target object 2000 .

Referring to Fig. 3, the present application also provides a robot 100, the robot 100 includes a chassis 10, an actuator 20 and a processor 30, the actuator 20 is arranged on the chassis 10, the chassis 10 is provided with a UWB signal receiving device, the actuator 20 A UWB signal transmitting device is provided, and the processor 30 is used to obtain the current UWB position signal of the target object 2000, and to determine the current position of the target object 2000 according to the current UWB position signal of the target object 2000, and to determine the current position of the target object 2000, and to determine the current position of the target object 2000. When the current position of the target object 2000 is changed, the current position information of the target object 2000 is calculated and used to plan the movement path of the robot 100 to the target object 2000 according to the current position information of the target object 2000 .

In some embodiments, the robot 100 can also include a memory, which can be used to store a computer program so that the processor 30 can execute the computer program to realize the motion path planning method of the above steps, and the memory and the processor 30 can be connected through a bus or other means connect.

The motion path planning method in this application can simply and accurately determine the current position of the target object 2000 by acquiring the current UWB position signal of the target object 2000, so as to determine whether the position of the target object 2000 has changed, and in the event of a change , calculate the current position information of the target object 2000 according to the current UWB position signal, and then plan the motion path from the robot 100 to the target object 2000. In this way, it is simple and easy to plan the motion path from the robot 100 to the target object 2000 through UWB positioning technology. High accuracy and low cost.

The robot 100 in this application may include a mechanical arm. At this time, the chassis 10 of the robot 100 may be a mobile platform of the robotic arm, and the actuator 20 may be a manipulator at the end of the mechanical arm. It can be understood that the mechanical arm has a complex system of high precision, multiple input and multiple output, high nonlinearity and strong coupling. Because of its unique operational flexibility, by adding an actuator 20 (such as a manipulator) at the end of the mechanical arm, it can be assembled in the industry. , safety explosion-proof and other fields have been widely used.

Since the manipulator is a complex system, there are uncertainties such as parameter perturbation, external interference and unmodeled dynamics. Therefore, there are uncertainties in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the joint space of the manipulator, so as to cascade to form the end pose. For the recognition of the movement posture of the manipulator and the recognition of the target object 2000, conventional solutions often use the visual system to judge. For example, during the movement of the robotic arm, in order to accurately identify each joint, complex motion control algorithms and more high-resolution encoders are required for position positioning. In addition, the robotic arm often needs to add a vision module when grabbing objects. , which is used to judge the relative position between the robot arm and the object, which is cumbersome and costly to implement.

In this regard, the present application proposes a motion path planning method. By using UWB positioning technology to assist in realizing the motion path of the planning robot 100 (such as a mechanical arm) to the target object 2000 (object to be grasped), the implementation cost of the application is simple and avoids A complex motion control algorithm, more high-resolution encoders, and added vision modules are used to locate the target object 2000 and determine the relative position between the robot 100 and the target object 2000 .

Specifically, UWB (Ultra Wide Band) technology is a wireless carrier communication technology, that is, instead of using a sinusoidal carrier, it uses a nanosecond-level non-sinusoidal narrow pulse to transmit data. The impulse pulse has a high positioning accuracy . Using UWB technology, it is easy to integrate positioning and communication, which is difficult for conventional radios. UWB technology has strong penetrating ability, and can perform precise positioning indoors and underground, while GPS (Global Positioning System, Global Positioning System) can only work within the visible range of GPS positioning satellites. Different from the absolute geographic position provided by GPS, the UWB radio locator can provide relative position, and its positioning accuracy can reach centimeter level.

The principle of UWB technology ranging is the same as GNSS (Global Navigation Satellite System, Global Navigation Satellite System) outdoor positioning and Bluetooth indoor positioning. It uses the Time Of Flight (TOF) of radio signals to measure the distance. For the positioning of indoor objects, at least three tags (fixed coordinates) are required indoors to measure the distance of the object, and then obtain the intersection points of three circles, so as to realize the positioning of the object.

