A method for continuous processing of robot motion trajectory

Abstract

The present invention discloses a method for continuous processing of a robot motion trajectory, which comprises: among the position points that the robot has recorded, recording the position points at two different positions as a first position point and a second position point respectively, and then determining the connection mode of the robot motion trajectory between the first position point and the second position point according to the angle feature between the first preset straight line and the second preset straight line, so as to connect a continuous robot motion trajectory between the first position point and the second position point; wherein, the forward direction of the robot at the first position point is set to the first forward direction, and the straight line passing through the first position point and perpendicular to the first forward direction is set to the first preset straight line; wherein, the forward direction of the robot at the second position point is set to the second forward direction, and the straight line passing through the second position point and perpendicular to the second forward direction is set to the second preset straight line.

Description

Technical Field

[0001] The present invention relates to the technical field of robot path planning, and in particular to a method for continuous processing of robot motion trajectories. Background Art

[0002] During the process of autonomous movement and timely positioning of a mobile robot, the mobile robot will generate posture information at every sampling time interval, and a position point will be obtained at each of the two adjacent moments. Therefore, the robot will only mark discrete position points in the map constructed in a timely manner. Therefore, it is necessary to insert more discrete points between the position points obtained at the two adjacent moments to simulate or predict the position points where the robot actually walked. In the process of inserting position points in the existing technology, since there is posture information of different dimensions that needs to be converted, the inserted position points are mostly randomly distributed or only concentrated in a small area with the two adjacent position points as the search center. The direction of the trajectory line connected therein cannot achieve the effect of simulating the actual walking trajectory of the robot. Summary of the Invention

[0003] In order to make the trajectory planned between two discrete position points closer to the robot's pre-travel trajectory, the present invention discloses a position point insertion method for between two discrete position points, which obtains more predicted position points with insertion value, so that the motion trajectory formed by connecting these predicted position points between the two discrete position points is closer to the actual motion trajectory; the specific technical solution is as follows:

[0004] A method for continuous processing of a robot motion trajectory, before executing the method, the robot has recorded position points during its movement; the method comprises: among the position points that the robot has recorded, recording position points at two different positions as a first position point and a second position point, and then determining the connection mode of the robot motion trajectory between the first position point and the second position point according to the angle feature between the first preset straight line and the second preset straight line, so as to connect a continuous robot motion trajectory between the first position point and the second position point; wherein, the forward direction of the robot at the first position point is set to the first forward direction, and the straight line passing through the first position point and perpendicular to the first forward direction is set to the first preset straight line; wherein, the forward direction of the robot at the second position point is set to the second forward direction, and the straight line passing through the second position point and perpendicular to the second forward direction is set to the second preset straight line.

[0005] Furthermore, the specific steps of determining the connection mode of the robot motion trajectory between the first position point and the second position point based on the angle feature between the first preset straight line and the second preset straight line include: if the second preset straight line intersects the first preset straight line, setting the intersection point of the second preset straight line and the first preset straight line as the rotation center, and when the angle of the preset rotation angle is greater than the preset angle threshold, starting from the first position point, in a manner of equal angle change and equal length change, inserting a predicted position point with a corresponding direction angle and a corresponding straight line distance to the rotation center between the first position point and the second position point; then inserting the predicted position point in the order of insertion. The predicted position points are connected in sequence, and the predicted position point inserted for the first time is connected to the first position point, and the predicted position point inserted for the last time is connected to the second position point, and then, it is determined that a continuous robot motion trajectory is connected between the first position point and the second position point; wherein, in the first preset straight line, the ray with the rotation center pointing to the first position point is set as the first ray; in the second preset straight line, the ray with the rotation center pointing to the second position point is set as the second ray; then the angle formed by the first ray and the second ray is set as the preset rotation angle, so that it is an angle formed by the first preset straight line and the second preset straight line.

[0006] Furthermore, the specific steps of determining the connection mode of the robot motion trajectory between the first position point and the second position point based on the angle feature between the first preset straight line and the second preset straight line include: if the second preset straight line intersects the first preset straight line, setting the intersection of the second preset straight line and the first preset straight line as the rotation center, and when the preset rotation angle is less than or equal to the preset angle threshold, directly connecting the first position point and the second position point into a line segment, so that the line segment becomes a continuous robot motion trajectory between the first position point and the second position point; wherein, in the first preset straight line, the ray with the rotation center pointing to the first position point is set as the first ray; in the second preset straight line, the ray with the rotation center pointing to the second position point is set as the second ray; then setting the angle between the first ray and the second ray as the preset rotation angle, so that it forms an angle between the first preset straight line and the second preset straight line; if the second preset straight line is parallel to the first preset straight line, directly connecting the first position point and the second position point into a line segment, so that the line segment becomes a continuous robot motion trajectory between the first position point and the second position point.

[0007] Furthermore, the method of inserting a predicted position point with a corresponding direction angle and a straight-line distance to the rotation center between the first position point and the second position point starting from the first position point in a manner of equal angle change and equal length change includes: starting from the first ray where the first position point is located, inserting an insertion line segment into the preset rotation angle at every insertion spacing angle to evenly divide the preset rotation angle into a preset number of angles; each insertion line segment passes through a common endpoint, which is the rotation center; controlling the sum of the length of the current insertion line segment and a length increment value to be set as the length of the next insertion line segment, so that the insertion line segment is inserted between the first position point and the second position point in a manner of equal length change. Insert a predicted position point that is adapted to the straight-line distance from the rotation center; control the sum of the current direction angle and an angle increment value to be set as the angle of the next direction angle, so that the direction angle is inserted between the first position point and the second position point in a manner of equal angle change, and the predicted position point and the aforementioned inserted predicted position point that is adapted to the straight-line distance from the rotation center are the same position point; wherein, the result of rounding up the ratio of the angle of the preset rotation angle to the preset angle threshold is set as the preset number of angles, so that the preset number of angles becomes the minimum integer greater than or equal to the ratio, and also determine that the difference between the preset number of angles and 1 is the number of the aforementioned insertion line segments inserted between the first position point and the second position point.

[0008] Further, on the first preset straight line, the line segment connecting the first position point and the rotation center is set as the starting insertion line segment, and the direction angle of the robot at the first position point is set as the starting insertion direction angle, wherein the direction angle of the robot at the first position point is the angle formed by the forward direction of the robot at the first position point relative to the baseline; on the second preset straight line, the line segment connecting the second position point and the rotation center is set as the ending insertion line segment, and the direction angle of the robot at the second position point is set as the ending insertion direction angle, wherein the direction angle of the robot at the second position point is the angle formed by the forward direction of the robot at the second position point relative to the baseline; the ratio of the difference between the length of the ending insertion line segment and the length of the starting insertion line segment to the preset number of angles is set as the length increment value; the ratio of the difference between the angle of the ending insertion direction angle and the angle of the starting insertion direction angle to the preset number of angles is set as the angle increment value.

