A dimensionality reduction design and manufacturing method for a three-dimensional curve guide rail

Abstract

The present invention provides a dimensionality reduction design and manufacturing method for a three-dimensional curve guide rail, which relates to the technical field of track design of a rail-mounted mobile robot and includes: Step 1: Analyze the complex environment for building the guide rail and determine the ideal trajectory of the guide rail; Step 2: Dimensionality reduction and simplification design the three-dimensional space curve trajectory of the ideal trajectory into a form of sequentially connected combinations of multiple simplified trajectories. The simplified trajectory is a two-dimensional trajectory, and a simplified guide rail is manufactured according to the simplified trajectory and connected in sequence; the two-dimensional trajectory means that the trajectory curve has a bend in only one of the in-plane lateral or normal directions. The present invention dimensionality reduction and simplification designs the known three-dimensional space curve trajectory into a form of a combination of multiple two-dimensional curved guide rails, breaks through the application limitations of traditional linear guide rails and circular guide rails, and reduces the processing difficulty of the curve guide rail and the assembly difficulty of building a track on a complex curved surface.

Description

Technical Field

[0001] The present invention relates to the technical field of track design for rail-guided mobile robots, and particularly to a method for dimension reduction design and manufacturing of a three-dimensional curve guide rail. Background Art

[0002] A rail-guided mobile robot, that is, a mobile robot equipped with an end effector, determines its moving trajectory through the guidance of a built track to achieve long-distance operations. Currently, it is mainly used to realize functions such as mobile spraying, drilling, inspection, and logistics sorting.

[0003] The existing rail-guided mobile robot tracks are mostly linear guides and circular guides. The trajectory shapes of these two forms are fixed and have poor adaptability. Currently, they are only used in scenarios with open environments and simple requirements for the robot's movement trajectory, such as RGV logistics sorting, spraying on automobile production lines, etc. For some scenarios with relatively complex environments, such as variable cross-section pipes, and curved surfaces with undulations in the up-down, left-right directions on the bottom surface of track construction, linear guides and circular guides cannot meet the requirements of the robot's movement trajectory. And with the current level of rail design and manufacturing, it is difficult to design and machine a three-dimensional space curve guide rail similar to the surface of the bottom surface of track construction. Therefore, it is difficult to build a guide rail for such scenarios, and there is no reliable construction method.

[0004] Therefore, for the construction of guide rails on complex curved surfaces, it is necessary to design a track with a certain degree of adaptability to break through the application limitations of traditional linear guides and circular guides, as well as difficulties such as the large processing difficulty of three-dimensional space curve guide rails, so as to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for dimension reduction design and manufacturing of a three-dimensional curve guide rail to solve the problems existing in the above-mentioned prior art. The known three-dimensional space curve trajectory is dimensionally reduced and simplified into a form of a combination of multiple two-dimensional curved guides connected in sequence, breaking through the application limitations of traditional linear guides and circular guides, reducing the processing difficulty of curve guide rails and the assembly difficulty of building tracks on complex curved surfaces.

[0006] To achieve the above purpose, the present invention provides the following solutions:

[0007] The present invention provides a method for dimension reduction design and manufacturing of a three-dimensional curve guide rail, including:

[0008] Step 1: Analyze the complex environment of track construction and determine the ideal trajectory of the guide rail;

[0009] Step 2: Dimensionally reduce and simplify the three-dimensional space curve trajectory of the ideal trajectory into a form of a combination of multiple simplified trajectories connected in sequence. The simplified trajectory is a two-dimensional trajectory, and simplified guide rails are made according to the simplified trajectory and connected in sequence; the two-dimensional trajectory means that the trajectory curve has a bend in only one of the in-plane horizontal or normal directions.

[0010] Preferably, the dimensionality reduction and simplification design method in step two is as follows:

[0011] Step a: Select the ideal trajectory and analyze the curve shapes of its front view and top view;

[0012] Step b: Determine the simplification principle and simplification area and perform segmented simplification processing to ensure that each segment of the simplified trajectory is a two-dimensional curve;

[0013] Step c: Perform tangency processing at the joints of each segment of the simplified trajectory.

