阅读说明：本技术 机器人路径规划方法和装置、存储介质及控制终端 (Robot path planning method and device, storage medium and control terminal ) 是由 王宇飞 舒远 曹国 皮凯 邱红波 陈钊 陈键钊 王斌 郭联波 黄远锋 林浩佳 于 2020-05-13 设计创作，主要内容包括：本发明公开了一种机器人路径规划方法和装置、存储介质及控制终端,其中,方法包括以下步骤：获取目标任务；将目标任务分解为包含多个动作的动作序列；检测动作序列中任意两相邻动作是否连贯；如果动作序列中存在两相邻动作不连贯,则对动作序列进行优化,以使得到的优化动作序列中任意两相邻动作均连贯。由此,通过对动作序列中任意两相邻动作的连贯性检测,实现目标任务的动作序列优化,从而,减少机器人不必要的动作,节约作业时间和作业能耗,提升机器人的作业效率。(The invention discloses a robot path planning method and device, a storage medium and a control terminal, wherein the method comprises the following steps: acquiring a target task; decomposing the target task into an action sequence comprising a plurality of actions; detecting whether any two adjacent actions in the action sequence are coherent; and if two adjacent actions are not connected in the action sequence, optimizing the action sequence so as to ensure that any two adjacent actions in the obtained optimized action sequence are connected. Therefore, the action sequence optimization of the target task is realized by detecting the continuity of any two adjacent actions in the action sequence, so that the unnecessary actions of the robot are reduced, the operation time and the operation energy consumption are saved, and the operation efficiency of the robot is improved.)

1. A robot path planning method is characterized by comprising the following steps:

acquiring a target task;

decomposing the target task into an action sequence comprising a plurality of actions;

detecting whether any two adjacent actions in the action sequence are coherent;

and if two adjacent actions are not connected in the action sequence, optimizing the action sequence so as to ensure that any two adjacent actions in the obtained optimized action sequence are connected.

2. The robot path planning method according to claim 1, wherein the action includes working point location information, and the detecting whether any two adjacent actions in the action sequence are consecutive includes:

acquiring the shortest distance required by traversing the working point positions of all the actions in the action sequence;

judging whether the distance from the working point position of the first action to the working point position of the last action in the action sequence is the shortest distance or not;

if not, judging that any two adjacent actions in the action sequence are not connected;

if yes, judging that any two adjacent actions in the action sequence are consecutive.

3. The robot path planning method of claim 2, wherein the actions further include working state information, the working state information including a start state and an end state, and wherein after determining that any two adjacent actions in the sequence of actions are consecutive, further comprising:

acquiring the ending state of a preceding action and the starting state of a following action in any two adjacent actions in the action sequence;

judging whether the ending state of the preceding action is the same as the starting state of the following action;

determining that the preceding action is consecutive to the following action if the ending state of the preceding action is the same as the starting state of the following action;

and if the ending state of the preceding action is not the same as the starting state of the following action, judging that the preceding action is not consistent with the following action.

4. A robot path planning method according to claim 3, characterized in that the method further comprises:

and feeding back the optimized action sequence, controlling the robot to move according to the working point positions of the actions in the optimized action sequence, and executing the working tasks corresponding to the working points when the robot moves to each working point.

5. A robot path planning apparatus, comprising:

the acquisition module is used for acquiring a target task;

a decomposition module for decomposing the target task into an action sequence comprising a plurality of actions;

the detection module is used for detecting whether any two adjacent actions in the action sequence are coherent or not;

and the optimization module is used for optimizing the action sequence when two adjacent actions are not connected in the action sequence so as to ensure that any two adjacent actions in the obtained optimized action sequence are connected.

6. The robot path planning apparatus of claim 5, wherein the action includes work point location information, and the detection module is further specifically configured to:

acquiring the shortest distance required by traversing the working point positions of all the actions in the action sequence;

judging whether the distance from the working point position of the first action to the working point position of the last action in the action sequence is the shortest distance or not;

if not, judging that any two adjacent actions in the action sequence are not connected;

if yes, judging that any two adjacent actions in the action sequence are consecutive.