[0009] Furthermore, the method of inserting a predicted position point with a corresponding direction angle and a straight-line distance to the rotation center between the first position point and the second position point starting from the first position point in an equal-angle change manner and an equal-length change manner specifically includes: setting the first insertion line segment inserted between the first position point and the second position point on a ray that forms an insertion spacing angle with the starting insertion line segment within the preset rotation angle, and setting the sum of the length of the starting insertion line segment and the length increment value as the length of the first insertion line segment, and setting the sum of the angle of the starting insertion direction angle and the angle increment value as the angle of the first direction angle, and then setting one endpoint other than the rotation center among the endpoints of the first insertion line segment as the predicted position point for the first insertion.

[0010] Furthermore, the method of inserting a predicted position point with a direction angle adapted to the straight-line distance to the rotation center between the first position point and the second position point starting from the first position point in a manner of equal angle change and equal length change specifically includes: step A, setting the angular position of the next inserted line segment to the direction from the first position point to the second position point, at a position forming an insertion spacing angle relative to the current inserted line segment, and controlling the sum of the length of the current inserted line segment and the length increment value to be equal to the length of the next inserted line segment, and controlling the sum of the angle of the current direction angle and the angle increment value to be equal to the angle of the next direction angle, and then setting an endpoint other than the rotation center as the predicted position point for the next insertion among the endpoints of the next inserted line segment; and then entering step B; step B, updating the length of the next inserted line segment to the current one The length of the insertion line segment, and updates the angle of the next direction angle to the angle of the current direction angle, and updates the next insertion line segment to the current insertion line segment, and updates the predicted position point of the next insertion to the predicted position point of the current insertion; then enters step C; step C, judge whether the angle formed by the updated current insertion line segment and the termination insertion line segment is equal to the insertion spacing angle, if so, determine that the updated current insertion line segment is the last insertion line segment inserted between the first position point and the second position point, and determine that the corresponding predicted position point on the updated current insertion line segment is the predicted position point of the last insertion between the first position point and the second position point, otherwise return to step A; wherein, the angle formed by the insertion line segments where the two predicted position points of two adjacent insertions are located is set to the insertion spacing angle.

[0011] Furthermore, the method for continuous processing of the robot motion trajectory also includes: setting the line segment connecting the rotation center and a currently inserted predicted position point as the current inserted line segment, and setting the direction angle of the robot at the currently inserted predicted position point as the current direction angle; wherein, the angle formed by the forward direction of the robot at the currently inserted predicted position point relative to the baseline is the direction angle of the robot at the currently inserted predicted position point, and the forward direction of the robot at the currently inserted predicted position point is perpendicular to the current inserted line segment; setting the line segment connecting the rotation center and a next inserted predicted position point as the next inserted line segment, and setting the direction angle of the robot at the next inserted predicted position point as the next direction angle; wherein, the angle formed by the forward direction of the robot at the next inserted predicted position point relative to the baseline is the direction angle of the robot at the next inserted predicted position point, and the forward direction of the robot at the next inserted predicted position point is perpendicular to the next inserted line segment.

[0012] Furthermore, the first position point and the second position point are two position points moved by the robot at two adjacent moments, wherein the moment when the robot moves to the first position point is less than the moment when the robot moves to the second position point; and there is a fixed time interval between the two adjacent moments.

[0013] Furthermore, for each predicted position point inserted between the first position point and the second position point, an interpolation sequence number is correspondingly configured to indicate the insertion order of the predicted position points, wherein when the minimum value of the interpolation sequence number is equal to 1, the maximum value of the interpolation sequence number is equal to the difference between the preset angle number and 1; for each inserted line segment inserted between the first position point and the second position point, each inserted line segment has the rotation center as a common endpoint, and each inserted line segment also has another endpoint as a predicted position point, so that each inserted line segment has a corresponding predicted position point and a corresponding interpolation sequence number.

[0014] Further, if the angle between the first inserted line segment inserted between the first position point and the second position point and the first ray is equal to the insertion spacing angle, and the angle between the last inserted line segment inserted between the first position point and the second position point and the second ray is equal to the insertion spacing angle, then the number of inserted line segments that is the difference between the preset number of angles and 1 will evenly divide the preset rotation angle into the number of angles that is the preset number of angles, wherein the angle of each angle is equal to the insertion spacing angle.

[0015] Furthermore, the first position point, the second position point, each predicted position point inserted between the first position point and the second position point, each inserted line segment inserted between the first position point and the second position point, the first ray and the second ray are all located in the same plane; wherein, the plane is located in a three-dimensional space.

[0016] Compared with the existing technology, the present invention controls the spatial coordinate distance information and angle information of the position points between two position points to change according to the fixed incremental amount of the corresponding type to insert a new position point, so as to connect each inserted position point in sequence to form a continuous robot trajectory, replacing the discrete path between the original two position points, and obtaining trajectory information that is closer to the actual environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flowchart of the basic steps of a method for continuous processing of robot motion trajectories disclosed in one embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of a continuous robot motion trajectory connected by a predicted position point P3 and a predicted position point P4 inserted in sequence between a first position point P1 and a second position point P2 disclosed in another embodiment of the present invention.

[0019] Figure 3 It is a flowchart of a method disclosed in another embodiment of the present invention for determining a connection mode of a robot motion trajectory between a first position point and a second position point based on an angle feature between a first preset straight line and a second preset straight line.

[0020] Figure 4 It is a flowchart of a method disclosed in another embodiment of the present invention, which starts from the first position point and inserts a predicted position point with a corresponding direction angle and a corresponding straight-line distance to the rotation center between the first position point and the second position point in a manner of equal angle change and equal length change. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0022] The present invention provides a method for processing robot motion trajectories continuously based on discrete location points, which can be applied to mobile robots, particularly those operating in indoor environments, such as sweeping robots, inspection robots, unmanned sampling robots, and unmanned forklifts. The mobile robot comprises a robot body, sensors, a controller, and a walking mechanism. The robot body is the main structure of the robot and can be constructed of a suitable shape, structure, and material (e.g., hard plastic or metals such as aluminum or iron) based on the robot's actual needs. For example, it can be configured as a relatively flat cylindrical shape, which is common in sweeping robots. The walking mechanism is provided on the robot body and provides the mobile robot with mobility. The walking mechanism can be implemented using any type of mobile device, such as rollers or tracks. The sensor is used to sense the external environment and obtain the robot's own coordinate and angle information, which constitutes the robot's own position information. The sensor can be any type of existing information acquisition device, including but not limited to an odometer for measuring travel distance, a gyroscope for measuring the robot's rotation angle, an infrared sensor for measuring distance, or a visual sensor for measuring distance. The robot converts the information fed back by these sensors into position information and marks it on a map constructed in real time. The sensor can be set to one or more to meet the detection range of multiple angles.

[0023] An embodiment of the present invention discloses a method for processing a robot's motion trajectory continuously. Before executing the method, the robot records position points during movement. Each position point can be a position point sampled by a sensor at a certain interval and marked at a corresponding coordinate point on a map to form discrete position points, such as Figure 2 As shown in the position point P1 and the position point P2, it should be noted that the position points are the path nodes that the robot actually moves on the predetermined path; in the actual physical environment, the robot walks along a continuous motion trajectory in the process of moving from the first position point to the second position point, but the robot does not mark the position points one by one in the map, but only marks the position points sampled at each time interval. The path marked in the map is a discrete path composed of the position points collected at each time interval.