In particular, in this application, a PDOA (Phase-Difference-of-Arriva, signal phase difference of arrival) algorithm may be used to locate the target object 2000 . In the PDOA method, if the robot 100 is provided with more than two antennas, the angle and distance between the target object 2000 to be positioned and the robot 100 itself can be judged according to the phase difference of the same signal received by multiple antennas.

In step S10, the target object 2000 may be an object to be grasped that the robot 100 needs to perform a grasping task. Considering that the processor 30 uses the UWB position signal of the target object 2000 as a signal for locating the position of the target object 2000, for accurate positioning Since the position of the target object 2000 may change, the UWB position signal of the target object 2000 needs to be updated in real time, that is, in step S10, the processor 30 needs to obtain the current UWB position signal of the target object 2000.

In particular, the current UWB position signal of the target object 2000 acquired by the processor 30 can be more than one set, so as to increase the accuracy of positioning, and multiple sets of signal data can facilitate the improvement of the reliability of data processing in subsequent steps and assist in positioning the target. The specific location of the object 2000. In addition, the current UWB position signal of the target object 2000 can be sent by the UWB transmitting device 50 installed on the target object 2000, for example, it can be a UWB transmitting antenna installed on the target object 2000. Correspondingly, the robot 100 needs to install There is a UWB receiving device 40, and in order to ensure the accuracy of positioning, multiple UWB receiving devices 40 need to be installed on the robot 100, for example, multiple UWB receiving antennas are installed.

In step S20, the processor 30 can confirm whether the position of the target object 2000 has changed through the currently obtained current UWB position signal of the target object 2000, for example, by comparing the current UWB position signal of the target object 2000 received this time. time and the receiving time of the current UWB position signal of the target object 2000 last time, so as to determine whether the current position of the target object 2000 has changed. Of course, in other implementation manners, the current position of the target object 2000 may also be calculated and determined in other ways.

In step S30, when the current position of the target object 2000 changes, in order to ensure the planning accuracy of the movement path from the robot 100 to the target object 2000, it is necessary to calculate the current position information of the target object 2000 after the position change. At this time, since the technology for assisting the robot 100 to locate the target object 2000 in this application is UWB technology, and further, the PDOA method can be used for positioning and ranging in this application, so multiple UWB receiving antennas can be installed on the robot 100 , so that the current position information of the target object 2000 can be calculated by receiving the time difference and phase difference of the current UWB position signal of the target object 2000 through the antenna. It can be understood that the current position information of the target object 2000 that needs to be calculated in this application can actually be are the specific coordinates of the target object 2000 in the three-dimensional space.

In step S40 , the movement path from the robot 100 to the target object 2000 can be planned based on the obtained current position information of the target object 2000 , that is, the specific coordinates of the target object 2000 in three-dimensional space. It should be noted that, in this application, planning the movement path from the robot 100 to the target object 2000 includes planning the movement path from the robot 100 to the position of the target object 2000, and planning the movement path of the robot 100 to the position of the target object 2000 and then controlling the actuator 20 to the target object 2000. When the object 2000 implements work tasks such as grasping, the movement path from the actuator 20 to the target object 2000 is planned. In this way, the present application realizes the robot 100 based on UWB technology, such as the motion position discrimination function of the mechanical arm itself, so that the robot 100 can flexibly and accurately complete the positioning and movement adjustment process, and can also judge the target object 2000, such as the position of the object to be grasped. , to realize the accurate judgment of grabbing items.

Referring to Fig. 3 and Fig. 4, in some embodiments, the robot 100 may include a chassis 10, and a plurality of UWB receiving devices 40 may be arranged on the chassis 10, and obtaining the current UWB position signal of the target object 2000 (step S10) may include :

Step S11 : Control multiple UWB receiving devices 40 to simultaneously receive the current UWB position signal sent by the target object 2000 .

