Track planning method and device, robot, storage medium and computer equipment

Abstract

The invention provides a trajectory planning method and device, a robot, a storage medium and computer equipment. The method comprises the steps of obtaining a task path and a task path length of the robot; if the length of the task path is greater than a preset length threshold value, obtaining a current task sub-path in the task path according to the length threshold value; according to the current task sub-path, obtaining a current movement track of the robot; when the robot moves according to the current movement track, the movement time of the robot completing the current movement track is predicted; determining a next task sub-path from the task path according to the activity time; according to the next task subpath, planning the next motion track of the robot; and when the robot completes the current movement track, taking the next movement track as the current movement track, and enabling the robot to continuously move according to the current movement track until the task path is traversed. The time for the robot to wait for motion track planning can be shortened, and the working efficiency of the robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot trajectory planning, and in particular to a trajectory planning method, apparatus, robot, storage medium and computer equipment. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. In the existing related technologies, when controlling a semi-autonomous robot to work, the robot needs to stop in place and follow the trajectory planned according to the entire task path until the trajectory planned according to the entire task path is obtained. The robot will start to run according to the trajectory to traverse the entire task path. Therefore, before the robot obtains the trajectory planned according to the entire task path, it needs to stop in place. The longer the task path, the longer the stop time, which wastes a lot of time and also reduces the work efficiency of the robot. Summary of the invention

[0003] The purpose of this application is to overcome the shortcomings and deficiencies in the prior art and to provide a trajectory planning method, device, robot, storage medium and computer equipment, which can reduce the time the robot waits for activity trajectory planning and improve the robot's work efficiency.

[0004] A first aspect of an embodiment of the present application provides a trajectory planning method, including:

[0005] Get the robot's task path and task path length;

[0006] If the length of the task path is greater than a preset length threshold, obtaining a current task sub-path in the task path according to the length threshold;

[0007] According to the current task subpath, obtaining the current activity trajectory of the robot;

[0008] When the robot moves according to the current activity trajectory, predict the activity time of the robot to complete the current activity trajectory; determine the next task sub-path from the task path according to the activity time; and plan the next activity trajectory of the robot according to the next task sub-path;

[0009] When the robot completes the current activity trajectory, the next activity trajectory is used as the current activity trajectory, so that the robot continues to move according to the current activity trajectory until the task path is traversed.

[0010] A second aspect of an embodiment of the present application provides a trajectory planning device, including:

[0011] A task path acquisition module is used to obtain the robot's task path and task path length;

[0012] A current task subpath acquisition module, configured to obtain a current task subpath in the task path according to a preset length threshold if the length of the task path is greater than the preset length threshold;

[0013] A current activity trajectory acquisition module, used to obtain the current activity trajectory of the robot according to the current task subpath;

[0014] A next activity trajectory acquisition module is used to predict the activity time of the robot to complete the current activity trajectory when the robot moves according to the current activity trajectory; determine the next task sub-path from the task path according to the activity time; and plan the next activity trajectory of the robot according to the next task sub-path;

[0015] The current activity trajectory updating module is used to use the next activity trajectory as the current activity trajectory when the robot completes the current activity trajectory, so that the robot continues to move according to the current activity trajectory until traversing the task path.

[0016] A third aspect of an embodiment of the present application provides a robot, comprising: a control mainboard; the control mainboard is used to execute the steps of the trajectory planning method as described above.

[0017] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the trajectory planning method described above are implemented.

[0018] A fifth aspect of an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the steps of the trajectory planning method as described above when executing the computer program.

[0019] Compared with the related art, for a task path whose task path length is greater than a preset length threshold, the present application first obtains the current task sub-path in the task path according to the length threshold, obtains the current activity trajectory of the robot according to the current task sub-path, and then predicts the activity time of the robot completing the current activity trajectory when the robot moves according to the current activity trajectory, so as to determine the next task sub-path according to the activity time, thereby planning the next activity trajectory according to the next task sub-path, and then when the robot completes the current activity trajectory, uses the next activity trajectory as the current activity trajectory, so that the robot continues to move according to the current activity trajectory until the task path is traversed. By first planning the activity trajectory of a part of the path, and then planning the next activity trajectory when the robot moves according to the current activity trajectory, the time the robot stays and waits for the activity trajectory planning is greatly reduced, and the work efficiency of the robot is improved.