[0014] Preferably, it further includes step three: Analyze the simplified trajectory and design a transition part for the guide rail installation joint surface.

[0015] Preferably, in step one, the process of analyzing the complex environment for building the guide rail is as follows: Determine a pipe inner wall with a narrow and irregular cross-section according to the volume of the robot and the path it passes through. The pipe inner wall is a complex curved surface, with undulations in the up, down, left, and right directions at the bottom, and the guide rail is placed in the center at the bottom of the pipe;

[0016] The determination of the ideal trajectory includes: Selecting the bottom center points of multiple cross-sections in the narrow pipe as references to obtain several control points, and drawing a spatial spline curve, which is the ideal trajectory.

[0017] Preferably, in step a, the shape of the ideal trajectory is represented by two projection views, the front view and the top view. The front view reflects the change of the ideal trajectory in the normal direction of the guide rail surface, and the top view reflects the change of the ideal trajectory in the transverse direction of the guide rail surface;

[0018] Analyze its shape according to the curvature comb distribution of the projection views of the ideal trajectory. The area with a uniform curvature comb distribution is simplified to an arc, and the area with a small curvature or a centrally symmetric curvature comb distribution is simplified to a straight line.

[0019] Preferably, the simplification principles in step b include: First, set the maximum allowable deviation between the simplified trajectory and the ideal trajectory, and the deviation between the simplified trajectory and the ideal trajectory is less than the maximum allowable deviation; Second, ensure that each segment of the simplified trajectory has only one direction of bending, that is, bending in the transverse or normal direction of the guide rail surface; Third, the entire curve formed by connecting multiple segments of the simplified trajectory in sequence should ensure tangency continuity, that is, G1 continuity, and the joints of each segment of the simplified trajectory are tangent.

[0020] Preferably, the steps of analyzing and verifying the simplified trajectory in step three include:

[0021] Simplification principle one: Compare the simplified curve with the projection views of the ideal trajectory to ensure that the maximum deviation meets the requirements;

[0022] Simplification Principle 2: Verification is carried out by simplifying the curvature comb distribution of the trajectory;

[0023] Simplification Principle 3: Check through the connection checker in the Freestyle module of CATIA software to ensure that the curve is G1 continuous.

[0024] Preferably, the profile of the guide rail installation joint transition piece fits with the simplified guide rail profile, connecting multiple sections of the simplified guide rail into an integrated body and ensuring the overall stiffness of the guide rail. The two are connected by bolts;

[0025] The guide rail installation joint transition piece and the complex surface are connected by a 3D printed support piece. The connection method is bolt connection, and the 3D printed support piece fits with the complex surface.

[0026] The present invention has achieved the following technical effects compared with the prior art:

[0027] The dimensionality reduction design and manufacturing method of the three-dimensional curve guide rail provided by the present invention reduces the dimensionality of the three-dimensional space curve trajectory of the ideal trajectory and simplifies the design into a form of connecting multiple simplified trajectories in sequence, realizing the movement of the mobile robot between three-dimensional space points, breaking through the space limitation of the rail-guided mobile robot running on traditional single straight guide rails and circular arc guide rails, broadening the application scenarios of the rail-guided mobile robot, and can build tracks in some complex environments such as variable cross-section pipes and curved surfaces with undulations in the up, down, left, and right directions on the bottom surface of the track construction.

[0028] Through the simplified design of the ideal trajectory and the design of the guide rail installation joint transition piece, the design of the support structure becomes simple, and the installation surface between the overall installation of the guide rail and the 3D printed support piece becomes a plane. During design, it is only necessary to ensure that the bottom of the 3D printed support piece fits with the complex surface.