In some implementations, the acquiring module 21 is used to control multiple UWB receiving devices 40 to simultaneously receive the current UWB position signal sent by the target object 2000 .

In some implementations, the processor 30 is configured to control multiple UWB receiving devices 40 to simultaneously receive the current UWB position signal sent by the target object 2000 .

In this way, the current UWB position signal sent by the target object 2000 can be received by multiple UWB receiving devices 40 at the same time, and the specific coordinates of the target object 2000 in the three-dimensional space can be calculated, and then the movement path from the robot 100 to the target object 2000 can be planned.

In step S11, specifically, it should be noted that the commonly used PDOA method for UWB positioning, such as setting up a UWB signal transmitting antenna and at least two UWB signal receiving antennas, the UWB signal transmitting antenna first transmits the positioning signal, and the two UWB signal receiving antennas When the antenna receives information, the round-trip distance can be calculated by measuring the phase difference between the UWB signal and the two UWB signal receiving antennas, and the round-trip propagation time of the UWB signal, and finally the coordinate value can be obtained. In particular, as shown in FIG. 3 , in this application, because three dimensions need to be positioned, four receiving antennas are set for positioning. That is to say, four UWB antennas need to be installed on the chassis 10 of the robot 100 The receiving device 40 can be respectively arranged at four corners of the front, rear, left and right of the chassis 10 , and at the same time, a UWB transmitting device 50 is also arranged on the target object 2000 .

Referring to FIG. 5, in some implementations, in the case that the current position of the target object 2000 changes, the current position information of the target object 2000 is calculated (step S30), including:

Step S31: Based on the current UWB position signal of the target object 2000, according to a preset algorithm, calculate the relative position information of the target object 2000 to each UWB receiving device 40, the relative position information includes the angle and distance of the target object 2000 relative to the UWB receiving device 40 ;

Step S32: Analyze multiple pieces of relative position information to obtain current position information of the target object 2000 .

In some embodiments, the calculation module 23 is used to calculate the relative position information of the target object 2000 to each UWB receiving device 40 based on the current UWB position signal of the target object 2000 according to a preset algorithm, and the relative position information includes the target object 2000 The angle and distance relative to the UWB receiving device 40 are used to analyze a plurality of relative position information to obtain the current position information of the target object 2000 .

In some embodiments, the processor 30 is configured to calculate the relative position information of the target object 2000 to each UWB receiving device 40 based on the current UWB position signal of the target object 2000 according to a preset algorithm, and the relative position information includes the target object 2000 The angle and distance relative to the UWB receiving device 40 are used to analyze a plurality of relative position information to obtain the current position information of the target object 2000 .

In this way, when the position of the target object 2000 changes, the relative position information of the target object 2000 relative to the UWB receiving device 40 calculated by analyzing the current UWB position signals received by multiple sets of UWB receiving devices 40 can be used to obtain the position of the target object 2000. The current position information, that is, the coordinates, is convenient for planning the next movement path of the robot 100 .

Specifically, in order to obtain the specific coordinates of the target object 2000, based on the UWB positioning technology, a UWB transmitting device 50, such as a UWB transmitting antenna, is provided on the target object 2000. After the UWB transmitting device 50 transmits the current UWB position signal, the chassis 10 will The four UWB receiving devices 40 acquire the current UWB position signal of the target object 2000 at the same period.

In steps S31-32, the preset algorithm can be the PDOA algorithm, and the angle and distance between each UWB receiving device 40 and the UWB transmitting device 50 are calculated using the PDOA method, so that four groups of target objects 2000 to the chassis 10 can be obtained at the same time The relative position information of the target object 2000 at the current moment can be obtained by comprehensively analyzing and calculating the data of the four sets of relative position information, that is, the specific coordinates of the target object 2000 .