7. The robot path planner of claim 6 wherein the actions further comprise operational state information, the operational state information comprising a start state and an end state, the detection module further to:

acquiring the ending state of a preceding action and the starting state of a following action in any two adjacent actions in the action sequence;

judging whether the ending state of the preceding action is the same as the starting state of the following action;

determining that the preceding action is consecutive to the following action if the ending state of the preceding action is the same as the starting state of the following action;

and if the ending state of the preceding action is not the same as the starting state of the following action, judging that the preceding action is not consistent with the following action.

8. A robot path planning apparatus according to claim 7, characterized in that the apparatus further comprises: a processing module to:

and feeding back the optimized action sequence, controlling the robot to move according to the working point positions of the actions in the optimized action sequence, and executing the working tasks corresponding to the working points when the robot moves to each working point.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a robot path planning method according to any one of claims 1-4.

10. A control terminal, characterized in that it comprises a memory, a processor and a computer program stored on said memory, said processor implementing the robot path planning method according to any of claims 1-4 when executing said computer program.

Technical Field

The present invention relates to the field of robot technology, and in particular, to a robot path planning method, a robot path planning apparatus, a computer-readable storage medium, and a control terminal.

Background

At present, the work of the robot in the related art may be mainly embodied as executing a work instruction issued by a technician, for example, the robot is controlled to move to different execution positions respectively according to the work instruction to execute corresponding mechanical actions.

However, the related art has problems in that the robot can only move according to the route set by the work order, and the current state of the robot needs to be reset after the robot performs the current mechanical action in order for the robot to perform the next mechanical action, which undoubtedly increases the work time and work energy consumption of the robot, resulting in poor work efficiency of the robot.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a robot path planning method, which can reduce unnecessary actions of a robot, save operation time and energy consumption, and improve operation efficiency of the robot.

The second purpose of the invention is to provide a robot path planning device.

A third object of the invention is to propose a computer-readable storage medium.

A fourth object of the present invention is to provide a control terminal.

In order to achieve the above object, a robot path planning method provided in an embodiment of a first aspect of the present invention includes the following steps: acquiring a target task; decomposing the target task into an action sequence comprising a plurality of actions; detecting whether any two adjacent actions in the action sequence are coherent; and if two adjacent actions are not connected in the action sequence, optimizing the action sequence so as to ensure that any two adjacent actions in the obtained optimized action sequence are connected.

According to the robot path planning method provided by the embodiment of the invention, the target task is obtained and is decomposed into the action sequence comprising a plurality of actions, and then whether any two adjacent actions in the action sequence are connected or not is detected, if two adjacent actions in the action sequence are not connected, the action sequence is optimized, so that any two adjacent actions in the obtained optimized action sequence are connected. Therefore, the action sequence optimization of the target task is realized by detecting the continuity of any two adjacent actions in the action sequence, so that the unnecessary actions of the robot are reduced, the operation time and the operation energy consumption are saved, and the operation efficiency of the robot is improved.

In addition, the robot path planning method according to the embodiment of the present invention may further have the following additional technical features:

according to an embodiment of the present invention, the action includes working point location information, and the detecting whether any two adjacent actions in the action sequence are consecutive includes: acquiring the shortest distance required by traversing the working point positions of all the actions in the action sequence; judging whether the distance from the working point position of the first action to the working point position of the last action in the action sequence is the shortest distance or not; if not, judging that any two adjacent actions in the action sequence are not connected; if yes, judging that any two adjacent actions in the action sequence are consecutive. According to an embodiment of the present invention, the actions further include working state information, the working state information includes a start state and an end state, and after it is determined that any two adjacent actions in the action sequence are consecutive, the method further includes: acquiring the ending state of a preceding action and the starting state of a following action in any two adjacent actions in the action sequence; judging whether the ending state of the preceding action is the same as the starting state of the following action; determining that the preceding action is consecutive to the following action if the ending state of the preceding action is the same as the starting state of the following action; and if the ending state of the preceding action is not the same as the starting state of the following action, judging that the preceding action is not consistent with the following action.