[0029] 2. After the guide rail is simplified designed by the method provided by the present invention, the guide rail only bends in one direction of in-plane transverse or normal direction. Machining can be completed by milling along the simplified trajectory on a machining center, reducing the manufacturing difficulty and cost of the guide rail. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 Schematic diagram of building a guide rail on the inner wall of a long and narrow pipe with an irregular cross-section using the method provided by the present invention;

[0032] Figure 2 Front view and top view of the ideal trajectory of the guide rail of the present invention;

[0033] Figure 3 Curvature comb distribution diagram of the front view and top view of the ideal trajectory of the guide rail of the present invention;

[0034] Figure 4 Front view and top view of the ideal trajectory of the guide rail of the present invention after simplified design;

[0035] Figure 5 Schematic diagram of the tangency treatment of the curves of section A and section B in the top view after the simplified design of the ideal trajectory of the guide rail of the present invention;

[0036] Figure 6 Curvature comb distribution diagram of the front view and top view of the ideal trajectory of the guide rail of the present invention after simplified design;

[0037] Figure 7 Connection inspection result diagram of the ideal trajectory of the guide rail of the present invention after simplified design;

[0038] Figure 8 Schematic diagram of the installation of the transition piece of the guide rail installation joint surface after the simplified design of the ideal trajectory of the guide rail in the present invention;

[0039] Figure 9 Flow chart of the simplified design steps of the ideal trajectory of the guide rail in the present invention;

[0040] In the figure: 1 is the simplified guide rail; 2 is the variable cross-section narrow and long pipeline; 3 is the mobile robot; 4 is the 3D printing support; 5 is the transition piece of the guide rail installation joint surface; 6 is the front view of the ideal trajectory of the guide rail; 7 is the top view of the ideal trajectory of the guide rail; 8 is the curvature comb distribution of the front view of the ideal trajectory of the guide rail; 9 is the curvature comb distribution of the top view of the ideal trajectory of the guide rail; 10 is the front view of the simplified trajectory of the guide rail; 11 is the top view of the simplified trajectory of the guide rail; 12 is the curvature comb distribution of the front view after the simplified design of the guide rail trajectory; 13 is the curvature comb distribution of the top view after the simplified design of the guide rail trajectory; 14 is the connection inspection result of the front view after the simplified design of the guide rail trajectory; 15 is the connection inspection result of the top view after the simplified design of the guide rail trajectory; 16 is the guide rail installation joint surface of the uphill section A of the guide rail; 17 is the guide rail installation joint surface of the top section B of the slope of the guide rail; 18 is the guide rail installation joint surface of the downhill section C of the guide rail.

[0041] The meanings of the line segments in the figure are as follows: 8-A is the uphill section in the front view of the ideal track of the guide rail; 8-B is the top section in the front view of the ideal track of the guide rail; 8-C is the downhill section in the front view of the ideal track of the guide rail; 9-A is the uphill section in the top view of the ideal track of the guide rail; 9-B is the top section in the top view of the ideal track of the guide rail; 9-C is the downhill section in the top view of the ideal track of the guide rail; 12-A is the uphill section in the front view after the simplified design of the guide rail track; 12-B is the top section in the front view after the simplified design of the guide rail track; 12-C is the downhill section in the front view after the simplified design of the guide rail track; 13-A is the uphill section in the top view after the simplified design of the guide rail track; 13-B is the top section in the top view after the simplified design of the guide rail track; 13-C is the downhill section in the top view after the simplified design of the guide rail track. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0043] The purpose of the present invention is to provide a method for dimensionality reduction design and manufacturing of a three-dimensional curve guide rail to solve the problems existing in the above-mentioned prior art, and to dimensionally reduce and simplify the design of a known three-dimensional space curve track into a form of a combination of multiple two-dimensional curved guide rails, breaking through the application limitations of traditional linear guide rails and circular guide rails, and reducing the processing difficulty of curve guide rails and the assembly difficulty of building tracks on complex curved surfaces.

[0044] To make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0045] A two-dimensional track means that the track curve has a bend in only one of the in-plane transverse or normal directions.

[0046] Taking the inner wall of a pipe with a long and narrow cross-section that is irregular as an example for a complex curved surface, as Figure 1 The figure shows a schematic diagram of building a guide rail on a complex curved surface, including a simplified guide rail 1, a variable cross-section long and narrow pipe 2, a mobile robot 3, a 3D printing support 4, and a guide rail installation joint surface transition part 5.

