Robot operation path dynamic planning method and device based on dynamic operation target

Abstract

The present invention discloses a method and device for dynamically planning a robot's operating path based on a dynamic operating target, wherein the method comprises: performing target positioning processing on the dynamic operating target in real time based on the operating instruction, obtaining the target position information and target motion trend information of the dynamic operating target; obtaining the robot position information and the robot motion trend information; marking on the operating map within the operating area to form a marking map; predicting the position of the dynamic operating target at the next moment, obtaining the predicted position of the dynamic operating target at the next moment; and dynamically planning the robot's operating path based on the robot's position information, the robot's motion trend information and the predicted position of the dynamic operating target at the next moment. In an embodiment of the present invention, the position of the dynamic operating target is predicted, and the operating path of the robot is dynamically planned, so that the robot has a higher operating efficiency.

Description

Technical Field

[0001] The present invention relates to the field of robot operation control technology, and in particular to a method and device for dynamically planning a robot operation path based on a dynamic operation target. Background Art

[0002] As robot technology matures, robots are applied to various industrial production or some relatively dangerous environments to perform alternative operations, thereby reducing the corresponding use costs. In the existing technology, robots have high operating efficiency for some operating targets with fixed positions or targets with fixed motion trends. However, when it comes to some dynamic operating targets that do not have fixed motion trends, existing robots often cannot accurately capture dynamic operating targets during operation, resulting in the inability to complete related operating processes, and at the same time resulting in low operating efficiency. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and device for dynamic planning of a robot's working path based on a dynamic working target, which can predict the position of the dynamic working target and dynamically plan the robot's working path, so that the robot has higher working efficiency.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a method for dynamic planning of a robot operation path based on a dynamic operation target, the method comprising:

[0005] Perform real-time target positioning processing on dynamic operation targets based on operation instructions to obtain target position information and target motion trend information of dynamic operation targets;

[0006] Obtain robot position information and robot motion trend information;

[0007] Marking the target position information, the target motion trend, the robot position information and the robot motion trend information on an operation map within the operation area to form a marked map;

[0008] Predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information to obtain the predicted position of the dynamic operation target at the next moment;

[0009] Dynamic planning of the robot's operating path is performed based on the robot's position information, the robot's motion trend information and the next-moment predicted position of the dynamic operating target.

[0010] Optionally, the real-time target positioning processing of the dynamic operation target based on the operation instruction to obtain the target position information and target movement trend information of the dynamic operation target includes:

[0011] Based on the operation instruction, a video acquisition system arranged above the operation area is started to acquire video data of the operation area;

[0012] Based on the video data, positioning the operating target in the operating area is performed to obtain target position information of the dynamic operating target;

[0013] Based on the video data, a motion trend acquisition process is performed on the operating target in the operating area to obtain target motion trend information of the dynamic operating target;

[0014] The target movement trend information includes target movement direction information and target movement speed information.

[0015] Optionally, the performing positioning processing on the operating target in the operating area based on the video data to obtain target position information of the dynamic operating target includes:

[0016] Dividing the operation area using positioning grid lines to form an operation area with positioning grid lines;

[0017] The last video image frame in the video data is extracted, and the operation target in the last video image frame is positioned based on the operation area with positioning grid lines to obtain the target position information of the dynamic operation target.

[0018] Optionally, performing motion trend acquisition processing on the operating target in the operating area based on the video data to obtain target motion trend information of the dynamic operating target includes:

[0019] Extracting the last video image frame and the first video image frame from the video data;

[0020] Performing positioning processing on the operation target in the first video image frame and the last video image frame respectively, and obtaining target position information of the operation target in the first video image frame and the last video image frame respectively;

[0021] Based on the target position information of the operation target in the first video image frame and the last video image frame, motion trend acquisition processing is performed to obtain target motion trend information of the dynamic operation target.

[0022] Optionally, obtaining the robot position information and the robot motion trend information includes:

[0023] Capturing video of the working area based on a video acquisition system disposed above the working area to obtain video data;

[0024] Based on the video data, the robot is positioned in the working area and its motion trend is acquired to obtain the robot position information and robot motion trend information.

[0025] Optionally, marking the target position information, the target motion trend, the robot position information and the robot motion trend information on an operation map within the operation area to form a marked map includes:

[0026] Constructing a coordinate system on a work map within the work area, and converting the target position information and the robot position information into target position coordinates and robot position coordinates based on the coordinate system established by the work map within the work area;

[0027] The target position coordinates, the robot position coordinates, the target motion trend and the robot motion trend information are marked on a work map within the work area to form a marked map.