According to an embodiment of the present invention, the robot path planning method further includes: and feeding back the optimized action sequence, controlling the robot to move according to the working point positions of the actions in the optimized action sequence, and executing the working tasks corresponding to the working points when the robot moves to each working point.

In order to achieve the above object, a robot path planning apparatus according to a second aspect of the present invention includes: the acquisition module is used for acquiring a target task; a decomposition module for decomposing the target task into an action sequence comprising a plurality of actions; the detection module is used for detecting whether any two adjacent actions in the action sequence are coherent or not; and the optimization module is used for optimizing the action sequence when two adjacent actions are not connected in the action sequence so as to ensure that any two adjacent actions in the obtained optimized action sequence are connected.

According to the robot path planning device provided by the embodiment of the invention, the target task is obtained through the obtaining module, the target task is decomposed into the action sequence comprising a plurality of actions through the decomposition module, and then whether any two adjacent actions in the action sequence are connected or not is detected through the detection module, and when two adjacent actions in the action sequence are not connected, the action sequence is optimized through the optimization module, so that any two adjacent actions in the obtained optimized action sequence are connected. Therefore, the action sequence optimization of the target task is realized by detecting the continuity of any two adjacent actions in the action sequence, so that the unnecessary actions of the robot are reduced, the operation time and the operation energy consumption are saved, and the operation efficiency of the robot is improved.

In addition, the robot path planning apparatus according to the embodiment of the present invention may further have the following additional technical features:

according to an embodiment of the present invention, the action includes working point location information, and the detection module is further specifically configured to: acquiring the shortest distance required by traversing the working point positions of all the actions in the action sequence; judging whether the distance from the working point position of the first action to the working point position of the last action in the action sequence is the shortest distance or not; if not, judging that any two adjacent actions in the action sequence are not connected; if yes, judging that any two adjacent actions in the action sequence are consecutive.

According to an embodiment of the present invention, the actions further include operating state information, the operating state information including a start state and an end state, the detection module is further configured to: acquiring the ending state of a preceding action and the starting state of a following action in any two adjacent actions in the action sequence; judging whether the ending state of the preceding action is the same as the starting state of the following action; determining that the preceding action is consecutive to the following action if the ending state of the preceding action is the same as the starting state of the following action; and if the ending state of the preceding action is not the same as the starting state of the following action, judging that the preceding action is not consistent with the following action.

According to an embodiment of the invention, the robot path planning apparatus further comprises: a processing module to: and feeding back the optimized action sequence, controlling the robot to move according to the working point positions of the actions in the optimized action sequence, and executing the working tasks corresponding to the working points when the robot moves to each working point.

To achieve the above object, a computer-readable storage medium according to a third embodiment of the present invention has a computer program stored thereon, where the computer program is executed by a processor to implement the robot path planning method as described above.

According to the computer-readable storage medium of the embodiment of the invention, the computer program of the robot path planning method is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the unnecessary actions of the robot can be reduced, the operation time and the operation energy consumption can be saved, and the operation efficiency of the robot can be improved.

In order to achieve the above object, a control terminal according to a fourth aspect of the present invention includes a memory, a processor, and a computer program stored in the memory, where the processor implements the robot path planning method when executing the computer program.

According to the control terminal provided by the embodiment of the invention, the storage is stored with the computer program of the robot path planning method, and when the processor executes the computer program, the unnecessary actions of the robot can be reduced, the operation time and the operation energy consumption are saved, and the operation efficiency of the robot is improved.

Additional aspects and advantages of the invention 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 invention.

Drawings

Fig. 1 is a schematic flow chart of a robot path planning method according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a robot path planning method according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of a robot path planning method according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart diagram of a robot path planning method according to an embodiment of the present invention;

fig. 5 is a block diagram of a robot path planning apparatus according to an embodiment of the present invention;

FIG. 6 is a block diagram of a robot path planning apparatus according to one embodiment of the present invention;

fig. 7 is a block diagram illustrating a control terminal according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A robot path planning method and apparatus, a storage medium, and a control terminal according to embodiments of the present invention are described below with reference to the accompanying drawings.