[0047] The simplified guide rail 1 is a guide rail with a constant cross-section, which can ensure the smooth passage of the mobile robot 3.

[0048] The variable cross-section narrow and long pipe 2 has a bottom surface that is the building surface of the guide rail, with undulations in the up-down, left-right directions. To ensure the reliability of the guide rail construction, the bottom surface of the 3D printed support 4 fits the complex surface at the bottom of the narrow and long pipe. The guide rail support structure is manufactured by 3D printing to achieve the adaptive construction of the guide rail on the complex surface.

[0049] The guide rail installation surface of the guide rail installation joint transition piece 5 fits the bottom surface of the simplified guide rail 1, connecting each section of the simplified guide rail 1 integrally to ensure the overall stiffness of the simplified guide rail 1. Its bottom is connected to the 3D printed support 4 by bolts.

[0050] As Figures 1 to 9 shown, the specific steps for the simplified design of the guide rail are as follows:

[0051] The first step: Analyze the complex environment of the guide rail construction, determine the ideal trajectory, obtain two projection views, namely the front view and the top view, and conduct a shape analysis.

[0052] 1. Determine the ideal trajectory of the guide rail:

[0053] For the known digital model of the narrow and long pipe, to enable the mobile robot 3 to have more working space, place the guide rail in the center at the bottom of the narrow and long pipe. Take the bottom center points of several cross-sections in the narrow and long pipe as references to obtain several control points, and draw a space spline curve as the ideal motion trajectory of the mobile robot 3.

[0054] In the present invention, the ideal trajectory of the guide rail in the narrow and long pipe is a space spline curve drawn through 13 control points obtained with the bottom center points of 13 cross-sections as references.

[0055] 2. Curve shape analysis:

[0056] As Figure 2 shown, the front view of the ideal trajectory of the guide rail Figure 6 and the top view of the ideal trajectory of the guide rail Figure 7 are used to represent the position of the ideal trajectory. The front view reflects the change of the trajectory in the normal direction within the guide rail surface, and the top view reflects the change of the trajectory in the transverse direction within the guide rail surface.

[0057] Analyze the key shapes of the front view and the top view of the ideal trajectory curve respectively, mainly focusing on the curvature comb distribution of the curve projection views. Areas with relatively uniform curvature comb distribution can be considered to be simplified into arcs, and areas with relatively small curvature or curvature combs showing central symmetry distribution can be considered to be simplified into straight lines.

[0058] As Figure 3 shown is the curvature comb distribution diagram of the front view and the top view of the ideal trajectory of the guide rail in the present invention.

[0059] From Figure 3It can be seen from the curvature comb distribution 8 in the front view of the ideal track of the guide rail that, from left to right, the curve shapes can be roughly divided into the uphill section 8-A in the front view of the ideal track of the guide rail, the peak section 8-B in the front view of the ideal track of the guide rail, and the downhill section 8-C in the front view of the ideal track of the guide rail. Among them, the curvature comb distribution in the peak section is relatively uniform and can be simplified and replaced by an arc transition; the curvature values in the uphill and downhill sections are small, and the curvature combs are centrosymmetrically distributed, and can be replaced by a straight line approximating the curve track.

[0060] From Figure 3 It can be seen from the curvature comb distribution 9 in the top view of the ideal track of the guide rail that, from left to right, the changes in the curve shape dimensions are small. The curvature value of the peak section 9-B in the top view of the ideal track of the guide rail in the middle section is small, and the change range is not large, and can be replaced by a straight line approximating the curve track.

[0061] Step 2: Determine the simplification principle and the simplification area to ensure that each section of the simplified track is a two-dimensional curve.

[0062] According to the analysis of the guide rail construction environment in the first step, the guide rail is segmented for simplification processing, and the simplification principle and the simplification position need to be determined first.

