阅读说明：本技术 机器人路径规划器、方法、装置和计算机可读存储介质 (Robot path planner, method, apparatus and computer readable storage medium ) 是由 王璐 于 2019-07-19 设计创作，主要内容包括：一种机器人路径规划器、方法、装置和计算机可读存储介质。机器人路径规划器(100)包括：命令接收模块(101),其适配于接收包含模式标识的运动混合命令；模式确定模块(102),其适配于确定对应于所述模式标识的路径规划模式；路径规划模块(103),其适配于基于所述路径规划模式的预设逻辑,规划执行所述运动混合命令的混合路径。可以支持多模式的路径规划,能够满足工业应用的诸多场景。另外,分别提出了基于速度的路径规划模式、基于距离的路径规划模式、基于匀速的路径规划模式和基于偏差的路径规划模式。(A robot path planner, a method, an apparatus, and a computer readable storage medium. A robot path planner (100) comprises: a command receiving module (101) adapted to receive a motion blending command comprising a mode identification; a mode determination module (102) adapted to determine a path planning mode corresponding to the mode identification; a path planning module (103) adapted to plan a hybrid path for executing the motion hybrid command based on preset logic of the path planning mode. The method can support multi-mode path planning and can meet various scenes of industrial application. In addition, a path planning mode based on speed, a path planning mode based on distance, a path planning mode based on constant speed, and a path planning mode based on deviation are proposed, respectively.)

A robot path planner (100), comprising:

a command receiving module (101) adapted to receive a motion blending command comprising a mode identification;

a mode determination module (102) adapted to determine a path planning mode corresponding to the mode identification;

a path planning module (103) adapted to plan a hybrid path for executing the motion hybrid command based on preset logic of the path planning mode.

The robot path planner (100) according to claim 1, further comprising:

an interpolation module (104) adapted to perform an interpolation operation on the mixed path at interpolation points determined according to a predetermined period to determine motion parameters of the interpolation points;

a parameter sending module (105) adapted to send the motion parameters of the interpolation point to an actuator.

The robot path planner (100) according to claim 1 or 2,

the mode determination module (102) for saving at least one of:

a correspondence between the first mode identification and the speed-based path planning mode;

a correspondence between the second mode identification and the distance-based path planning mode;

the corresponding relation between the third mode identification and the path planning mode based on the uniform speed;

the fourth mode identifies a correspondence between the deviation-based path planning modes.

The robot path planner (100) according to claim 3, characterized in that the pattern identification is a first pattern identification; the motion blending command further comprises a first speed threshold value;

the path planning module (103) is adapted to determine a point at which the robot movement speed is in a descending phase and equal to the first speed threshold value as a transition point of the hybrid path.

The robot path planner (100) according to claim 3, characterized in that the mode identification is a second mode identification, the motion blending command further comprising a first trajectory for a first movement, a second trajectory for a second movement and a distance threshold;

the path planning module (103) is adapted to determine a point, in the process that the robot approaches the end point of the first track, at which the distance from the end point of the first track reaches the distance threshold value as a transition point of the hybrid path.

The robot path planner (100) according to claim 3, characterized in that the mode identification is a third mode identification, the motion mix command further comprising a second speed threshold value;

the path planning module (103) is adapted to determine a point where the moving speed of the robot is in a descending stage and reaches the second speed threshold value as a transition point of the mixed path, and plan to maintain the second speed threshold value in a transition track of the mixed path.

The robot path planner (100) of claim 3, wherein the mode identification is a fourth mode identification, the motion blending command further comprising a first straight line, a second straight line and a deviation value;

the path planning module (103) is adapted to determine, as the conversion trajectory of the mixed trajectory, a trajectory in which a shortest distance between an intersection of the first straight line and the second straight line is equal to the deviation value in a trajectory set tangent to both the first straight line and the second straight line.

A robot path planning method (200), comprising:

receiving a motion blending command (201) containing a pattern identification;

determining a path planning pattern (202) corresponding to the pattern identification;

planning a hybrid path (203) for executing the motion hybrid command based on preset logic of the path planning mode.

The robot path planning method (200) of claim 8, further comprising:

performing interpolation operation on the mixed path at interpolation points determined according to a predetermined period to determine motion parameters of the interpolation points (204);

and sending the motion parameters of the interpolation points to an actuator (205).

The robot path planning method (200) according to claim 8 or 9,

the determining a path planning mode corresponding to the mode identification comprises at least one of:

determining a speed-based path planning mode when the mode identifier is the first mode identifier;

determining a distance-based path planning mode when the mode identifier is a second mode identifier;

when the mode identifier is a third mode identifier, determining the mode to be a path planning mode based on a constant speed;

when the pattern identifier is the fourth pattern identifier, the deviation-based path planning pattern is determined.

The robot path planning method (200) according to claim 10, characterized in that the pattern identification is a first pattern identification; the motion blending command further comprises a first speed threshold value;

the preset logic based on the path planning mode, planning a hybrid path for executing the motion hybrid command, including: and determining a point of the robot moving speed in a descending stage and equal to the first speed threshold value as a switching point of the mixed path.

The robot path planning method (200) according to claim 10, characterized in that the pattern identification is a second pattern identification, the motion blending command further comprising a first trajectory of a first move, a second trajectory of a second move and a distance threshold;

the preset logic based on the path planning mode, planning a hybrid path for executing the motion hybrid command, including: and determining a point, at which the distance from the robot to the end point of the first track reaches the distance threshold value, in the process that the robot approaches the end point of the first track as a switching point of the mixed path.

The robot path planning method (200) of claim 10, wherein the mode identification is a third mode identification, the motion blending command further comprising a second speed threshold;

the preset logic based on the path planning mode, planning a hybrid path for executing the motion hybrid command, including: and determining the point where the moving speed of the robot is in a descending stage and reaches the second speed threshold value as a switching point of the mixed path, and planning to keep the second speed threshold value in a switching track of the mixed path.

The robot path planning method (200) of claim 10, wherein the mode identification is a fourth mode identification, the motion blending command further comprising a first line, a second line, and a deviation value;

the preset logic based on the path planning mode, planning a hybrid path for executing the motion hybrid command, including: and determining a track, in which the shortest distance between the track set and the intersection point of the first straight line and the second straight line is equal to the deviation value, as a conversion track of the mixed track in the track set tangent to the first straight line and the second straight line.

A robot path planning apparatus (800) comprising a processor (801) and a memory (802);

the memory (802) has stored therein an application executable by the processor (801) for causing the processor (801) to perform a robot path planning method according to any of claims 8 to 14.

A computer-readable storage medium having computer-readable instructions stored thereon for performing the robot path planning method of any of claims 8-14.