[0020] In order to provide a clearer understanding of the present application, the specific implementation of the present application will be described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flow chart of a trajectory planning method according to an embodiment of the present application.

[0022] Figure 2 A schematic diagram of a task path of a trajectory planning method according to an embodiment of the present application.

[0023] Figure 3 A schematic diagram of a current activity trajectory of a trajectory planning method according to an embodiment of the present application.

[0024] Figure 4 This is a flowchart of steps S211 - S212 of a trajectory planning method according to an embodiment of the present application.

[0025] Figure 5 This is a flowchart of steps S221 - S223 of a trajectory planning method according to an embodiment of the present application.

[0026] Figure 6 A schematic diagram of module connections of a trajectory planning device according to one embodiment of the present application.

[0027] Figure 7 A schematic diagram of a robot according to an embodiment of the present application.

[0028] 100, trajectory planning device; 101, task path acquisition module; 102, current task sub-path acquisition module; 103, current activity trajectory acquisition module; 104, next activity trajectory acquisition module; 105, current activity trajectory update module; 200, robot; 201, control mainboard. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0030] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present application.

[0031] When the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. The singular forms of "a", "said" and "the" used in the present application and the appended claims are also intended to include the majority form, unless the context clearly indicates other meanings. The words "if" / "if" used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0032] In addition, in the description of this application, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0033] In order to better understand the technical solution of the present application, the relevant application scenarios of the present application are introduced below.

[0034] The application scenarios of the present application include robots. The robot is an electronic machine device having a mobile component and a mechanical arm assembly. The mobile component can be a chassis provided with a plurality of electric wheels and / or a plurality of mechanical feet, the mechanical arm assembly is arranged on the chassis, and the end of the mechanical arm assembly can be a mechanical claw and / or a camera and other devices.

[0035] When the robot is working, it needs to plan the trajectory according to the task path to obtain the activity trajectory. Among them, the activity trajectory includes the chassis rotation speed and the chassis translation speed. The chassis rotation speed is used to change the movement direction of the robot, and the chassis translation speed is used to control the speed of the robot moving along the movement direction. In the related art, after the trajectory planning of the entire task path is carried out and the complete activity trajectory is obtained, the robot will move according to the complete activity trajectory. However, the longer the task path, the longer the robot waits for the complete activity trajectory, which wastes time resources and also reduces the work efficiency of the robot.

[0036] See also Figure 1 , which is a trajectory planning method of an embodiment of the present application, comprising:

[0037] S1: Get the robot's task path and task path length.

[0038] like Figure 2 As shown in the figure, the task path refers to multiple spatial discrete points with a sequential relationship generated by the path planning algorithm module. The robot needs to move and traverse all spatial discrete points according to the sequential relationship of the spatial discrete points to complete the task path. The task path length refers to the length of the route connecting all spatial discrete points according to the sequential relationship of the spatial discrete points. Among them, the route connecting all spatial discrete points can include straight lines and arcs.

[0039] S2: If the length of the task path is greater than a preset length threshold, the current task sub-path is obtained in the task path according to the length threshold.

[0040] Among them, the length threshold can be preset by the user. When the task path length is less than or equal to the length threshold, it means that the task path length is short, and the complete activity trajectory can be obtained in a short time according to the corresponding task path planning. When the task path length is greater than the length threshold, it means that the task path length is long, and the complete activity trajectory cannot be obtained in a short time according to the corresponding task path planning. Therefore, the robot has a long waiting time. At this time, the current task sub-path obtained according to the length threshold can obtain a complete activity trajectory in a short time according to the corresponding task path planning.

[0041] S3: According to the current task sub-path, obtain the current activity trajectory of the robot.

[0042] The current activity trajectory refers to a trajectory containing activity information generated by the trajectory planning module based on multiple spatial discrete points with sequential relationships in the task path, and the activity information includes chassis translation speed and chassis rotation speed, etc. The robot controller controls the movement of the robot according to the current activity trajectory.

[0043] S4: When the robot moves according to the current activity trajectory, predict the activity time of the robot to complete the current activity trajectory; determine the next task sub-path from the task path according to the activity time; and plan the next activity trajectory of the robot according to the next task sub-path.