Referring to Fig. 6, in some embodiments, the robot 100 includes a chassis 10 and an actuator 20 arranged on the chassis 10, and according to the current position information of the target object 2000, the robot 100 plans a movement path to the target object 2000 (step S40 ),include:

Step S41: determine whether the chassis 10 needs to be moved;

Step S42: When the chassis 10 needs to be moved, control the chassis 10 to move toward the target object 2000 according to the current position information of the target object 2000;

Step S43: plan the movement path of the actuator 20 towards the target object 2000 when the chassis 10 does not need to move.

In some embodiments, the planning module 24 can be used to determine whether the chassis 10 needs to be moved, and to control the movement of the chassis 10 to the target object 2000 according to the current position information of the target object 2000 when the chassis 10 needs to be moved, And it is used to plan the movement path of the actuator 20 to the target object 2000 when the chassis 10 does not need to move.

In some embodiments, the processor 30 can be used to determine whether the chassis 10 needs to be moved, and to control the movement of the chassis 10 to the target object 2000 according to the current position information of the target object 2000 when the chassis 10 needs to be moved, And it is used to plan the movement path of the actuator 20 to the target object 2000 when the chassis 10 does not need to move.

In this way, the processor 30 can plan the specific movement path of the actuator 20 to the target object 2000 under the condition that the robot 100 as a whole has moved close to the target object 2000 and can perform work tasks on the target object 2000 .

Specifically, in step S41-step S43, it can be understood that in order to realize the accurate judgment of the robot 100 locating the target object 2000 and grabbing the target object 2000, after the current position information of the target object 2000 is determined through step S10-step S30, the planning When moving the robot 100 to the target object 2000 , it is possible to first plan the movement path of the robot 100 as a whole to the target object 2000 , or plan the movement path from the chassis 10 of the robot 100 to the target object 2000 . In this way, it can be ensured that the robot 100 has moved to the position where the target object 2000 is located, and then the next step of grasping path planning is performed.

Then, as the main body of the overall movement of the robot 100, the chassis 10 can first confirm whether the chassis 10 needs to be moved by step S41, that is, confirm whether the robot 100 has moved to a position close to the target object 2000; when it is confirmed that the chassis 10 needs to move, you can By step S42, according to the current position information of the target object 2000, the chassis 10 is controlled to move towards the target object 2000, that is, the chassis 10 is controlled to continue moving beyond the coordinates of the target object 2000; After confirming that the robot 100 has arrived at the location of the target object 2000 and has met the operating conditions for the target object 2000, then step S43 can be used to plan the movement path from the actuator 20 to the target object 2000.

Referring to Fig. 7, in some embodiments, determining whether the chassis 10 needs to be moved (step S41) includes:

Step S410: Determine the relative position of the chassis 10 to the target object 2000 according to the current UWB position signal of the target object 2000;

Step S411: If the relative position does not match the preset position, determine that the chassis 10 needs to be moved.

In some embodiments, the planning module 24 is used to determine the relative position of the chassis 10 to the target object 2000 according to the current UWB position signal of the target object 2000, and is used to determine the relative position of the chassis 10 when the relative position does not match the preset position. 10 needs to move.

In some embodiments, the processor 30 is used to determine the relative position of the chassis 10 to the target object 2000 according to the current UWB position signal of the target object 2000, and to determine the relative position of the chassis 10 when the relative position does not match the preset position. 10 needs to move.

In this way, by comparing the relative position with the preset position, it can be determined whether the chassis 10 has moved in place, and then determine the specific movement path planning direction of the robot 100 .

Specifically, in order to obtain the relative position of the chassis 10 to the target object 2000, based on the UWB positioning technology, a UWB transmitting device 50, such as a UWB transmitting antenna, is arranged on the target object 2000, and a plurality of UWB receiving devices 40 are arranged on the chassis 10, Such as four UWB receiving antennas. After the UWB transmitting device 50 transmits the current UWB position signal, the four UWB receiving devices 40 at the front, rear, left, and right sides of the chassis 10 acquire the current UWB position signal of the target object 2000 at the same period.