Fig. 1 is a flowchart illustrating a robot path planning method according to an embodiment of the present invention.

As shown in fig. 1, the robot path planning method includes the following steps:

and S101, acquiring a target task.

Alternatively, the operator may import the target task through the virtual simulation platform.

S102, the target task is decomposed into an action sequence comprising a plurality of actions.

It will be appreciated that the target task is a task file that can be broken down into a plurality of consecutive robot actions, i.e. a sequence of actions of the plurality of actions of the invention as described above.

S103, detecting whether any two adjacent actions in the action sequence are consecutive.

It should be understood that whether the robot has unnecessary actions can be determined by detecting whether any two adjacent actions in the action sequence are consecutive.

And S104, if two adjacent actions are not connected in the action sequence, optimizing the action sequence so as to ensure that any two adjacent actions in the obtained optimized action sequence are connected.

It will be appreciated that the sequence of actions is optimised, i.e. unnecessary actions of the robot are reduced, wherein the sequence of actions may be optimised one or more times such that any two adjacent actions in the resulting optimised sequence of actions are consecutive.

That is to say, in the embodiment of the present invention, the motion sequence optimization of the target task is realized by detecting the continuity of any two adjacent motions in the motion sequence, so as to reduce unnecessary motions of the robot, save the operation time and the operation energy consumption, and improve the operation efficiency of the robot.

Specifically, in the implementation of the present invention, the detection of whether any two adjacent actions in the action sequence are consecutive includes the consistency detection of the working point information and the consistency detection of the working state information, and the two consecutive detections will be described in detail below.

Take the working point location information consistency detection as an example.

Specifically, the action includes working point location information, and whether any two adjacent actions in the action sequence are consecutive is detected, as shown in fig. 2, the method further includes:

s201, obtaining the shortest distance needed by the working point positions of all the actions in the traversal action sequence.

Optionally, the robot may obtain the working point location information through a corresponding spatial coordinate system, simulate a motion trajectory of the robot according to the working point location information, and further obtain a shortest distance Dmin required by traversing the working point locations of all the actions in the action sequence.

And S202, judging whether the distance from the working point position of the first action to the working point position of the last action in the action sequence is the shortest distance or not.

It should be understood that whether any two adjacent actions in the action sequence are consecutive can be determined by determining whether the distance from the working point position of the first action to the working point position of the last action in the action sequence is the shortest distance.

S203, if not, judging that any two adjacent actions in the action sequence are not connected.

For example, if the distance D from the working point of the first action to the working point of the last action in the action sequence is greater than the shortest distance Dmin, it can be determined that any two adjacent actions in the action sequence are not consistent.

S204, if yes, judging that any two adjacent actions in the action sequence are consecutive.

For example, assuming that the distance D from the working point of the first motion to the working point of the last motion in the motion sequence is the shortest distance Dmin, it can be determined that any two adjacent motions in the motion sequence are consecutive.

That is, in the embodiment of the present invention, if the distance from the working point location of the first action to the working point location of the last action in the action sequence is the shortest distance, it is determined that any two adjacent actions in the action sequence are coherent, and if the distance from the working point location of the first action to the working point location of the last action in the action sequence is not the shortest distance, it is determined that any two adjacent actions in the action sequence are incoherent.

Take the continuity check of the working status information as an example.

Specifically, each action further includes working state information, and the working state information includes a start state and an end state, where after it is determined that any two adjacent actions in the action sequence are consecutive, the robot path planning method according to the embodiment of the present invention, as shown in fig. 3, further includes:

s301, acquiring the ending state of the preceding action and the starting state of the following action in any two adjacent action sequences.