[0044] Preferably, in step S4, the next task subpath determined includes the task subpath corresponding to the current activity track, so that the robot has higher robustness when moving according to the next activity track corresponding to the next task subpath. As a feasible embodiment, the next task subpath determined in step S4 may not include the task subpath corresponding to the current activity track, for example, the starting point of the next task subpath is the end point of the previous activity track.

[0045] S5: When the robot completes the current activity trajectory, the next activity trajectory is used as the current activity trajectory, so that the robot continues to move according to the current activity trajectory until the task path is traversed.

[0046] Among them, in step S5, traversing the task path means completing the planning of the activity trajectory according to the entire task path, that is, Figure 3 As shown, the current activity trajectory is obtained according to the entire task path planning. If the task path is not traversed, step S4 is executed again to realize the cyclic execution of steps S4 and S5 when the task path is not traversed.

[0047] In this embodiment, for a task path whose task path length is greater than a preset length threshold, the present application first obtains the current task sub-path in the task path according to the length threshold, obtains the current activity trajectory of the robot according to the current task sub-path, and then predicts the activity time of the robot completing the current activity trajectory when the robot moves according to the current activity trajectory, so as to determine the next task sub-path according to the activity time, thereby planning the next activity trajectory according to the next task sub-path, and then when the robot completes the current activity trajectory, the next activity trajectory is used as the current activity trajectory, so that the robot continues to move according to the current activity trajectory until the task path is traversed. By first planning the activity trajectory of a part of the path, and then planning the next activity trajectory when the robot moves according to the current activity trajectory, the time for the robot to stay and wait for the activity trajectory planning is greatly reduced, and the work efficiency of the robot is improved.

[0048] In one feasible embodiment, the current activity trajectory includes the robot's chassis translation speed;

[0049] In S2, the step of predicting the activity time for the robot to complete the current activity trajectory includes:

[0050] S21: Obtaining the activity time according to the sub-path length of the current task sub-path, the sub-path length of the previous task sub-path of the current task sub-path, and the chassis translation speed.

[0051] In this embodiment, since the current task sub-path includes the previous task sub-path, that is, when the robot moves according to the current activity trajectory, it moves from the end point of the previous task sub-path to the end point of the current task sub-path on the path, therefore, the activity time for the robot to complete the current activity trajectory can be accurately calculated based on the sub-path length of the current task sub-path, the sub-path length of the previous task sub-path and the chassis translation speed.

[0052] See also Figure 4 In a feasible embodiment, S21: the step of obtaining the activity time according to the sub-path length of the current task sub-path corresponding to the current activity trajectory, the sub-path length of the previous task sub-path of the current task sub-path, and the chassis translation speed includes:

[0053] S211: Obtain a path difference between a sub-path length of a current task sub-path and a sub-path length of a previous task sub-path.

[0054] Since the robot moves from the end point of the previous task sub-path to the end point of the current task sub-path when it moves according to the current active trajectory, the path difference between the sub-path length of the current task sub-path and the sub-path length of the previous task sub-path is the actual distance the robot moves according to the current active trajectory.

[0055] S212: Divide the path difference by the chassis translation speed to determine the activity time.

[0056] In this embodiment, the path difference representing the actual distance the robot moves along the current activity trajectory can be calculated based on the sub-path length of the current task sub-path and the sub-path length of the previous task sub-path, and then the activity time for the robot to complete the current activity trajectory can be accurately calculated based on the path difference and the chassis translation speed.

[0057] See also Figure 5 In a feasible embodiment, in S2, the step of determining the next task sub-path from the task path according to the activity time includes:

[0058] S221: Obtaining a planned speed of the planned activity trajectory; wherein the planned speed is greater than a chassis translation speed of the target robot.

[0059] Among them, the faster the planning speed, the longer the path length corresponding to the activity trajectory obtained in unit time.

[0060] S222: Obtain the sub-path length of the next task sub-path according to the planned speed and activity time.

[0061] Since the planning speed is greater than the moving speed, the sub-path length of the next task sub-path obtained is greater than the sub-path length of the current task sub-path.

[0062] S223: Obtain the next task sub-path in the task path according to the sub-path length.