[0024] It should be noted that the main execution entity of the robot's motion trajectory continuity processing method is the robot's internal main control device. This main control device can be an electronic device, including a wireless transceiver; a control circuit board; or a chip with sufficient memory and high integration. In this specification, the execution of corresponding steps by the robot's internal main control device is simply referred to as "the robot executing corresponding steps." If the execution entity is not specified, the robot or its main control device is assumed to be the execution entity.

[0025] like Figure 1As shown, the robot motion trajectory continuous processing method includes the following steps:

[0026] Step S1. Among the position points that the robot has recorded, record the position points at two different positions as the first position point and the second position point respectively, and then enter step S2; wherein the first position point and the second position point can be two position points obtained by the robot at two adjacent moments; the selection of the first position point and the second position point can also be two position points selected based on the distance span, or two position points selected based on the angle span, and the dimensions of these two spans are adapted to the scenarios of the robot's linear motion and rotational motion.

[0027] Step S2, set the robot's forward direction at the first position point as the first forward direction, and set the straight line passing through the first position point and perpendicular to the first forward direction as the first preset straight line; wherein, the robot's forward direction at the first position point is the direction directly in front of the robot's body; if the robot is rotating, the robot will use the radial line segment perpendicular to the first forward direction to participate in the calculation, that is, use the radial direction of the robot's motion trajectory, taking into account the radial force brought about by the rotational motion, at this time the first forward direction becomes the tangent direction of the corresponding motion trajectory; similarly, set the robot's forward direction at the second position point as the second forward direction, and set the straight line passing through the second position point and perpendicular to the second forward direction as the second preset straight line. Then proceed to step S3. Combined Figure 2 It can be seen that the first position point is P1, and the straight line OP1 in the perpendicular direction of the arrow at the first position point P1 is the first preset straight line; the second position point is P2, and the straight line OP2 in the perpendicular direction of the arrow at the second position point P2 is the second preset straight line.

[0028] Step S3, based on the angle feature between the first preset straight line and the second preset straight line, the connection mode of the robot motion trajectory between the first position point and the second position point is determined, so as to connect a continuous robot motion trajectory between the first position point and the second position point. The angle feature between the first preset straight line and the second preset straight line may include the acute angle information or the obtuse angle information obtained by the intersection of the first preset straight line and the second preset straight line, but it is necessary to cover the positions of the first position point and the second position point, or cover the position of the area between the first position point and the second position point that may be traversed by the robot. Specifically, the connection mode of each position point between the first position point and the second position point (which may be an existing point or a predicted and calculated non-existent point) is determined based on the corresponding angle size information or the geometric position feature formed by this angle feature, so as to realize the connection of a continuous robot motion trajectory between the two limited position points, replacing the discrete path consisting only of the two existing position points.

[0029] The aforementioned step S3 uses the angle feature between the first preset straight line and the second preset straight line set in the aforementioned step S2 to determine the connection method of the robot motion trajectory between the first position point and the second position point, avoiding obtaining the necessary parameters of the aforementioned decision method in the mutual conversion of coordinate information and angle information, which can not only reduce the posture error caused by mechanical movement, but also obtain a motion trajectory that is closer to the actual motion state of the robot.

[0030] As an example, Figure 3 As shown, the method for determining the connection mode of the robot motion trajectory between the first position point and the second position point according to the angle feature between the first preset straight line and the second preset straight line specifically includes the following steps:

[0031] Step S31: Determine whether the second preset straight line is parallel to the first preset straight line. If so, proceed to step S36; otherwise, proceed to step S32. In this embodiment, determining whether the second preset straight line is parallel to the first preset straight line can be based on whether the angle formed by the second preset straight line and the first preset straight line is 0 degrees or 180 degrees, or can also be based on whether the second preset straight line and the first preset straight line intersect in a positional relationship.

[0032] Step S32: Determine if the second preset line intersects the first preset line, and set the intersection of the second preset line and the first preset line as the rotation center. Set the ray with the rotation center pointing to the first position in the first preset line as the first ray; set the ray with the rotation center pointing to the second position in the second preset line as the second ray. Then, set the angle between the first ray and the second ray as the preset rotation angle, so that it forms the angle between the first preset line and the second preset line. Then proceed to step S33.

[0033] exist Figure 2 In the embodiment shown, the intersection of the second preset straight line OP2 and the first preset straight line OP1 is set as the rotation center O, the ray pointing from the rotation center O to the first position point P1 is set as the first ray OP1, the ray pointing from the rotation center O to the second position point P2 is set as the second ray OP2, and the angle formed by the first ray OP1 and the second ray OP2 is set as the preset rotation angle P1OP2. In this embodiment, the preset rotation angle P1OP2 is less than 180 degrees.

[0034] Step S33: Determine whether the preset rotation angle is greater than a preset angle threshold. If so, proceed to step S34; otherwise, proceed to step S36. Step S33 uses the preset rotation angle to represent the angular span between the second ray and the first ray, to determine whether a location point should be inserted within the angular range formed by the second ray and the first ray. The preset angle threshold is pre-set and represents the minimum angular span allowed between two locations for insertion, or the minimum angular span between an inserted location point and the nearest known location point, or the minimum angular span allowed between an inserted line segment (i.e., a line segment connecting an inserted location point and the rotation center) and the first ray or the second ray, or the minimum angular span allowed between a currently inserted line segment (i.e., a line segment connecting an inserted location point and the rotation center) and a next inserted line segment (i.e., a line segment connecting an inserted location point and the rotation center). Thus, the preset angle threshold represents the unit angular span for accepting the insertion of a new location point within the angular range of the preset rotation angle.

[0035] Step S34: Starting from the first position point, specifically starting from the first ray where the first position point is located, insert a predicted position point with a corresponding direction angle and a corresponding linear distance from the rotation center between the first position point and the second position point in a manner of equal angle change and equal length change; then proceed to step S35. Figure 2 In the embodiment shown, the direction of inserting the predicted position point between the first position point P1 and the second position point P2 is first determined, that is, from P1 to P2, including but not limited to from point P1 along the arc to point P2, forming an insertion point direction starting from the first position point P1 and inserting the aforementioned predicted position point to obtain a valid position point that can be connected by a path between the first position point and the second position point, in order. Figure 2 Middle position point P3 and position point P4.

[0036] Specifically, in order to insert a predicted position point, step S34 performs equidistant calculations in two dimensions, namely, angle information and coordinate distance information, to derive a predicted position point that satisfies the angle information and coordinate distance information. This is a combination of an equal-angle change method and an equal-length change interpolation method, wherein the angle information corresponds to the equal-angle change interpolation method, and the coordinate distance information corresponds to the equal-length change interpolation method. The two dimensional equidistant calculation methods are performed independently of each other. In order to ensure the efficiency of inserting the predicted position point, the two dimensional equidistant calculation methods are performed separately to avoid the prior art of directly using the coordinate information and angle information output in real time by the robot during movement and performing path planning calculations after coordinate system conversion, thereby reducing related errors.