The operation state is a mechanical form of a robot mechanism, for example, a position state (for example, a distance from the end of the mechanical structure to the ground) and an execution state (for example, an arm is extended or retracted, and a gripper is opened or closed), and the robot may be a multi-stage robot.

S302, whether the ending state of the preceding action is the same as the starting state of the following action is judged.

It should be understood that whether the preceding action and the following action of the robot are consecutive can be determined by determining whether the ending state of the preceding action is the same as the starting state of the following action.

S303, if the ending state of the preceding action is the same as the starting state of the following action, the preceding action and the following action are judged to be consecutive.

For example, if the end state of the preceding motion of the robot is the mechanical structure a 1m from the ground and the start state of the following motion is the mechanical structure a 1m from the ground, or the end state of the preceding motion of the robot is the extension of the mechanical arm b and the start state of the following motion is the extension of the mechanical arm b, it can be determined that the preceding motion is consecutive to the following motion considering that the end state of the preceding motion is the same as the start state of the following motion.

S304, if the ending state of the preceding action is not the same as the starting state of the following action, the preceding action and the following action are judged to be unconnected.

For example, if the end state of the preceding motion of the robot is that the mechanical structure a is 1m from the ground and the start state of the following motion of the robot is that the mechanical structure a is 0.5m from the ground, or the end state of the preceding motion of the robot is that the mechanical arm b extends and the start state of the following motion of the robot is that the mechanical arm b retracts, the end state of the preceding motion and the start state of the following motion are different, and the preceding motion and the following motion are determined to be incoherent.

That is, in the embodiment of the present invention, if the ending state of the preceding action is the same as the starting state of the following action, it is determined that the preceding action is consistent with the following action, and if the ending state of the preceding action is not the same as the starting state of the following action, it is determined that the preceding action is inconsistent with the following action, thereby realizing the continuity detection of the robot work task information.

Further, as shown in fig. 4, the robot path planning method according to the embodiment of the present invention further includes:

and S105, feeding back an optimized action sequence, controlling the robot to move according to the working point positions of the actions in the optimized action sequence, and executing the working tasks corresponding to the working points when the robot moves to each working point.

It can be understood that after the plurality of action sequences of the target task are optimized, the optimized action sequences can be fed back to the robot, the robot is controlled to move according to the working point positions of the actions in the optimized action sequences, and when the robot moves to each working point, the working task corresponding to the working point is executed, so that the robot is controlled to realize the optimized target task.

It should be noted that, if any two adjacent actions in the detected action sequence are consecutive, the action sequence does not need to be optimized, the original action sequence can be directly fed back, the robot is controlled to move according to the working point positions of the actions in the original action sequence, and when the robot moves to each working point, the working task corresponding to the working point is executed.

The following describes the operation sequence optimization with reference to the specific embodiment of the present invention.

For example, it is assumed that the robot has a three-stage mechanism (for example, the robot has three mechanical components which can move freely, overlap or be independent), and a concrete construction result thereof (for example, when the operation is performed from a height of 50mm above the ground to a height of 1500mm, the corresponding operation range is 50mm to 1500 mm).

The file queue for the robot target task is as follows: { coordinates: x1, y1, z 1; task: 50mm, 1500mm }; { coordinates: x2, y1, z 1; task: 50mm, 1500mm }; { coordinates: x1, y2, z 1; task: 50mm, 1500mm }; { coordinates: x2, y2, z 1; task: 50mm, 1500mm }.

In addition, the target task at least comprises the operation coordinate and the construction result of the robot, so that each stage of mechanism of the robot can execute corresponding mechanical action according to the coordinate and the task when the robot executes the target task, and meanwhile, the workload of technicians for issuing target task files is reduced.

Specifically, information in the target task may be divided into working state information and working point location information, where the coordinates correspond to the working point location information obtained by the robot through a corresponding spatial coordinate system, and the task corresponds to the working state information of the robot.