[0028] Optionally, marking the target position coordinates, the robot position coordinates, the target motion trend and the robot motion trend information on a work map within the work area includes:

[0029] Marking the target position coordinates and the robot position coordinates on a work map within the work area to form an initial marked map;

[0030] The target motion trend and the robot motion trend information are converted into digital information, and are marked on the initial marking map.

[0031] Optionally, the predicting process of the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information includes:

[0032] Obtaining target movement speed information in the target movement trend, and calculating the movement distance of the dynamic operation target at the next moment based on the target movement speed information;

[0033] The position of the dynamic operation target at the next moment is predicted based on the target position information, the distance the dynamic operation target will move at the next moment, and the target movement direction information in the target movement trend information.

[0034] Optionally, the dynamic planning process of the robot's operation path based on the robot's position information, the robot's motion trend information and the next moment predicted position of the dynamic operation target includes:

[0035] Adjusting the robot movement direction information and the robot movement speed information in the robot movement trend information based on the robot position information and the next moment predicted position of the dynamic operation target;

[0036] Dynamic planning of the robot's operating path is performed based on the adjusted robot movement direction information and robot movement speed information.

[0037] In addition, an embodiment of the present invention further provides a robot operation path dynamic planning device based on a dynamic operation target, the device comprising:

[0038] Positioning module: used to perform real-time positioning processing on dynamic operation targets based on operation instructions, and obtain target position information and target motion trend information of dynamic operation targets;

[0039] Acquisition module: used to obtain robot position information and robot motion trend information;

[0040] Marking module: used for marking the target position information, target motion trend, the robot position information and the robot motion trend information on the operation map in the operation area to form a marked map;

[0041] Prediction module: used for predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information, so as to obtain the predicted position of the dynamic operation target at the next moment;

[0042] Planning module: used to perform dynamic planning of the robot's operation path based on the robot's position information, robot motion trend information and the next moment predicted position of the dynamic operation target.

[0043] In an embodiment of the present invention, by obtaining the current position and target motion trend information of the dynamic work target, the position of the dynamic work target at the next moment is predicted, and the robot's work path is dynamically planned based on the predicted position, so as to predict the position of the dynamic work target and dynamically plan the robot's work path, so that the robot can dynamically change its own motion path and motion trend, ensuring that the dynamic work target can be accurately processed and the robot has higher working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 is a flow chart of a method for dynamic planning of a robot operation path based on a dynamic operation target in an embodiment of the present invention;

[0046] Figure 2 It is a schematic diagram of the structural composition of a robot operation path dynamic planning device based on dynamic operation targets in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Embodiment 1

[0049] See also Figure 1 , Figure 1 It is a flowchart of a method for dynamic planning of a robot operation path based on a dynamic operation target in an embodiment of the present invention.

[0050] like Figure 1 As shown, a method for dynamic planning of a robot operation path based on a dynamic operation target, the method comprising:

[0051] S11: performing target positioning processing on the dynamic operation target in real time based on the operation instruction, and obtaining target position information and target movement trend information of the dynamic operation target;

[0052] In the specific implementation process of the present invention, the target positioning processing of the dynamic work target in real time based on the work instruction to obtain the target position information and target motion trend information of the dynamic work target includes: based on the work instruction, starting the video acquisition system arranged on the upper side of the work area, performing video acquisition on the work area, and obtaining video data; based on the video data, positioning the dynamic work target in the work area to obtain the target position information of the dynamic work target; based on the video data, performing motion trend acquisition processing on the work target in the work area to obtain the target motion trend information of the dynamic work target; wherein the target motion trend information includes target motion direction information and target motion speed information.

[0053] Furthermore, the positioning processing of the work target in the work area based on the video data to obtain the target position information of the dynamic work target includes: dividing the work area using positioning grid lines to form a work area with positioning grid lines; extracting the last frame of the video image frame in the video data, positioning the work target in the last frame of the video image frame based on the work area with positioning grid lines to obtain the target position information of the dynamic work target.

[0054] Furthermore, the motion trend acquisition processing of the work target in the work area based on the video data to obtain target motion trend information of the dynamic work target includes: extracting the last video image frame and the first video image frame in the video data; performing positioning processing on the work target in the first video image frame and the last video image frame respectively to obtain target position information of the work target in the first video image frame and the last video image frame respectively; performing motion trend acquisition processing based on the target position information of the work target in the first video image frame and the last video image frame to obtain target motion trend information of the dynamic work target.