[0037] Step S35: If it is determined that the angle span formed by the first ray and the second ray is large, the inserted predicted position points are sequentially connected in the order of insertion. Specifically, according to the insertion direction (insertion order) set in step S34, the inserted predicted position points are sequentially connected between the first position point and the second position point; and the predicted position point inserted for the first time is connected to the first position point, and the predicted position point inserted for the last time is connected to the second position point. Then, it is determined that a continuous robot motion trajectory is connected between the first position point and the second position point; corresponding to Figure 2 In an embodiment, when the position point P3 and the position point P4 are connected, at this time, the predicted position point inserted for the first time is P3, and the predicted position point inserted for the last time is P4, then the predicted position point P3 inserted for the first time is connected to the first position point P1, and the predicted position point P4 inserted for the last time is connected to the second position point P2, and finally between the first position point P1 and the second position point P2, line segments P1P3, line segments P3P4 and line segments P4P2 are connected in sequence, and then connected into broken line segments P1P3P4P2, and then a continuous robot motion trajectory is determined to be connected between the first position point P1 and the second position point P2, as the robot simulation circuit that is closest to the actual motion effect between the first position point P1 and the second position point P2.

[0038] Step S36, determine that the second preset straight line is parallel to the first preset straight line, or determine that the angle formed by the first ray and the second ray is less than or equal to the preset angle threshold, indicating that the angle formed by the first ray and the second ray is sufficiently small and the distance span between the first position point and the second position point is small. At this time, directly connect the first position point and the second position point into a line segment, so that the line segment becomes a continuous robot motion trajectory between the first position point and the second position point. Compared with the connection method of step S35, it is simple, and the turning path nodes are reduced between two position points with a shorter distance and a smaller angle span, so as to facilitate the robot to pass quickly in a straight line.

[0039] As an embodiment, for the aforementioned method of inserting predicted position points with corresponding direction angles and corresponding linear distances from the rotation center between the first position point and the second position point in a manner of equal angle change and equal length change starting from the first position point, the basic steps include:

[0040] Starting from the first ray where the first position point is located, the robot starts from the first ray where the first position point is located, and inserts an insertion line segment into the preset rotation angle at every insertion spacing angle to evenly divide the preset rotation angle into a number of angles equal to the preset number of angles; wherein each insertion line segment is configured to pass through the rotation center, and the rotation center is set as the common endpoint of all insertion line segments; it should be noted that the robot sets the result of rounding up the ratio of the angle of the preset rotation angle to the preset angle threshold as the preset number of angles, and the preset number of angles becomes the smallest integer greater than or equal to the ratio; the robot also sets the difference between the preset number of angles and 1 as the number of the aforementioned predicted position points inserted between the first position point and the second position point, which is also the number of the insertion line segments inserted into the preset rotation angle, wherein there is a predicted position point on an insertion line segment, so that the angle formed by the insertion line segments where the two predicted position points are inserted twice adjacently is less than or equal to the preset angle threshold.

[0041] The robot controls the sum of the length of the current inserted line segment and a length increment value to be set as the length of the next inserted line segment, so that the inserted line segment is inserted between the first position point and the second position point in a manner of constant length variation, at a predicted position point that is adapted to the straight-line distance from the rotation center. Specifically, the inserted line segment is first inserted into the preset rotation angle in a manner of constant length variation, and the corresponding inserted line segment is inserted between the first position point and the second position point in a manner of constant length variation. Then, the corresponding inserted line segment inserts the predicted position point located at the endpoint of the inserted line segment between the first position point and the second position point in a manner of constant length variation, and then determines that a predicted position point that is adapted to the straight-line distance from the rotation center is inserted between the first position point and the second position point. Therefore, in the iterative process of updating the length of the next inserted line segment to the length of the current inserted line segment, the new inserted line segment is inserted in a manner of constant length variation, but the length variation of the inserted line segment during this insertion process is independent of the direction angle of the robot at any predicted position point. The length increment value remains fixed during the process of inserting the predicted position point between the first position point and the second position point.

[0042] The robot also controls the sum of the current direction angle and an angle increment value to be set as the angle of the next direction angle, so that the direction angle of the robot at the inserted predicted position point changes at an equal angle, so that the direction angle changes at an equal angle to insert a predicted position point with a corresponding direction angle between the first position point and the second position point; since the robot's forward direction at the predicted position point is perpendicular to the insertion line segment where the predicted position point is located, the insertion line segment where the predicted position point is located is also inserted into the preset rotation angle at an equal angle, and then it is determined to insert a predicted position point with a corresponding direction angle between the first position point and the second position point, wherein the predicted position point is the same position point as the aforementioned inserted predicted position point that is adapted to the straight-line distance from the rotation center. Therefore, in the iterative processing process of updating the angle of the next direction angle to the angle of the current direction angle, the new predicted position point is inserted with equal angle changes, but the change of the direction angle at the predicted position point in this insertion process is independent of the length of the insertion line segment where the predicted position point is located; wherein, the insertion line segments where the two predicted position points inserted twice adjacently are located have a common endpoint, and the common endpoint is the rotation center; the angle increment value remains fixed during the process of inserting the predicted position point between the first position point and the second position point.

[0043] It should be noted that the robot sets the line segment connecting the rotation center and the currently inserted predicted position point as the currently inserted line segment, and sets the direction angle of the robot at the currently inserted predicted position point as the current direction angle; wherein, the angle formed by the forward direction of the robot at the currently inserted predicted position point relative to the baseline is the direction angle of the robot at the currently inserted predicted position point, which is used to predict the angular feature of the possible forward direction of the robot at the currently inserted predicted position point, and belongs to the guidance direction carried by a predicted position point for robot navigation. It can be the angle formed relative to one of the coordinate axis directions of the map coordinate system, forming the angle information of the robot at the currently inserted predicted position point, and the forward direction of the robot at the currently inserted predicted position point is perpendicular to the currently inserted line segment; when the forward direction of the robot changes, the robot rotates, and the robot may form the arc trajectory when rotating around the rotation center, then the line segment connecting the rotation center and the currently inserted predicted position point becomes a predicted radial line segment, which is used to represent the distance information of the robot from the rotation center, thereby using spatial coordinate representation or line segment length information. Similarly, the robot sets the line segment connecting the rotation center and a predicted position point for the next insertion as the next insertion line segment, and sets the direction angle of the robot at a predicted position point for the next insertion as the next direction angle; wherein, the angle formed by the forward direction of the robot at a predicted position point for the next insertion relative to the baseline is the direction angle of the robot at a predicted position point for the next insertion, which is a guidance direction carried by a predicted position point for robot navigation, and the forward direction of the robot at a predicted position point for the next insertion is perpendicular to the next insertion line segment; it should be noted that the currently inserted predicted position point and the next inserted predicted position point are sequential in time, and belong to the insertion actions at two adjacent time points, so that the two successively obtained insertion line segments and the two successively obtained direction angles have a temporal sequence. Corresponding to Figure 2 In an embodiment, when a predicted position point currently inserted is P3, a currently inserted line segment is line segment OP3, and a current direction angle is the direction of the arrow of the robot at the predicted position point P3; then, when a predicted position point next inserted is P4, a next inserted line segment is line segment OP4, and a next direction angle is the direction of the arrow of the robot at the predicted position point P4.