First, the operation sequence optimization of the work point location information will be described, and if the work point location information is sequentially executed according to the task queues 1, 2, 3, and 4, the motion trajectory of the robot is a zigzag trajectory, and at this time, if the task queues are adjusted to 1, 2, 4, and 3, the motion trajectory of the robot is optimized to a C-shaped trajectory, in other words, after the operation sequence of the work point location information is optimized, the moving time of the robot when the robot executes the target task can be reduced, and thus, the work efficiency of the robot can be improved.

Preferably, the motion trajectory of the robot can be optimized to be an S-shaped trajectory through the adjustment of the task queue, so as to further shorten the moving time of the robot.

Next, a description will be given of a motion sequence for optimizing the operating state information, in which, since the robot corresponds to a plurality of stages of mechanisms, in the embodiment of the present invention, a single parameter corresponds to a specific form of each stage of mechanism.

For example, parameters a, B, and C are used to represent the specific states of the first-stage mechanism, the second-stage mechanism, and the third-stage mechanism of the robot, respectively, and are executed according to the task queue sequence of the target files, and table 1 shows the specific state of each stage of mechanism corresponding to the execution of each target file.

TABLE 1

	First-stage mechanism	Second stage mechanism	Third stage mechanism
				Start State of task 1	A1	B1	C1
End state of task 1	A2	B2	C2
				Transition phase	A2->A1	B2->B1	C2->C1
Start State of task 2	A1	B1	C1
				End state of task 2	A2	B2	C2
Transition phase	A2->A1	B2->B1	C2->C1
				Start State of task 3	A1	B1	C1
End state of task 3	A2	B2	C2
				Transition phase	A2->A1	B2->B1	C2->C1
Start State of task 4	A1	B1	C1
				End state of task 4	A2	B2	C2

Comparing the ending state of the previous action with the starting state of the subsequent action in any two adjacent action sequences, as can be seen from table 1, there is a transition stage between the adjacent action sequences, that is, for the first-stage mechanism, the second-stage mechanism and the third-stage mechanism, taking the example that the robot changes from executing task 1 to executing task 2, the ending states a2, B2 and C2 of the first-stage mechanism, the second-stage mechanism and the third-stage mechanism in task 1 need to be adjusted to a1, B1 and C1, so as to execute task 2, obviously, the transition stage increases unnecessary operation time and operation energy consumption of the robot, which results in poor operation efficiency of the robot.

And obtaining the optimized target task and optimized action sequence through optimization, wherein the file queue comprises the following components: { coordinates: x1, y1, z 1; task: 50mm, 1500mm }; { coordinates: x2, y1, z 1; task: 1500mm, 50mm }; { coordinates: x2, y2, z 1; task: 50mm, 1500mm }; { coordinates: x1, y2, z 1; task: 1500mm, 50mm, and executed according to the above task queue sequence of the target file, and table 2 shows the specific form of each level of mechanism corresponding to each target file.

TABLE 2

	First-stage mechanism	Second stage mechanism	Third stage mechanism
				Start State of task 1	A1	B1	C1
End state of task 1	A2	B2	C2
				Transition phase	Without transition	Without transition	Without transition
Start State of task 2	A2	B2	C2
				End state of task 2	A1	B1	C1
Transition phase	Without transition	Without transition	Without transition
				Start State of task 3	A1	B1	C1
End state of task 3	A2	B2	C2
				Transition phase	Without transition	Without transition	Without transition
Start State of task 4	A2	B2	C2
				End state of task 4	A1	B1	C1

As can be seen from table 2, by optimizing the motion sequence of the working state information of the robot, the robot can be prevented from generating a large number of unnecessary mechanical motions, so that each motion command of the robot is an effective motion command.

Therefore, the robot path planning method provided by the embodiment of the invention can globally optimize the motion track arrangement and the execution sequence of mechanical actions of the robot, so that the operation energy consumption of the robot is reduced, and the operation efficiency of the robot is improved.

In summary, according to the robot path planning method of the embodiment of the present invention, a target task is obtained, and the target task is decomposed into an action sequence including a plurality of actions, and then, whether any two adjacent actions in the action sequence are consecutive is detected, and if two adjacent actions in the action sequence are not consecutive, the action sequence is optimized, so that any two adjacent actions in the obtained optimized action sequence are consecutive, and the action sequence optimization of the target task is achieved.

