Robot action sequence generation method and device

Abstract

The invention provides a robot action sequence generation method and device. The robot action sequence generation method comprises the steps: obtaining a directed graph, wherein the directed graph comprises a plurality of nodes used for indicating robot actions and directed edges connected with different nodes; obtaining each target action related to the task and an execution sequence of each target action; searching in the directed graph along the direction indicated by the directed edge to obtain a target path, wherein the nodes passed by the target path comprise target nodes corresponding to the target actions, and the sequence of the target path passing by the target nodes conforms to the execution sequence corresponding to the target actions; and generating a robot action sequence according to the actions indicated by the target path and the execution sequence thereof. Therefore, based on the directed graph, each action and sequence of execution needed by the robot to complete thetask are automatically determined, and the convenience of robot control is improved, and support is provided for the robot to adapt to flexible and changeable scene tasks.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and device for generating a robot action sequence. Background technique [0002] At present, robots are widely used in daily production and life because they can liberate users to perform corresponding tasks according to scene requirements. For example, the robot can free the user's hands to perform tasks such as sweeping the floor and pouring coffee. [0003] In the related art, the robot is controlled by manual teaching and playback, which is a robot that can repeatedly reproduce the operation program stored through teaching programming. Among them, "teaching programming" refers to completing the programming of the program by manually guiding the end effector of the robot (grippers, tools, welding guns, spray guns, etc. installed at the end of the robot's joint structure), or manually guiding Lead the mechanical simulation device, or use the teaching box (a han...

AI Technical Summary

Problems solved by technology

[0006] For this reason, the first object of the present invention is to propose a method for generating a robot action sequence, which automatically determines the actions and sequences of execution required by the robot to complete the task based on the directed graph, thereby improving the convenience of robot control. It provides support for the robot to adapt to flexible and changeable scene tasks, and solves the technical problems of low control efficiency and large task load when introducing new tasks in the existing technology.

Images