[0063] 3. Determine the simplification principle:

[0064] a. To ensure the effective working space of the robot, the simplified track should approximate the ideal motion track as much as possible, and set the maximum allowable deviation between the two; b. To reduce the manufacturing difficulty of the guide rail, ensure that each section of the simplified track has only one-directional bending, that is, bending horizontally or normally in the guide rail plane; c. To ensure the smooth operation of the robot on the guide rail, the entire track ensures tangential continuity, that is, G1 continuity, and the splicing points of each section of the simplified track need to ensure tangency.

[0065] 4. Divide the simplification area:

[0066] According to the shape analysis in Step 2, the ideal track is divided into three major sections for simplified design, namely the uphill section A, the peak section B, and the downhill section C.

[0067] In the front view direction: The uphill section A and the downhill section C are Figure 3 in the curvature comb distribution 8 in the front view of the ideal track of the guide rail, corresponding to the uphill section 8-A in the front view of the ideal track of the guide rail and the downhill section 8-C in the front view of the ideal track of the guide rail respectively. According to the shape analysis in Step 2, these two sections of curves are simplified to straight line approximations in the front view direction.

[0068] The peak section B is Figure 3 in the curvature comb distribution 8 in the front view of the ideal track of the guide rail, corresponding to the peak section 8-B in the front view of the ideal track of the guide rail. According to the shape analysis in Step 2, this section of curve is simplified to an arc in the front view direction.

[0069] In the top view direction: According to Simplification Principle b in Step 3, each section of the trajectory can only have a bend in one direction, that is, a lateral or normal bend within the guide rail surface.

[0070] Therefore, the curve of section B at the top of the slope needs to be simplified to a straight line in the top view direction, that is Figure 3 In the curvature comb distribution 9 of the ideal trajectory of the guide rail in the top view, the top slope section 9-B of the ideal trajectory of the guide rail is simplified to a straight line; the uphill section 9-A and the downhill section 9-C of the ideal trajectory of the guide rail in the top view can maintain their original trajectories, but it is necessary to ensure that the simplified trajectory is tangent to the straight line connection of section b9-B of the uphill section in the top view of the ideal trajectory of the guide rail.

[0071] Step 3: Segment simplification processing and tangency processing at the splicing point.

[0072] 5. Front view simplification and tangency processing

[0073] Simplify the front view of the three-dimensional ideal trajectory. In the front view, translate the ideal motion trajectory of the mobile robot 3 upward by a certain distance to reserve space for the guide rail support structure.

[0074] According to the simplification scheme in Step 4, in the front view direction, simplify the uphill section A and the downhill section C to straight lines, and simplify the top slope section B to an arc. As Figure 4 Shown in the front view of the simplified trajectory of the guide rail, it is the front view of the simplified straight line.

[0075] According to Simplification Principle c in Step 3, in the front view direction, both ends of the arc of section B at the top of the slope need to be tangent to the two straight lines of the uphill section A and the downhill section C.

[0076] The steps for tangency processing are as follows: First, determine the position of the straight line of section A of the uphill section, draw an arc section B tangent to the straight line of section A, then draw the extension line of the tangent of the other end of the arc section B to obtain a straight line section C, and finally, by constraining the position of one end point of the straight line section C, the radius of the arc section C can be determined, that is Figure 4 R in Bx , and the obtained arc section and straight line section are the arc of section B at the top of the slope and the straight line of section C of the downhill section.

[0077] 6. Top view simplification and tangency processing

[0078] Simplify the top view of the three-dimensional ideal trajectory. According to the simplification scheme in Step 4, in the top view direction, simplify the top slope section B to a straight line, and perform tangency processing at the connection of the uphill section A and the downhill section C with the top slope section B, and keep the rest of the trajectory unchanged. As Figure 4 Shown in the top view of the simplified trajectory of the guide rail, it is the top view of the simplified trajectory.

[0079] According to Simplification Principle c in Step 3, in the top view direction, the two straight segments at both ends of the slope top segment B should be tangent to the two curved segments of the uphill segment A and the downhill segment C.