[0044] In summary, this embodiment inserts a predicted position point with a corresponding direction angle and a straight-line distance to the rotation center between the first position point and the second position point in an equal-angle change manner and an equal-length change manner. However, the robot's direction angle at the inserted predicted position point presents an equal-angle change and has no relationship with the equal-length change of the insertion line segment where the inserted predicted position point is located. These are two physical quantities that change under the premise that the calculation parameters do not interfere with each other, avoiding the coordinate information and angle information from using each other's parameters or the intermediate parameters carried during the conversion process, which is beneficial to reducing the phenomenon of introducing the mechanical error existing in one type of posture information into another type of posture information.

[0045] As an embodiment, with respect to the aforementioned method of inserting a predicted position point with a corresponding direction angle and a straight-line distance from the rotation center between the first position point and the second position point starting from the first position point in a manner of equal angle change and equal length change, specifically, within the angular range included by the preset rotation angle, the predicted position point is inserted in the direction from the first position point to the second position point around the rotation center, as follows: Figure 4 As shown, the specific steps include:

[0046] Step S41: On the first preset straight line, set the line segment connecting the first position point and the rotation center as the starting insertion line segment, and set the direction angle of the robot at the first position point as the starting insertion direction angle; on the second preset straight line, set the line segment connecting the second position point and the rotation center as the ending insertion line segment; then enter step S42, wherein the direction angle of the robot at the first position point is the angle formed by the robot's forward direction at the first position point relative to the baseline, and the direction angle of the robot at the second position point is the angle formed by the robot's forward direction at the second position point relative to the baseline, thereby indicating the posture characteristics of the robot at the position points that have been traversed. Corresponding to Figure 2 In the embodiment, the line segment connecting the first position point P1 and the rotation center O is set as the starting insertion line segment OP1, and the robot sets its direction angle at the first position point as the starting insertion direction angle, such as Figure 2 The direction indicated by the arrow at the position point P1 is consistent with the preset reference line ( Figure 2 (not shown), in some embodiments, the direction indicated by the arrow at point P1 is used as the tangent direction of the robot's motion trajectory at point P1. Similarly, the line segment connecting the second position point P2 and the rotation center O is set as the terminating insertion line segment OP2, and the line segment connecting the second position point P2 and the rotation center O is set as the terminating insertion line segment OP2; the robot sets its direction angle at the second position point P2 as the terminating insertion direction angle, as shown in FIG. Figure 2The direction indicated by the arrow at the position point P2 is consistent with the preset reference line ( Figure 2 In some embodiments, the direction indicated by the arrow at point P2 serves as the tangent direction of the robot's motion trajectory at point P2.

[0047] Step S42: setting the first insertion line segment inserted between the first position point and the second position point on a ray that forms an insertion spacing angle with the starting insertion line segment within the preset rotation angle, that is, setting the angle between the first insertion line segment and the starting insertion line segment as the insertion spacing angle to determine the insertion position of the first insertion line segment within the preset rotation angle, wherein the robot pre-sets the angle between the first ray and the second ray to the preset rotation angle, corresponding to Figure 2 In the embodiment of the present invention, the preset rotation angle formed by the first ray OP1 and the second ray OP2 is the included angle P1OP2, the line segment OP3 is used as the first inserted line segment inserted within the included angle P1OP2, and the angle formed by the line segment OP3 relative to the first ray OP1 is equal to the insertion spacing angle; the sum of the length of the starting inserted line segment and the length increment value is set as the length of the first inserted line segment, corresponding to Figure 2 In an embodiment, the sum of the length of the starting insertion line segment OP1 and the pre-configured length increment value is set as the length of the first insertion line segment OP3; and the sum of the angle of the starting insertion direction angle and the angle increment value is set as the angle of the first direction angle, wherein the angle increment value is correspondingly expressed as Figure 2 In the embodiment, the direction indicated by the arrow at the position point P3 is deflected relative to the direction indicated by the arrow at the position point P1, so that the direction indicated by the arrow at the position point P3 is aligned with the preset reference line ( Figure 2 The angle formed by the two axes (not shown) is the first direction angle, which is predicted to be the forward direction of the robot at the position point P3; then, among the endpoints of the first inserted line segment, one endpoint other than the rotation center is set as the predicted position point for the first insertion, and the corresponding Figure 2 In the first insertion line segment OP3, one endpoint other than the rotation center O is position point P3, which serves as the predicted position point P3 for the first insertion. The first insertion line segment is then updated to the current insertion line segment, the length of the first insertion line segment is updated to the length of the current insertion line segment, the angle of the first direction angle is updated to the angle of the current direction angle, and the predicted position point for the first insertion is updated to the predicted position point for the current insertion, and the process proceeds to step S43. The direction of the arrow at position point P3 is perpendicular to the first insertion line segment OP3, and the direction of the arrow at position point P3 indicates the tangent direction of the robot at the current motion trajectory node.

[0048] It should be noted that the result of rounding up the ratio of the preset rotation angle to the preset angle threshold is set as the preset angle number, so that the preset angle number becomes the smallest integer greater than or equal to the ratio. Specifically, when the ratio is a value with a decimal part, the preset angle number is an integer that is 1 greater than the integer part of the ratio; when the ratio is an integer value, the preset angle number is the ratio. The preset angle threshold is the unit angle span information between two adjacent inserted position points, and also represents the unit angle span information between the first inserted predicted position point and the first position point, and also represents the unit angle span information between the last inserted predicted position point and the second position point. In this embodiment, the preset angle number is set as the number of evenly divided preset rotation angles. In order to continuously insert multiple predicted position points between the first position point and the second position point, the robot sets the difference between the preset number of angles and 1 as the number of the aforementioned predicted position points inserted between the first position point and the second position point, so that the angle formed by the insertion line segments where the two predicted position points inserted twice adjacently are located is less than or equal to the preset angle threshold, and the angle formed by the insertion line segments where the two predicted position points inserted twice adjacently are located is the angle value obtained by evenly dividing the preset rotation angle according to the preset number of angles, corresponding to Figure 2 The angle value of the three equal parts of the angle, that is, Figure 2 The number of preset angles in is equal to 3, the preset rotation angle P1OP2 is divided into 3 equal angles, and the preset rotation angle P1OP2 is divided into angle P1OP3, angle P3OP4 and angle P4OP2, the angle of angle P1OP3 is equal to the angle of angle P3OP4, and the angle of angle P4OP2 is equal to the angle of angle P3OP4.

[0049] It should be noted that the robot sets the ratio of the difference between the length of the terminating insertion segment and the length of the starting insertion segment to the preset angle number as the length increment value, which is used to represent the increment between the lengths of the insertion segments where the two predicted position points of two adjacent insertions are located, and also represents the increment between the length of the insertion segment where the predicted position point of the first insertion is located and the length of the starting insertion segment, and also represents the increment between the length of the insertion segment where the predicted position point of the last insertion is located and the length of the terminating insertion segment. It belongs to the radial distance increment of the robot's rotation trajectory, but has nothing to do with the angle information and its change value, which means reducing the dimensional change problem of the position point, but supports synchronous change. In this embodiment, in the process of inserting the predicted position point between the first position point and the second position point, the length increment value remains fixed.