[0063] In this embodiment, the sub-path length of the next task sub-path can be accurately calculated according to the planning speed and the activity time, so as to obtain the next task sub-path in the task path.

[0064] In a feasible embodiment, S222: the step of obtaining the sub-path length of the next task sub-path according to the planning speed and the activity time includes:

[0065] The product of the planned speed and the activity time is determined as the subpath length of the next task subpath.

[0066] In this embodiment, according to the operational relationship among the planned speed, the activity time and the sub-path length of the next task sub-path, the planned speed and the activity time may be multiplied to accurately calculate the sub-path length of the next task sub-path.

[0067] In a feasible embodiment, the steps further include:

[0068] S6: If the task path length is less than or equal to the length threshold, the current activity trajectory of the robot is obtained according to the task path.

[0069] When the task path length is less than or equal to the length threshold, it means that the task path length is small, and the complete activity trajectory can be obtained according to the corresponding task path planning in a short time. Therefore, the robot waits for a short time and can directly obtain the current activity trajectory of the robot according to the task path.

[0070] S7: Drive the robot to move along the current active trajectory.

[0071] In this embodiment, when the task path length is small, the current activity trajectory of the robot is directly obtained according to the task path, which can reduce the amount of data that needs to be processed when planning the activity trajectory.

[0072] In order to further illustrate the technical content of this application, the following examples are provided for illustration:

[0073] (1) For example, if the length of the task path P is greater than the length threshold L0, the path from 0m to L0m in the task path P is stored in the segmentation result data asyn_path. The purpose is to store a shorter path in asyn_path as a task sub-path. The trajectory planning module can complete the trajectory planning of the path with a length of L0 in asyn_path in a short time and obtain the current active trajectory. The robot can then move based on the current active trajectory. At this point, the variable last_L can be defined to record the path length corresponding to the current active trajectory, that is, last_L is initialized to L0.

[0074] (2) The robot's chassis translation speed is v1. The time required for the robot to move from 0 to L0 of the task path P is: t0 = L0 / v1. According to the computing power of the computing unit, it is estimated that the path length that the trajectory planning module can plan per second is K, that is, the planning speed is v2 = K / 1. Therefore, the robot can complete the trajectory planning of a path with a length of t0*v2 within t0 and obtain the next active trajectory. At this time, the path length corresponding to the next active trajectory can be recorded by defining the variable current_L, that is, initializing current_L to t0*L1.

[0075] (3) When current L is equal to the task path length of task path P, it means that the robot has not yet completed the current activity trajectory, but the trajectory planning module has completed the trajectory planning for task path P.

[0076] (4) When current_L is less than the task path length of task path P, the path from 0 to current_Lm in task path P is stored in asyn_path, and the path length of the next task sub-path is prepared to be calculated.

[0077] The distance increment delta_L is defined to represent the increment of the subpath length of the current task subpath corresponding to the current active trajectory relative to the subpath length of the previous task subpath, delta_L = current_L-last_L, which means that when the robot reaches the end point last_L of the previous task subpath, the robot continues to move from the end point last_L of the previous task subpath to the end point current_L of the current task subpath according to the current active trajectory. The time required for the robot to move delta_Lm is t1 = delta_L / v1. The robot can complete the trajectory planning of the path with a length of t1*v2 within t1 and obtain the next active trajectory. When the robot updates the next active trajectory to the current active trajectory, the robot can continue to move based on the current active trajectory. At this time, current_L is assigned to last_L, and then t1*v2 is assigned to current_L. The task path lengths of current_L and task path P are compared, and step (3) or step (4) is returned according to the comparison result.

[0078] See also Figure 6 The second embodiment of the present application provides a trajectory planning device 100, comprising:

[0079] A task path acquisition module 101 is used to acquire the task path and task path length of the robot;

[0080] The current task sub-path acquisition module 102 is used to obtain the current task sub-path in the task path according to the length threshold if the task path length is greater than a preset length threshold;

[0081] The current activity trajectory acquisition module 103 is used to obtain the current activity trajectory of the robot according to the current task subpath;

[0082] The next activity trajectory acquisition module 104 is used to predict the activity time of the robot to complete the current activity trajectory when the robot moves according to the current activity trajectory; determine the next task sub-path from the task path according to the activity time; and plan the next activity trajectory of the robot according to the next task sub-path;

[0083] The current activity trajectory updating module 105 is used to take the next activity trajectory as the current activity trajectory when the robot completes the current activity trajectory, so that the robot continues to move according to the current activity trajectory until the task path is traversed.