[0055] Specifically, a video acquisition system is provided on the upper side of the working area. After the video acquisition system is started, its video acquisition area covers the entire working area. Therefore, when the user needs to perform a job, he performs relevant working operations and generates a working instruction. Then, according to the working instruction, the video acquisition system provided on the upper side of the working area is started to perform video acquisition in the working area, so as to obtain video data. After obtaining the video data, the dynamic working target is positioned in the working area according to the video data, so as to obtain the target position information of the dynamic working target. Then, the motion trend acquisition process of the dynamic working target in the working area is performed according to the video data, so as to obtain the target motion trend information of the dynamic working target. Among them, the target motion trend information includes target motion direction information and target motion speed information.

[0056] That is, the Soye area is divided using positioning grid lines to form an operating area with positioning grid lines, and then the video data is framed and processed, and the last video image frame in the video data is extracted, and the dynamic operating target in the last video image frame is positioned according to the operating area with positioning grid lines to obtain the target position information of the dynamic operating target.

[0057] It is necessary to perform frame processing on the video data, and then extract the last video image frame and the first video image frame in the video data; and perform positioning processing on the work target in the first video image frame and the last video image frame respectively, and obtain the target position information of the dynamic work target in the first video image frame and the last video image frame respectively; then perform motion trend acquisition processing based on the target position information of the dynamic work target in the first video image frame and the last video image frame, and obtain the target motion trend information of the dynamic work target.

[0058] S12: Obtain robot position information and robot motion trend information;

[0059] In the specific implementation process of the present invention, the obtaining of the robot position information and the robot motion trend information includes: based on a video acquisition system arranged on the upper side of the working area, performing video acquisition on the working area to obtain video data; based on the video data, positioning the robot in the working area and obtaining motion trend processing to obtain the robot position information and the robot motion trend information.

[0060] Specifically, the video in the working area is collected by a video acquisition system arranged on the upper side of the working area to obtain video data, and then the robot is positioned in the working area and the motion trend is acquired and processed based on the video data. The specific processing method can refer to the method in the previous step, and the robot position information and robot motion trend information can be obtained.

[0061] S13: marking the target position information, the target motion trend, the robot position information and the robot motion trend information on an operation map within the operation area to form a marked map;

[0062] In the specific implementation process of the present invention, the target position information, the target motion trend, the robot position information and the robot motion trend information are marked on the work map within the work area to form a marked map, including: constructing a coordinate system on the work map within the work area, and converting the target position information and the robot position information into target position coordinates and robot position coordinates based on the coordinate system established by the work map within the work area; marking the target position coordinates, the robot position coordinates, the target motion trend and the robot motion trend information on the work map within the work area to form a marked map.

[0063] Furthermore, the target position coordinates, the robot position coordinates, the target motion trend and the robot motion trend information are marked on the work map within the work area, including: marking the target position coordinates and the robot position coordinates on the work map within the work area to form an initial marked map; converting the target motion trend and the robot motion trend information into digital information, and marking them on the initial marked map.

[0064] Specifically, a coordinate system is constructed on a work map within the work area, and the target position information and the robot position information are converted into target position coordinates and robot position coordinates through the coordinate system established by the work map within the work area, and the target position coordinates, robot position coordinates, target motion trend and robot motion trend information are marked on the work map within the work area to form a marked map.

[0065] That is, the target position coordinates and the robot position coordinates are marked on the operation map within the operation area to form an initial marked map; then the target motion trend and robot motion trend information are converted into digital information and marked on the initial marked map at the same time.

[0066] S14: Predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information to obtain the predicted position of the dynamic operation target at the next moment;

[0067] In the specific implementation process of the present invention, the position of the dynamic work target at the next moment is predicted based on the target position information and the target motion trend information, including: obtaining the target motion speed information in the target motion trend, and calculating the distance the dynamic work target will move at the next moment based on the target motion speed information; predicting the position of the dynamic work target at the next moment based on the target position information, the distance the dynamic work target will move at the next moment, and the target motion direction information in the target motion trend information.

[0068] Specifically, it is necessary to obtain the target movement speed information in the target movement trend, and then calculate the distance that the dynamic operation target will move at the next moment based on the target movement speed information; and predict the position of the dynamic operation target at the next moment based on the target position information, the distance that the dynamic operation target will move at the next moment, and the target movement direction information in the target movement trend information, so as to obtain the predicted position of the dynamic operation target at the next moment.