[0050] It should be noted that the robot sets the ratio of the difference between the angle of the ending insertion direction angle and the angle of the starting insertion direction angle to the preset number of angles as the angle increment value, which is used to represent the increment value of the direction angle at the two predicted position points of two adjacent insertions, and also represents the increment value between the angle of the direction angle at the predicted position point of the first insertion and the angle of the starting insertion direction angle, and also represents the increment value between the angle of the direction angle at the predicted position point of the last insertion and the angle of the ending insertion direction angle, but has nothing to do with the length of the inserted line segment and its change value, which means reducing the dimensional change problem of the position point, but supports synchronous change. In this embodiment, in the process of inserting the predicted position point between the first position point and the second position point, the angle increment value remains fixed.

[0051] Step S43, setting the angular position of the next inserted line segment to the direction from the first position point to the second position point, specifically, the direction around the rotation center O, from the first position point P1 to the second position point P2, including but not limited to the arc direction, the broken line direction or the combination of the two, relative to the position of the current inserted line segment at the insertion spacing angle, specifically, the next inserted line segment rotates in a specific clockwise direction relative to the current inserted line segment and intersects to form the insertion spacing angle, wherein the direction from the first position point to the second position point is a line direction, which can be clockwise or counterclockwise; and controlling the sum of the length of the current inserted line segment and the length increment value to be equal to the length of the next inserted line segment, so that the length of the next inserted line segment relative to the current inserted line segment is equal to the length of the next inserted line segment. The length of the current inserted line segment is increased by the length increment value; the robot also controls the sum of the angle of the current direction angle and the angle increment value to be equal to the angle of the next direction angle, so that the angle of the next direction angle is increased by the angle increment value relative to the angle of the current direction angle; then, among the endpoints of the next inserted line segment, an endpoint other than the rotation center is set as the predicted position point for the next insertion; therefore, step S43 combines the angular position, common endpoint, length of the inserted line segment, and direction angle at the predicted position point of the insertion of the next inserted line segment and obtains the next inserted line segment in a manner of increasing the corresponding posture amount on the basis of the current inserted line segment; wherein, the specific direction of the aforementioned direction from the first position point P1 to the second position point P2 has nothing to do with the length and direction angle of the inserted line segment.

[0052] Accordingly, in Figure 2In the example, the predicted position point of the current insertion is position point P3, and line segment OP3 is used as the current insertion line segment inserted into the preset rotation angle P1OP2. The direction indicated by the arrow at position point P3 is the possible forward direction of the robot at position point P3. The direction indicated by the arrow at position point P3 is consistent with the preset reference line ( Figure 2 Then, by executing the above step S43, the predicted position point for the next insertion is the position point P4, and the line segment OP4 is used as the next insertion line segment inserted into the preset rotation angle P1OP2. The direction indicated by the arrow at the position point P4 is the possible forward direction of the robot at the position point P4. The direction indicated by the arrow at the position point P4 is consistent with the preset reference line ( Figure 2 The angle formed by the two directions (not shown) is the next direction angle. Then the process proceeds to step S44.

[0053] Step S44: Update the length of the next inserted line segment to the length of the current inserted line segment, update the angle of the next direction angle to the angle of the current direction angle, update the next inserted line segment to the current inserted line segment, and update the predicted position point of the next insertion to the predicted position point of the current insertion, so as to meet the requirements of iterative processing of the length of the current inserted line segment, the angle of the current direction angle, the current inserted line segment, and the predicted position point of the current insertion, and then proceed to step S45. Accordingly, by executing the above step S44, the predicted position point P4 of the next insertion is updated to the predicted position point of the current insertion, the next inserted line segment OP4 is updated to the current inserted line segment, and the next direction angle corresponding to the direction indicated by the arrow at the position point P4 is updated to the current direction angle. Then proceed to step S45. Among them, the direction of the arrow of the robot at the position point P4 is perpendicular to the next inserted line segment OP4, and the direction of the arrow of the robot at the position point P4 marks the tangent direction of the robot at the current motion trajectory node.

[0054] Step S45: Determine whether the angle formed between the updated current insertion line segment and the terminating insertion line segment is equal to the insertion spacing angle. This may be determining whether the angle formed between the next insertion line segment and the terminating insertion line segment in step S43 is equal to the insertion spacing angle. If so, the process proceeds to step S46; otherwise, the process returns to step S43. Step S44: The updated current insertion line segment, i.e., the next insertion line segment in step S43, forms an angle equal to twice the insertion spacing angle with respect to the starting insertion line segment. It is deflected further than the current insertion line segment in step S43, and rotates from the first position point P1 to the second position point P2 around the rotation center O, specifically in an arc direction, a broken line direction, or a combination of the two. Compared to the predicted position point of the current insertion in step S42, the predicted position point of the next insertion in step S43 deviates further from the first position point, but will approach the second position point.

[0055] Therefore, after returning to step S43 from step S45, steps S43 to S45 are repeated to perform a new iterative process on the updated current insertion line segment. Under the action of the relevant incremental value in step S43, the next insertion line segment described in step S43 will gradually deflect toward the direction of the terminal insertion line segment as the number of predicted insertion position points increases, and as the number of predicted insertion position points increases, the angle between the next insertion line segment described in step S43 and the terminal insertion line segment will gradually become smaller. Then, after each update of the next insertion line segment described in step S43 in step S44, it is necessary to determine whether the angle between the next insertion line segment described in step S43 and the terminal insertion line segment is equal to the insertion spacing angle, which is understood as determining whether the corresponding angle is reduced to the insertion spacing angle, and then determining whether it is allowed to continue inserting new insertion line segments within the angle range of the angle between the next insertion line segment described in step S43 and the terminal insertion line segment to insert new predicted position points. Finally, in the connection method of the robot motion trajectory between the first position point and the second position point determined in step S3, the connected robot motion trajectory is a line direction from the first position point P1 to the second position point P2, specifically an arc direction, a broken line direction or a combination of the two.

[0056] Step S46: Determine that the angle between the next inserted line segment and the terminal inserted line segment in step S43 reaches a certain angle threshold, and that no new inserted line segment can be inserted to insert a new predicted position point. Then determine that the updated current inserted line segment is the last inserted line segment inserted between the first position point and the second position point, and determine that the predicted position point corresponding to the updated current inserted line segment is the predicted position point inserted last between the first position point and the second position point. Accordingly, Figure 2 In the figure, the predicted position point inserted last is position point P4, and line segment OP4 is the last inserted line segment inserted into the preset rotation angle P1OP2. The arrow at position point P4 indicates the possible forward direction of the robot at position point P4.

[0057] It should be noted that in the aforementioned steps S41 to S46, the angle formed by the insertion line segments where the two adjacent predicted position points are located is set as the insertion spacing angle, the angle formed by the starting insertion line segment and the first insertion line segment is set as the insertion spacing angle, and the angle formed by the ending insertion line segment and the last insertion line segment is set as the insertion spacing angle; therefore, between the first position point and the second position point, the preset rotation angle is evenly divided by all inserted insertion line segments into angles equal to the preset number of angles, and the angle of each equal angle is equal to the insertion spacing angle, that is, the number of insertion line segments equal to the difference between the preset number of angles and 1 divides the preset rotation angle evenly into angles equal to the preset number of angles, wherein the angle of each angle is equal to the insertion spacing angle. Therefore, a discrete line composed of two position points can be processed into multiple position points with equal distance spacing.