Then in step S410, by using the current UWB position signal of the target object 2000 obtained in real time, the angle and distance between each UWB receiving device 40 and the UWB transmitting device 50 can be calculated using the PDOA method, that is, the distance between the chassis 10 and the target object 2000 can be determined. relative position.

In step S411 , the preset position may be determined according to the current position information of the target object 2000 calculated in step 30 . Then, the preset position can be set to a value within a 5% error range close to the current position of the target object 2000 according to the requirements of the actual situation. If the relative position does not match the preset position, it means that the robot 100 has not yet moved to a position that satisfies the operation on the target object 2000, and the chassis 10 of the robot 100 needs to continue to move. At this time, step S42 can be executed to control the chassis 10 Move to the coordinates where the target object 2000 is located until it is judged that the chassis 10 does not need to move any more. Correspondingly, if the relative position is consistent with the preset position, it is confirmed that the chassis 10 has reached the proper position, and step S43 can be executed to plan the movement path from the actuator 20 to the target object 2000 .

Please refer to Fig. 8, under the situation that chassis 10 does not need to move, the movement path (step S43) that plan actuator 20 moves to target object 2000, comprises:

Step S430: Obtain the current UWB position signal of the actuator 20;

Step S431: Calculate the current position information of the actuator 20 according to the current UWB position signal of the actuator 20;

Step S432 : Control the actuator 20 to move toward the target object 2000 according to the current position information of the actuator 20 .

In some embodiments, the planning module 24 is used to obtain the current UWB position signal of the actuator 20, to obtain the current position information of the actuator 20 according to the current UWB position signal of the actuator 20, and to obtain the current position information of the actuator 20 according to the execution The current position information of the mechanism 20 controls the actuator 20 to move toward the target object 2000 .

In some embodiments, the processor 30 is used to obtain the current UWB position signal of the actuator 20, to obtain the current position information of the actuator 20 according to the current UWB position signal of the actuator 20, and to obtain the current position information of the actuator 20 according to the execution The current position information of the mechanism 20 controls the actuator 20 to move toward the target object 2000 .

In this way, based on the UWB technology, it is possible to confirm the current position information of the actuator 20 relative to the chassis 10 during the movement process, so that the robot 100 can flexibly and accurately position the actuator 20 and adjust the moving path of the actuator 20. Positioning is to implement the work task of the actuator 20 on the target object 2000 .

Specifically, as shown in FIG. 3 , in the robot 100 of the present application, a UWB transmitting device 50 , such as a UWB transmitting antenna, is provided on the actuator 20 to transmit a UWB positioning signal to the UWB receiving device 40 installed on the chassis 10 . Certainly, in other implementation manners, in order to better position each joint of the robot 100 relative to the movement of the robot 100 , a UWB transmitting device 50 may be provided at each joint of the robot 100 .

In step S430, the processor 30 acquires the current UWB position signal of the actuator 20 transmitted by the UWB transmitter 50 on the actuator 20 through the UWB receiver 40 provided on the chassis 10. The object 2000 is also provided with a UWB transmitting device 50, and the UWB receiving device 40 on the chassis 10 can only receive one set of UWB position signals at the same time, so it is necessary to periodically alternately receive the current UWB position signal of the target object 2000 and the position signal of the actuator 20. The current UWB position signal is defined as a cycle once the alternate reception is completed.

It can be understood that, firstly, the path planning of the actuator 20 is based on the fact that the robot 100 as a whole has arrived near the position where the target object 2000 is located, and secondly, the target object 2000 may still move. In order to ensure the accuracy of positioning, the receiving priority should be The UWB position signal emitted by the target object 2000 is greater than the UWB position signal emitted by the actuator 20 .