[0069] S15: Perform dynamic planning of the robot's operating path based on the robot's position information, the robot's motion trend information and the predicted position of the dynamic operating target at the next moment.

[0070] In the specific implementation process of the present invention, the dynamic planning processing of the robot's working path based on the robot's position information, the robot's motion trend information and the predicted position of the dynamic working target at the next moment includes: adjusting the robot's motion direction information and the robot's motion speed information in the robot's motion trend information based on the robot's position information and the predicted position of the dynamic working target at the next moment; and dynamically planning the robot's working path based on the adjusted robot's motion direction information and robot motion speed information.

[0071] Specifically, the robot motion direction information and the robot motion speed information in the robot motion trend information are adjusted according to the robot's position information and the predicted position of the dynamic operation target at the next moment; then the robot operation path is dynamically planned based on the adjusted robot motion direction information and robot motion speed information.

[0072] In an embodiment of the present invention, by obtaining the current position and target motion trend information of the dynamic work target, the position of the dynamic work target at the next moment is predicted, and the robot's work path is dynamically planned based on the predicted position, so as to predict the position of the dynamic work target and dynamically plan the robot's work path, so that the robot can dynamically change its own motion path and motion trend, ensuring that the dynamic work target can be accurately processed and the robot has higher working efficiency.

[0073] Embodiment 2

[0074] See also Figure 2 , Figure 2 It is a schematic diagram of the structural composition of a robot operation path dynamic planning device based on dynamic operation targets in an embodiment of the present invention.

[0075] like Figure 2 As shown, a robot operation path dynamic planning device based on dynamic operation targets, the device comprising:

[0076] Positioning module 21: used to perform target positioning processing on the dynamic operation target in real time based on the operation instruction, and obtain the target position information and target movement trend information of the dynamic operation target;

[0077] In the specific implementation process of the present invention, the target positioning processing of the dynamic work target in real time based on the work instruction to obtain the target position information and target motion trend information of the dynamic work target includes: based on the work instruction, starting the video acquisition system arranged on the upper side of the work area, performing video acquisition on the work area, and obtaining video data; based on the video data, positioning the dynamic work target in the work area to obtain the target position information of the dynamic work target; based on the video data, performing motion trend acquisition processing on the work target in the work area to obtain the target motion trend information of the dynamic work target; wherein the target motion trend information includes target motion direction information and target motion speed information.

[0078] Furthermore, the positioning processing of the work target in the work area based on the video data to obtain the target position information of the dynamic work target includes: dividing the work area using positioning grid lines to form a work area with positioning grid lines; extracting the last frame of the video image frame in the video data, positioning the work target in the last frame of the video image frame based on the work area with positioning grid lines to obtain the target position information of the dynamic work target.

[0079] Furthermore, the motion trend acquisition processing of the work target in the work area based on the video data to obtain target motion trend information of the dynamic work target includes: extracting the last video image frame and the first video image frame in the video data; performing positioning processing on the work target in the first video image frame and the last video image frame respectively to obtain target position information of the work target in the first video image frame and the last video image frame respectively; performing motion trend acquisition processing based on the target position information of the work target in the first video image frame and the last video image frame to obtain target motion trend information of the dynamic work target.

[0080] Specifically, a video acquisition system is provided on the upper side of the working area. After the video acquisition system is started, its video acquisition area covers the entire working area. Therefore, when the user needs to perform a job, he performs relevant working operations and generates a working instruction. Then, according to the working instruction, the video acquisition system provided on the upper side of the working area is started to perform video acquisition in the working area, so as to obtain video data. After obtaining the video data, the dynamic working target is positioned in the working area according to the video data, so as to obtain the target position information of the dynamic working target. Then, the motion trend acquisition process of the dynamic working target in the working area is performed according to the video data, so as to obtain the target motion trend information of the dynamic working target. Among them, the target motion trend information includes target motion direction information and target motion speed information.

[0081] That is, the Soye area is divided using positioning grid lines to form an operating area with positioning grid lines, and then the video data is framed and processed, and the last video image frame in the video data is extracted, and the dynamic operating target in the last video image frame is positioned according to the operating area with positioning grid lines to obtain the target position information of the dynamic operating target.

[0082] It is necessary to perform frame processing on the video data, and then extract the last video image frame and the first video image frame in the video data; and perform positioning processing on the work target in the first video image frame and the last video image frame respectively, and obtain the target position information of the dynamic work target in the first video image frame and the last video image frame respectively; then perform motion trend acquisition processing based on the target position information of the dynamic work target in the first video image frame and the last video image frame, and obtain the target motion trend information of the dynamic work target.