[0058] The robot motion trajectory continuous processing method described in the aforementioned steps S41 to S46 not only adjusts the angular position of the inserted insertion segment with the insertion spacing angle as a fixed angle increment, but also adjusts the length of the insertion segment with the length increment value as a fixed radial length increment, and adjusts the direction angle of the corresponding predicted position point with the angle increment value as a fixed direction angle increment, thereby replacing the discrete sampling position points of the robot in the prior art with continuous insertion points, overcoming the related errors introduced by the discrete sampling of the robot in the prior art. Compared with the prior art, the angle information that changes incrementally and the spatial distance information that changes incrementally in the aforementioned steps S41 to S46 do not interfere with each other, and the posture information corresponding to the predicted position points obtained near the two position points carries The error is smaller; specifically, the specific execution steps corresponding to the aforementioned steps S41 to S46 control the spatial coordinate distance information and the angle information to change according to the fixed incremental changes of the corresponding types, and convert the coordinate distance information and the angle information that change each time into an inserted line segment that is inserted once between the aforementioned two position points, and then continuously insert new predicted position points between the first position point and the second position point according to a certain spacing information, thereby enhancing the independence between the coordinate distance information and the angle information in the process of incremental change, overcoming the interference of errors caused by the mechanical activities carried by the spatial coordinate distance information and the angle information of the position points, and achieving the acquisition of predicted position points with fewer errors, replacing the original discrete path composed of only two position points, and realizing the continuous processing of the discrete path composed of the aforementioned two position points.

[0059] As an embodiment, the first position point and the second position point are two position points moved by the robot at two adjacent moments, wherein the moment when the robot moves to the first position point is less than the moment when the robot moves to the second position point; there is a fixed time interval between the two adjacent moments. Specifically, each predicted position point inserted in the aforementioned embodiment can correspond to a moment between these two adjacent moments, indicating that a predicted position point will be inserted between the first position point and the second position point at each corresponding moment, and each inserted predicted position point is at a different position. Therefore, when the number of inserted predicted position points is equal to the difference between the number of preset angles and 1, there are an equal number of moments for inserting predicted position points, that is, a limited number of predicted position points are inserted at a limited time point, and a predicted position point is inserted at each moment.

[0060] As an embodiment, for each predicted position point inserted between the first position point and the second position point, an interpolation sequence number is correspondingly configured to indicate the insertion order of the predicted position points, wherein when the minimum value of the interpolation sequence number is equal to 1, the maximum value of the interpolation sequence number is equal to the difference between the number of preset angles and 1, that is, equal to the number of inserted predicted position points. For each inserted line segment inserted between the first position point and the second position point, each inserted line segment has the rotation center as a common endpoint, and each inserted line segment also has another endpoint as a predicted position point, so that each inserted line segment has a corresponding predicted position point and an interpolation sequence number; this facilitates counting the number of inserted nodes and the insertion order to form node information of a trackable robot motion trajectory.

[0061] Preferably, the first location point, the second location point, each predicted location point inserted between the first and second locations, each interpolated line segment inserted between the first and second locations, the first ray, and the second ray all lie in the same plane. The first location point, the second location point, and each interpolated line segment inserted between the first and second locations all possess a certain directionality, so that, in the order of insertion, they are connected to form a continuous trajectory with a certain route, i.e., the aforementioned continuous robot motion trajectory. Furthermore, the aforementioned plane can be a map coordinate plane or a projection plane of the aforementioned location points and interpolated predicted location points. When the robot performs positioning and path planning within a three-dimensional map, the aforementioned plane lies within a three-dimensional space, allowing all interpolated predicted location points to be embedded within the three-dimensional space. In particular, the directional angle information carried by the plane can be used to construct a tangent plane. In some embodiments, each interpolated predicted location point between the first and second locations also lies on the same arc surface, possessing a certain degree of directionality. This allows for better adaptive processing based on different three-dimensional maps, thereby addressing the algorithm's versatility.

[0062] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A method for processing a robot's motion trajectory continuously, characterized in that: Before executing the robot motion trajectory continuity processing method, the robot has recorded the position points during the movement process; The robot motion trajectory continuous processing method includes: Among the position points that the robot has recorded, two position points at different positions are recorded as a first position point and a second position point, respectively. Then, a connection method of the robot motion trajectory between the first position point and the second position point is determined based on the angle feature between the first preset straight line and the second preset straight line, so as to connect the first position point and the second position point to form a continuous robot motion trajectory; The forward direction of the robot at the first position point is set as the first forward direction, and the straight line passing through the first position point and perpendicular to the first forward direction is set as the first preset straight line; The forward direction of the robot at the second position point is set as the second forward direction, and the straight line passing through the second position point and perpendicular to the second forward direction is set as the second preset straight line; The specific steps of determining the connection mode of the robot motion trajectory between the first position point and the second position point according to the angle feature between the first preset straight line and the second preset straight line include: If the second preset straight line intersects the first preset straight line, the intersection of the second preset straight line and the first preset straight line is set as the rotation center, and when the preset rotation angle is greater than the preset angle threshold, starting from the first position point, a predicted position point with a corresponding direction angle and a corresponding linear distance from the rotation center is inserted between the first position point and the second position point in a manner of equal angle change and equal length change; Then, the inserted predicted position points are connected in sequence according to the order of insertion, and the predicted position point inserted for the first time is connected to the first position point, and the predicted position point inserted for the last time is connected to the second position point, and then, a continuous robot motion trajectory is determined to be connected between the first position point and the second position point; Among them, in the first preset straight line, the ray with the rotation center pointing to the first position point is set as the first ray; in the second preset straight line, the ray with the rotation center pointing to the second position point is set as the second ray; then the angle between the first ray and the second ray is set as the preset rotation angle, so that it forms an angle between the first preset straight line and the second preset straight line.

2. The method for processing the robot motion trajectory continuously according to claim 1, characterized in that: The specific steps of determining the connection mode of the robot motion trajectory between the first position point and the second position point according to the angle feature between the first preset straight line and the second preset straight line include: If the second preset straight line intersects with the first preset straight line, the intersection of the second preset straight line and the first preset straight line is set as the rotation center, and when the preset rotation angle is less than or equal to the preset angle threshold, the first position point and the second position point are directly connected to form a line segment, so that the line segment becomes a continuous robot motion trajectory between the first position point and the second position point; wherein, in the first preset straight line, the ray with the rotation center pointing to the first position point is set as the first ray; in the second preset straight line, the ray with the rotation center pointing to the second position point is set as the second ray; then the angle formed by the first ray and the second ray is set as the preset rotation angle, so that it forms an angle formed by the first preset straight line and the second preset straight line; If the second preset straight line is parallel to the first preset straight line, the first position point and the second position point are directly connected to form a line segment, so that the line segment becomes a continuous robot motion trajectory between the first position point and the second position point.