In step S431, when planning the movement path from the actuator 20 to the target object 2000, the four UWB receiving devices 40 at the front, rear, left, and right sides of the chassis 10 acquire the current UWB position signal sent by the actuator 20 in the same cycle, and then the processor 30 uses The PDOA method calculates the angle and distance between each UWB receiving device 40 and the UWB transmitting device 50, so the relative position information of four sets of actuators 20 to the chassis 10 can be obtained at the same time, and the comprehensive analysis can obtain the position of the actuators 20 at this moment. Current location information. Then, according to step S432, according to the current position information of the actuator 20, the actuator 20 is controlled to move toward the target object 2000 until the actuator 20 reaches the threshold position of grabbing the target object 2000, and corresponding tasks are implemented, such as grabbing the target Object 2000.

In particular, since the actuator 20 can be in a continuous motion state at all times, the current position information of the actuator 20 will change all the time, and the changed current position information can be used to feed back to the motion control center of the robot 100 to judge the motion error And plan the motion planning of the next step of the actuator 20 .

Referring to Figures 9 and 10, in some implementations, the motion path planning method may also include:

Step S50: In the case that the current position of the target object 2000 has not changed, plan the movement path of the robot 100 to the target object 2000 according to the current position information of the target object 2000 obtained from the last calculation.

In some implementations, the planning module 24 can also be used to plan the movement of the robot 100 to the target object 2000 according to the current position information of the target object 2000 obtained from the previous calculation when the current position of the target object 2000 has not changed. path.

In some implementations, the processor 30 can also be used to plan the movement of the robot 100 to the target object 2000 according to the current position information of the target object 2000 obtained from the previous calculation when the current position of the target object 2000 has not changed. path.

In this way, in the case that the current position of the target object 2000 remains unchanged, in order to save calculation costs, the movement path from the robot 100 to the target object 2000 can be planned directly according to the current position information of the target object 2000 obtained last time.

Specifically, in step S50, planning the movement path of the robot 100 to the target object 2000 also includes planning the movement path of the chassis 10 of the robot 100 to the target object 2000, and planning the movement path of the actuator 20 of the robot 100 to the target object 2000. The specific method steps are the same as above.

For example, as shown in FIG. 10 , when it is confirmed that the position of the target object 2000 has not changed, it may first be determined whether the chassis 10 needs to be moved. The current position information of the actuator 20 is calculated, so as to plan the motion path of the actuator 20 to the target object 2000, and then control the motion of the actuator 20 according to the planned motion path.

In the case that the chassis 10 needs to be moved, according to the current position information of the target object 2000, the chassis 10 is controlled to move towards the target object 2000, and then it is judged whether the chassis 10 needs to be moved again until the processor 30 judges that the chassis 10 has moved in place. At this time, the chassis 10 does not move by default, and the actuator 20 starts to move periodically until the actuator 20 reaches the threshold position for grabbing the target object 2000, and the grabbing action is executed.

The embodiment of the present application provides a non-volatile computer-readable storage medium storing a computer program. When the computer program is executed by one or more processors 30, the processor 30 executes the movement path of any of the above embodiments. planning method.

Specifically, in this application, a set of UWB positioning system is designed on the chassis 10 of the robot 100 and the actuator 20 to realize the precise positioning of the actuator 20 relative to the robot 100 as a whole, and to realize the precise positioning of the target object 2000 to be grasped, thereby realizing The grabbing function of the target object 2000 by the actuator 20 .

The motion path planning method of the present application utilizes UWB positioning technology to realize the function of the robot 100 to judge its own motion position, so that the robot 100 can flexibly and accurately complete the positioning and movement adjustment process, and can also judge the target object 2000, such as the object to be grasped The position of the target object 2000 can be accurately judged for grasping.

It should also be noted that the processor 30 may be a central processing unit (Central Processing Unit, CPU). Processor 30 can also be other general processors, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or Other chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above-mentioned types of chips.