[0083] Acquisition module 22: used to obtain robot position information and robot motion trend information;

[0084] In the specific implementation process of the present invention, the obtaining of the robot position information and the robot motion trend information includes: based on a video acquisition system arranged on the upper side of the working area, performing video acquisition on the working area to obtain video data; based on the video data, positioning the robot in the working area and obtaining motion trend processing to obtain the robot position information and the robot motion trend information.

[0085] Specifically, the video in the working area is collected by a video acquisition system arranged on the upper side of the working area to obtain video data, and then the robot is positioned in the working area and the motion trend is acquired and processed based on the video data. The specific processing method can refer to the method in the previous step, and the robot position information and robot motion trend information can be obtained.

[0086] The marking module 23 is used to mark the target position information, the target movement trend, the robot position information and the robot movement trend information on the operation map in the operation area to form a marked map;

[0087] In the specific implementation process of the present invention, the target position information, the target motion trend, the robot position information and the robot motion trend information are marked on the work map within the work area to form a marked map, including: constructing a coordinate system on the work map within the work area, and converting the target position information and the robot position information into target position coordinates and robot position coordinates based on the coordinate system established by the work map within the work area; marking the target position coordinates, the robot position coordinates, the target motion trend and the robot motion trend information on the work map within the work area to form a marked map.

[0088] Furthermore, the target position coordinates, the robot position coordinates, the target motion trend and the robot motion trend information are marked on the work map within the work area, including: marking the target position coordinates and the robot position coordinates on the work map within the work area to form an initial marked map; converting the target motion trend and the robot motion trend information into digital information, and marking them on the initial marked map.

[0089] Specifically, a coordinate system is constructed on a work map within the work area, and the target position information and the robot position information are converted into target position coordinates and robot position coordinates through the coordinate system established by the work map within the work area, and the target position coordinates, robot position coordinates, target motion trend and robot motion trend information are marked on the work map within the work area to form a marked map.

[0090] That is, the target position coordinates and the robot position coordinates are marked on the operation map within the operation area to form an initial marked map; then the target motion trend and robot motion trend information are converted into digital information and marked on the initial marked map at the same time.

[0091] Prediction module 24: used for predicting the position of the dynamic operation target at the next moment based on the target position information and the target movement trend information, so as to obtain the predicted position of the dynamic operation target at the next moment;

[0092] In the specific implementation process of the present invention, the position of the dynamic work target at the next moment is predicted based on the target position information and the target motion trend information, including: obtaining the target motion speed information in the target motion trend, and calculating the distance the dynamic work target will move at the next moment based on the target motion speed information; predicting the position of the dynamic work target at the next moment based on the target position information, the distance the dynamic work target will move at the next moment, and the target motion direction information in the target motion trend information.

[0093] Specifically, it is necessary to obtain the target movement speed information in the target movement trend, and then calculate the distance that the dynamic operation target will move at the next moment based on the target movement speed information; and predict the position of the dynamic operation target at the next moment based on the target position information, the distance that the dynamic operation target will move at the next moment, and the target movement direction information in the target movement trend information, so as to obtain the predicted position of the dynamic operation target at the next moment.

[0094] Planning module 25: used for dynamically planning the robot's operation path based on the robot's position information, the robot's motion trend information and the next moment predicted position of the dynamic operation target.

[0095] In the specific implementation process of the present invention, the dynamic planning processing of the robot's working path based on the robot's position information, the robot's motion trend information and the predicted position of the dynamic working target at the next moment includes: adjusting the robot's motion direction information and the robot's motion speed information in the robot's motion trend information based on the robot's position information and the predicted position of the dynamic working target at the next moment; and dynamically planning the robot's working path based on the adjusted robot's motion direction information and robot motion speed information.

[0096] Specifically, the robot motion direction information and the robot motion speed information in the robot motion trend information are adjusted according to the robot's position information and the predicted position of the dynamic operation target at the next moment; then the robot operation path is dynamically planned based on the adjusted robot motion direction information and robot motion speed information.

[0097] In an embodiment of the present invention, by obtaining the current position and target motion trend information of the dynamic work target, the position of the dynamic work target at the next moment is predicted, and the robot's work path is dynamically planned based on the predicted position, so as to predict the position of the dynamic work target and dynamically plan the robot's work path, so that the robot can dynamically change its own motion path and motion trend, ensuring that the dynamic work target can be accurately processed and the robot has higher working efficiency.