Therefore, the action sequence optimization of the target task is realized by detecting the continuity of any two adjacent actions in the action sequence, so that the unnecessary actions of the robot are reduced, the operation time and the operation energy consumption are saved, and the operation efficiency of the robot is improved.

Fig. 5 is a block diagram of a robot path planning apparatus according to an embodiment of the present invention.

As shown in fig. 5, the robot path planning apparatus 100 includes: the device comprises an acquisition module 1, a decomposition module 2, a detection module 3 and an optimization module 4.

The acquisition module 1 is used for acquiring a target task; the decomposition module 2 is used for decomposing the target task into an action sequence containing a plurality of actions; the detection module 3 is used for detecting whether any two adjacent actions in the action sequence are coherent; the optimization module 4 is configured to optimize the action sequence when two adjacent actions are not consecutive in the action sequence, so that any two adjacent actions in the obtained optimized action sequence are consecutive.

Further, each action includes work task information, the action includes work point location information, and the detection module 3 is further specifically configured to: acquiring the shortest distance required by the working point positions of all the actions in the traversal action sequence; judging whether the distance from the working point position of the first action to the working point position of the last action in the action sequence is the shortest distance or not; if not, judging that any two adjacent actions in the action sequence are not connected; if yes, any two adjacent actions in the action sequence are judged to be consecutive.

Further, the actions further include working state information, where the working state information includes a starting state and an ending state, and after the detection module 3 determines that any two adjacent actions in the action sequence are consecutive, the detection module 3 is further configured to: acquiring the ending state of a preceding action and the starting state of a following action in any two adjacent actions in an action sequence; judging whether the ending state of the preceding action is the same as the starting state of the following action; if the ending state of the preceding action is the same as the starting state of the following action, judging that the preceding action is consistent with the following action; if the ending state of the preceding action is not the same as the starting state of the following action, the preceding action is judged to be incoherent with the following action.

Further, as shown in fig. 6, the robot path planning apparatus 100 further includes a processing module 5, and the processing module 5 is configured to: and feeding back an optimized action sequence, controlling the robot to move according to the working point positions of the actions in the optimized action sequence, and executing the working tasks corresponding to the working points when the robot moves to each working point.

It should be noted that the path planning apparatus of the robot according to the embodiment of the present invention corresponds to the specific implementation of the path planning method of the robot according to the embodiment of the present invention, and details are not described herein again.

In summary, according to the robot path planning apparatus in the embodiment of the present invention, the target task is obtained by the obtaining module, and the target task is decomposed into the action sequence including a plurality of actions by the decomposition module, and then, whether any two adjacent actions in the action sequence are consecutive is detected by the detection module, and when two adjacent actions in the action sequence are not consecutive, the action sequence is optimized by the optimization module, so that any two adjacent actions in the obtained optimized action sequence are consecutive. Therefore, the action sequence optimization of the target task is realized by detecting the continuity of any two adjacent actions in the action sequence, so that the unnecessary actions of the robot are reduced, the operation time and the operation energy consumption are saved, and the operation efficiency of the robot is improved.

Further, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for planning a robot path as described above is implemented.

According to the computer-readable storage medium of the embodiment of the invention, the computer program of the robot path planning method is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the unnecessary actions of the robot can be reduced, the operation time and the operation energy consumption can be saved, and the operation efficiency of the robot can be improved.

Further, as shown in fig. 7, the present invention further provides a control terminal 1000, which includes a memory 10, a processor 20, and a computer program stored on the memory 10, wherein the processor 20 implements the robot path planning method as described above when executing the computer program.

According to the control terminal provided by the embodiment of the invention, the storage is stored with the computer program of the robot path planning method, and when the processor executes the computer program, the unnecessary actions of the robot can be reduced, the operation time and the operation energy consumption are saved, and the operation efficiency of the robot is improved.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.