3. The method for processing the robot motion trajectory continuously according to claim 1, characterized in that: The method of inserting predicted position points with corresponding direction angles and corresponding linear distances from the rotation center between the first position point and the second position point in a manner of equal angle change and equal length change starting from the first position point includes: Starting from the first ray where the first position point is located, insert an insertion line segment into the preset rotation angle at intervals of one insertion interval angle; wherein each insertion line segment passes through a common endpoint, which is the rotation center; Controlling the sum of the length of a current inserted line segment and a length increment value to be set as the length of a next inserted line segment, so that the inserted line segments are inserted between the first position point and the second position point in a manner of equal length change to a predicted position point that is adapted to the straight-line distance from the rotation center; Controlling the sum of the current direction angle and an angle increment value to be set as the angle of the next direction angle, so that the direction angle is inserted between the first position point and the second position point in a manner of equal angle change, and a predicted position point adapted to the direction angle is the same position point as the previously inserted predicted position point adapted to the straight-line distance from the rotation center; Among them, the result of rounding up the ratio of the preset rotation angle to the preset angle threshold is set as the preset angle number, so that the preset angle number becomes the smallest integer greater than or equal to the ratio, and the difference between the preset angle number and 1 is also determined to be the number of the aforementioned insertion line segments inserted between the first position point and the second position point.

4. The method for processing the robot motion trajectory continuously according to claim 3, characterized in that: On the first preset straight line, a line segment connecting the first position point and the rotation center is set as a starting insertion line segment, and the direction angle of the robot at the first position point is set as a starting insertion direction angle, wherein the direction angle of the robot at the first position point is the angle formed by the forward direction of the robot at the first position point relative to the reference line; On the second preset straight line, a line segment connecting the second position point and the rotation center is set as a termination insertion line segment, and the direction angle of the robot at the second position point is set as a termination insertion direction angle, wherein the direction angle of the robot at the second position point is the angle formed by the forward direction of the robot at the second position point relative to the reference line; The ratio of the difference between the length of the ending insertion line segment and the length of the starting insertion line segment and the preset angle number is set as the length increment value; The angle increment value is set as the ratio of the difference between the ending insertion direction angle and the starting insertion direction angle to the preset number of included angles.

5. The method for processing the robot motion trajectory continuously according to claim 4, characterized in that: The method of inserting predicted position points with corresponding direction angles and corresponding linear distances from the rotation center between the first position point and the second position point in a manner of equal angle change and equal length change starting from the first position point specifically includes: The first insertion line segment inserted between the first position point and the second position point is set on a ray that forms an insertion spacing angle with the starting insertion line segment within the preset rotation angle, and the sum of the length of the starting insertion line segment and the length increment value is set as the length of the first insertion line segment, and the sum of the angle of the starting insertion direction angle and the angle increment value is set as the angle of the first direction angle, and then among the endpoints of the first insertion line segment, one endpoint other than the rotation center is set as the predicted position point for the first insertion.

6. The method for continuous processing of robot motion trajectory according to claim 4 or 5, characterized in that: The method of inserting predicted position points with corresponding direction angles and corresponding linear distances from the rotation center between the first position point and the second position point in a manner of equal angle change and equal length change starting from the first position point specifically includes: Step A: setting the angular position of the next inserted line segment to be in the direction from the first position point to the second position point, at a position forming an insertion spacing angle relative to the current inserted line segment, controlling the sum of the length of the current inserted line segment and the length increment value to be equal to the length of the next inserted line segment, and controlling the sum of the angle of the current direction angle and the angle increment value to be equal to the angle of the next direction angle, and then setting one of the endpoints of the next inserted line segment other than the rotation center as the predicted position point for the next insertion; and then proceeding to Step B; Step B: updating the length of the next inserted line segment to the length of the current inserted line segment, updating the angle of the next direction angle to the angle of the current direction angle, updating the next inserted line segment to the current inserted line segment, and updating the predicted position point of the next insertion to the predicted position point of the current insertion; then proceeding to step C; Step C: Determine whether the angle formed by the updated current insertion line segment and the terminal insertion line segment is equal to the insertion spacing angle; if so, determine that the updated current insertion line segment is the last insertion line segment inserted between the first position point and the second position point, and determine that the predicted position point corresponding to the updated current insertion line segment is the predicted position point of the last insertion between the first position point and the second position point; otherwise, return to step A; The angle formed by the insertion line segments where two prediction position points are located in two adjacent insertions is set as the insertion spacing angle.

7. The method for processing robot motion trajectory continuously according to claim 6, characterized in that: The robot motion trajectory continuous processing method further includes: Setting a line segment connecting the rotation center and a currently inserted predicted position point as the currently inserted line segment, and setting the direction angle of the robot at the currently inserted predicted position point as the current direction angle; wherein the angle formed by the forward direction of the robot at the currently inserted predicted position point relative to the reference line is the direction angle of the robot at the currently inserted predicted position point, and the forward direction of the robot at the currently inserted predicted position point is perpendicular to the currently inserted line segment; The line segment connecting the rotation center and a predicted position point for the next insertion is set as the next insertion line segment, and the direction angle of the robot at the predicted position point for the next insertion is set as the next direction angle; wherein, the angle formed by the forward direction of the robot at the predicted position point for the next insertion relative to the baseline is the direction angle of the robot at the predicted position point for the next insertion, and the forward direction of the robot at the predicted position point for the next insertion is perpendicular to the next insertion line segment.

8. The method for continuous processing of robot motion trajectory according to claim 1 or 2, characterized in that: The first position point and the second position point are two position points that the robot has moved to at two adjacent moments, wherein the moment when the robot moves to the first position point is less than the moment when the robot moves to the second position point; there is a fixed time interval between the two adjacent moments.

9. The method for processing the robot motion trajectory continuously according to claim 6, characterized in that: For each predicted position point inserted between the first position point and the second position point, an interpolation sequence number is correspondingly configured to indicate the insertion order of the predicted position point, wherein when the minimum value of the interpolation sequence number is equal to 1, the maximum value of the interpolation sequence number is equal to the difference between the preset angle number and 1; Each inserted line segment between the first position point and the second position point has the rotation center as a common endpoint, and each inserted line segment also has another endpoint as a predicted position point, so that each inserted line segment has a corresponding predicted position point and a corresponding interpolation sequence number.

10. The method for processing robot motion trajectory continuously according to claim 9, characterized in that: If the angle between the first inserted line segment inserted between the first position point and the second position point and the first ray is equal to the insertion spacing angle, and the angle between the last inserted line segment inserted between the first position point and the second position point and the second ray is equal to the insertion spacing angle, then the number of inserted line segments equal to the difference between the preset number of angles and 1 will evenly divide the preset rotation angle into the number of angles equal to the preset number of angles, where the angle of each angle is equal to the insertion spacing angle.

11. The method for processing robot motion trajectory continuously according to claim 9, characterized in that: The first position point, the second position point, each predicted position point inserted between the first position point and the second position point, each inserted line segment inserted between the first position point and the second position point, the first ray and the second ray are all located in the same plane; wherein, the plane is located in a three-dimensional space.

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