[0098] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0099] In addition, the above is a detailed introduction to a method and device for dynamic planning of a robot working path based on a dynamic working target provided in an embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for dynamic planning of robot operation paths based on dynamic operation targets, characterized in that: The method comprises: Perform real-time target positioning processing on dynamic operation targets based on operation instructions to obtain target position information and target motion trend information of dynamic operation targets; Obtain robot position information and robot motion trend information; Constructing a coordinate system on a work map within the work area, and converting the target position information and the robot position information into target position coordinates and robot position coordinates based on the coordinate system established by the work map within the work area; Marking the target position coordinates and the robot position coordinates on a work map within the work area to form an initial marked map; Converting the target motion trend information and the robot motion trend information into digital information, and performing marking processing on the initial marked map to form a marked map; Obtaining target movement speed information in the target movement trend information, and calculating the movement distance of the dynamic operation target at the next moment based on the target movement speed information; Predicting the position of the dynamic operation target at the next moment based on the target position information, the distance the dynamic operation target moves at the next moment, and the target movement direction information in the target movement trend information to obtain the predicted position of the dynamic operation target at the next moment; Dynamic planning of the robot's operating path is performed based on the robot's position information, the robot's motion trend information and the next-moment predicted position of the dynamic operating target.

2. The robot operation path dynamic planning method according to claim 1, characterized in that: The target positioning processing is performed on the dynamic operation target in real time based on the operation instruction to obtain the target position information and target movement trend information of the dynamic operation target, including: Based on the operation instruction, a video acquisition system arranged above the operation area is started to acquire video data of the operation area; Based on the video data, positioning the dynamic operating target in the operating area is performed to obtain target position information of the dynamic operating target; Based on the video data, a motion trend acquisition process is performed on the dynamic operation target in the operation area to obtain target motion trend information of the dynamic operation target; The target movement trend information includes target movement direction information and target movement speed information.

3. The robot operation path dynamic planning method according to claim 2, characterized in that: The performing positioning processing on the dynamic operation target in the operation area based on the video data to obtain target position information of the dynamic operation target includes: Dividing the operation area using positioning grid lines to form an operation area with positioning grid lines; The last video image frame in the video data is extracted, and positioning processing is performed on the dynamic working target in the last video image frame based on the working area with positioning grid lines to obtain the target position information of the dynamic working target.

4. The robot operation path dynamic planning method according to claim 2, characterized in that: The performing motion trend acquisition processing on the dynamic operation target in the operation area based on the video data to obtain target motion trend information of the dynamic operation target includes: Extracting the last video image frame and the first video image frame from the video data; Performing positioning processing on the operation target in the first video image frame and the last video image frame respectively, and obtaining target position information of the dynamic operation target in the first video image frame and the last video image frame respectively; Based on the target position information of the dynamic operation target in the first video image frame and the last video image frame, motion trend acquisition processing is performed to obtain target motion trend information of the dynamic operation target.

5. The method for dynamic planning of robot operation paths according to claim 1, characterized in that: The obtaining of the robot position information and the robot motion trend information includes: Capturing video of the working area based on a video acquisition system disposed above the working area to obtain video data; Based on the video data, the robot is positioned in the working area and its motion trend is acquired to obtain the robot position information and robot motion trend information.

6. The robot operation path dynamic planning method according to claim 1, characterized in that: The dynamic planning process of the robot operation path based on the robot position information, the robot motion trend information and the next moment predicted position of the dynamic operation target includes: Adjusting the robot movement direction information and the robot movement speed information in the robot movement trend information based on the robot position information and the next moment predicted position of the dynamic operation target; Dynamic planning of the robot's operating path is performed based on the adjusted robot movement direction information and robot movement speed information.

7. A robot operation path dynamic planning device based on dynamic operation targets, characterized in that: The device is used to execute the robot operation path dynamic planning method according to any one of claims 1 to 6, comprising: Positioning module: used to perform real-time positioning processing on dynamic operation targets based on operation instructions, and obtain target position information and target motion trend information of dynamic operation targets; Acquisition module: used to obtain robot position information and robot motion trend information; Marking module: used for marking the target position information, target motion trend, the robot position information and the robot motion trend information on the operation map in the operation area to form a marked map; Prediction module: used for predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information, so as to obtain the predicted position of the dynamic operation target at the next moment; Planning module: used for dynamically planning the robot's operation path based on the robot's position information, the robot's motion trend information and the next moment predicted position of the dynamic operation target.

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