[0080] The tangent treatment steps are as follows: The original trajectory of the downhill segment C is retained. According to Figure 3 From the curvature comb distribution in the top view, it can be seen that the curvature at the intersection of the downhill segment C and the adjacent slope top segment B is close to 0. Therefore, the tangent line at the end point of the downhill segment C curve can be used as the simplified straight line of the slope top segment B, ensuring the tangency between segment B and segment C;

[0081] At the connection between the uphill segment A and the adjacent slope top segment B, a tangent and an arc are used for transition instead of the end curve of segment A to ensure the tangency relationship, that is Figure 4 L and R in the top view Ay .

[0082] As Figure 5 Shown in the partial enlarged view of the simplified trajectory top view, for the tangency treatment at the connection between the uphill segment A curve and the simplified slope top segment B straight line, take a point E on the A curve to make a tangent line, and the intersection point of the tangent line and the extended line of the B segment straight line is the center O. Take the distance |OC| from the center O to the splicing point C of the AB segment as the radius to make a circle, ensuring that this transition segment is within the uphill segment A to meet Simplification Principle b; The circle intersects with the tangent line of the A segment curve to obtain point D. Make the normal line of OC at point C and the normal line of DE at point D, and the intersection point of the two normal lines is the center of the transition arc, thereby determining the transition arc CD and the radius R Ay . And the tangency relationship between the A segment curve and the B segment straight line is ensured.

[0083] Step 4: Analyze the simplified guide rail curve and design the transition part 5 of the guide rail installation joint surface

[0084] 7. Analysis of Simplification Results

[0085] Check whether the simplified trajectory meets each simplification principle:

[0086] By comparing the simplified trajectory with the ideal trajectory projection view after simplification, ensure that the maximum deviation meets the requirements. In the present invention, the trajectories of the two projection views after simplification both meet the requirements of the robot working space, and different maximum deviations can be set according to different application scenarios;

[0087] According to the front view and top view of the simplified trajectory, draw the corresponding curvature comb distribution. As Figure 6 Shown in the curvature comb distribution diagrams of the front view and top view of the simplified trajectory of the guide rail, it can be clearly seen that the simplified curve meets Simplification Principle b in Step 3.

[0088] Through the connection checker in the Freestyle module of the CATIA software, check the front view and top view of the simplified trajectory. As Figure 7Shown are the connection inspection results of the simplified trajectory front view and top view. For the simplified trajectory front view, there are 2 connection points, the maximum deviation of G0 is 0 mm, and the maximum deviation of G1 is 0°. For the simplified trajectory top view, there are 4 connection points, the maximum deviation of G0 is 0 mm, and the maximum deviation of G1 is 0°. The inspection results show that the simplified curve is continuous, and the joints of each section are tangent to each other.

[0089] 8. Design of the Transition Part 5 for the Guide Rail Installation Joint Surface

[0090] To ensure the connection stiffness of each section of the guide rail after simplification and achieve the integration of each section of the guide rail, a transition support part must be added between the 3D printing support part 4 and the guide rail, which fits the guide rail profile, so as to ensure the stability of the overall guide rail built on the complex curved surface. As Figure 8 shown, it is a partial three-dimensional structure schematic diagram of the transition part, including the guide rail uphill section A guide rail installation joint surface 16, the guide rail peak section B guide rail installation joint surface 17, the guide rail downhill section C guide rail installation joint surface 18, the 3D printing support part 4, and the simplified guide rail 1.

[0091] The three joint surfaces are completely fitted to the bottom surface of the guide rail after trajectory simplification to ensure the connection stiffness of the overall guide rail, and the connection method is bolt connection.

[0092] The bottom support surface of the 3D printing support part 4 is completely fitted to the narrow and long pipeline to ensure the support stability of the guide rail installation joint surface transition part 5, and the 3D printing support part 4 and the guide rail installation joint surface transition part 5 are connected by bolts.

[0093] The above embodiments have designed relatively simple trajectories. When encountering more complex trajectory curves, the front view and top view of the ideal trajectory need to be divided into more than three sections to ensure that each section of the simplified trajectory is a two-dimensional curve.