The computer program can be stored in a memory, and the memory, as a non-transitory computer-readable storage medium, can be used to store a non-transitory software program, a non-transitory computer executable program, and a module, as described in the methods in the above method embodiments Corresponding program instruction/module. The processor 30 executes various functional applications and ranging of the processor 30 by running non-transitory software programs, instructions and modules stored in the memory, that is, implements the methods in the above method embodiments.

Those skilled in the art can understand that realizing all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through computer programs, and the implemented programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive) , abbreviation: HDD) or a solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above-mentioned types of memories.

In the description of this specification, descriptions referring to the terms "one embodiment", "certain embodiments", "exemplary embodiments", "example", "specific examples", or "some examples" are meant to be combined with The specific features, structures, materials, or characteristics described in the above embodiments or examples are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present application. The scope of the application is defined by the claims and their equivalents.

Claims (10)

1. A motion path planning method for a robot, the motion path planning method comprising:

acquiring a current UWB position signal of a target object;

determining the current position of the target object according to the current UWB position signal of the target object;

under the condition that the current position of the target object is changed, calculating to obtain the current position information of the target object;

and planning a motion path from the robot to the target object according to the current position information of the target object.

2. The method of claim 1, wherein the robot includes a chassis on which a plurality of UWB receiving devices are disposed, and wherein acquiring the current UWB position signal of the target object includes:

and controlling a plurality of UWB receiving devices to simultaneously receive the current UWB position signals sent by the target object.

3. The motion path planning method according to claim 2, wherein the calculating the current position information of the target object in the case that the current position of the target object is changed includes:

calculating relative position information of the target object to each UWB receiving device according to a preset algorithm based on the current UWB position signal of the target object, wherein the relative position information comprises the angle and the distance of the target object relative to the UWB receiving device;

and analyzing a plurality of pieces of relative position information to obtain the current position information of the target object.

4. The movement path planning method according to claim 1, wherein the robot includes a chassis and an actuator provided on the chassis, the planning the movement path of the robot to the target object based on the current position information of the target object includes:

determining whether the chassis needs to be moved;

under the condition that the chassis needs to move, controlling the chassis to move towards the target object according to the current position information of the target object;

and under the condition that the chassis does not need to be moved, planning a movement path of the actuating mechanism to the target object.

5. The method of claim 4, wherein determining whether the chassis requires movement comprises:

determining the relative position of the chassis to the target object according to the current UWB position signal of the target object;

and determining that the chassis needs to be moved under the condition that the relative position is not consistent with the preset position.

6. The method according to claim 4, wherein the planning the movement path of the actuator to the target object without the chassis moving comprises:

acquiring a current UWB position signal of the actuating mechanism;

according to the current UWB position signal of the executing mechanism, calculating to obtain the current position information of the executing mechanism;

and controlling the actuator to move towards the target object according to the current position information of the actuator.

7. The motion path planning method of claim 1, further comprising:

and under the condition that the current position of the target object is not changed, planning a movement path of the robot to the target object according to the current position information of the target object obtained by the last calculation.

8. A motion path planning apparatus, comprising:

the acquisition module is used for acquiring a current UWB position signal of the target object;

the determining module is used for determining the current position of the target object according to the current UWB position signal of the target object;

the calculating module is used for calculating the current position information of the target object under the condition that the current position of the target object is changed;

and the planning module is used for planning a movement path from the robot to the target object according to the current position information of the target object.

9. A robot, comprising:

the base plate is provided with a UWB signal receiving device;

the executing mechanism is arranged on the chassis and is provided with a UWB signal transmitting device; and

a processor for performing the motion path planning method of any of claims 1-7 to control the chassis and the actuator to move toward the target object in accordance with a planned motion path.

10. A non-transitory computer readable storage medium storing a computer program, characterized in that the motion path planning method of any one of claims 1-7 is implemented when the computer program is executed by one or more processors.