[0094] Specific examples are applied in the present invention to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for dimension reduction design and manufacturing of a three-dimensional curve guide rail, characterized in that: Design for the guide rail of a rail-mounted mobile robot, including: Step 1: Analyze the complex environment for building the guide rail and determine the ideal trajectory of the guide rail; Step 2: Dimensionally reduce and simplify the three-dimensional space curve trajectory of the ideal trajectory into a form where multiple simplified trajectories are connected in sequence. The simplified trajectory is a two-dimensional trajectory, and a simplified guide rail is fabricated according to the simplified trajectory and connected in sequence. The dimensional reduction and simplification design method in Step 2 is as follows: Step a: Select the ideal trajectory and analyze the curve shapes of its front view and top view; Step b: Determine the simplification principle and simplification area and perform segmented simplification processing to ensure that each segment of the simplified trajectory is a two-dimensional curve; Step c: Perform a tangency treatment at the connection of each segment of the simplified trajectory; Analyze its shape based on the curvature comb distribution of the projection view of the ideal trajectory. The area with a uniform curvature comb distribution is simplified to an arc, and the area with a small curvature or a centrally symmetric curvature comb distribution is simplified to a straight line; The simplification principles in Step b include: First, set the maximum allowable deviation between the simplified trajectory and the ideal trajectory, and the deviation between the simplified trajectory and the ideal trajectory is less than the maximum allowable deviation; Second, ensure that each segment of the simplified trajectory has only one-directional bending, that is, bending horizontally or normally within the guide rail surface; Third, the entire curve formed by connecting multiple segments of the simplified trajectory in sequence should ensure tangency continuity, and the connections of each segment of the simplified trajectory are tangent.

2. The dimensionality reduction design and manufacturing method of the three-dimensional curve guide rail according to claim 1, characterized in that: It further includes Step 3: Analyze the simplified trajectory and design a transition piece for the guide rail installation joint surface.

3. The dimensionality reduction design and manufacturing method of the three-dimensional curve guide rail according to claim 2, wherein: In Step 1, the process of analyzing the complex environment for building the guide rail is as follows: Determine a pipe inner wall with a long and narrow cross-section and irregular shape according to the volume of the robot and the path it needs to pass through. It is a complex curved surface, with undulations in the up, down, left, and right directions at the bottom, and the guide rail is placed in the center at the bottom of the pipe; The determination of the ideal trajectory includes: Select the bottom center points of multiple cross-sections in the long and narrow pipe as references to obtain several control points, and draw a spatial spline curve, which is the ideal trajectory.

4. The dimensionality reduction design and manufacturing method of the three-dimensional curve guide rail according to claim 2, characterized in that: In Step a, the shape of the ideal trajectory is represented by two projection views, the front view and the top view. The front view reflects the normal direction change of the ideal trajectory within the guide rail surface, and the top view reflects the horizontal direction change of the ideal trajectory within the guide rail surface.

5. The dimensional reduction design and manufacturing method of the three-dimensional curve guide rail according to claim 4, characterized in that: The step of analyzing and verifying the simplified trajectory in Step 3 includes: Simplification principle 1: Compare the simplified trajectory with the projection view of the ideal trajectory to ensure that the maximum deviation meets the requirements; Simplification principle 2: Verify through the curvature comb distribution of the simplified trajectory; Simplification principle 3: Check through the connection checker in the Freestyle module of CATIA software to ensure curve tangency continuity.

6. The dimensionality reduction design and manufacturing method of the three-dimensional curve guide rail according to claim 3, characterized in that: The surface of the guide rail installation joint surface transition piece fits with the surface of the simplified guide rail, connects multiple segments of the simplified guide rail into an integrated unit and ensures the overall stiffness of the guide rail. The two are connected by bolts; The guide rail installation joint surface transition piece and the complex curved surface are connected by a 3D printed support piece, and the connection method is bolt connection. The 3D printed support piece fits with the complex curved surface.

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