[0084] It should be noted that the trajectory planning device 100 provided in the second embodiment of the present application only uses the division of the above-mentioned functional modules as an example when executing the trajectory planning method. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the trajectory planning device 100 provided in the second embodiment of the present application and the trajectory planning method of the first embodiment of the present application belong to the same concept. The implementation process is detailed in the method embodiment, which will not be repeated here.

[0085] See also Figure 7 The third embodiment of the present application provides a robot 200, including: a control mainboard 201; the control mainboard is used to execute the steps of the above trajectory planning method.

[0086] It should be noted that when the robot 200 provided in the third embodiment of the present application executes the trajectory planning method, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the robot 200 provided in the third embodiment of the present application and the trajectory planning method of the first embodiment of the present application are of the same concept, and the implementation process thereof is detailed in the method embodiment, which will not be repeated here.

[0087] A fourth embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the trajectory planning method described above are implemented.

[0088] A fifth embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the steps of the trajectory planning method as described above when executing the computer program.

[0089] The device embodiments described above are merely illustrative, wherein the components described as separate parts may or may not be physically separated, and the parts displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application. Ordinary technicians in this field can understand and implement it without creative work.

[0090] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0091] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the function selected in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 function selected in a box or multiple boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 steps for the function selected in a box or multiple boxes.

[0093] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0094] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0095] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0096] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0097] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A trajectory planning method, characterized in that: include: Get the robot's task path and task path length; If the length of the task path is greater than a preset length threshold, obtaining a current task sub-path in the task path according to the length threshold; According to the current task subpath, obtaining the current activity trajectory of the robot; When the robot moves according to the current activity trajectory, predict the activity time of the robot to complete the current activity trajectory; determine the next task sub-path from the task path according to the activity time; and plan the next activity trajectory of the robot according to the next task sub-path; When the robot completes the current activity trajectory, the next activity trajectory is used as the current activity trajectory, so that the robot continues to move according to the current activity trajectory until the task path is traversed.

2. The trajectory planning method according to claim 1, characterized in that: The current activity trajectory includes the chassis translation speed; The step of predicting the activity time of the robot to complete the current activity trajectory includes: The activity time is obtained according to the sub-path length of the current task sub-path, the sub-path length of the previous task sub-path of the current task sub-path, and the chassis translation speed.

3. The trajectory planning method according to claim 2, characterized in that: The step of obtaining the activity time according to the sub-path length of the current task sub-path corresponding to the current activity trajectory, the sub-path length of the previous task sub-path of the current task sub-path, and the chassis translation speed comprises: Obtaining a path difference between a sub-path length of the current task sub-path and a sub-path length of the previous task sub-path; The activity time is determined by dividing the path difference by the chassis translation speed.

4. The trajectory planning method according to claim 1, characterized in that: The step of determining the next task sub-path from the task path according to the activity time includes: Acquire a planning speed of a planned activity trajectory; wherein the planning speed is greater than a chassis translation speed of the target robot; Obtaining a sub-path length of the next task sub-path according to the planning speed and the activity time; The next task sub-path is obtained in the task path according to the sub-path length.

5. The trajectory planning method according to claim 4, characterized in that: The step of obtaining the sub-path length of the next task sub-path according to the planning speed and the activity time includes: The product of the planned speed and the activity time is determined as the sub-path length of the next task sub-path.

6. The trajectory planning method according to claim 1, characterized in that: The steps also include: If the length of the task path is less than or equal to the length threshold, obtaining the current activity trajectory of the robot according to the task path; The robot is driven to move along the current activity trajectory.

7. A trajectory planning device, characterized in that: include: A task path acquisition module is used to obtain the robot's task path and task path length; A current task subpath acquisition module, configured to obtain a current task subpath in the task path according to a preset length threshold if the length of the task path is greater than the preset length threshold; A current activity trajectory acquisition module, used to obtain the current activity trajectory of the robot according to the current task subpath; A next activity trajectory acquisition module is used to predict the activity time of the robot to complete the current activity trajectory when the robot moves according to the current activity trajectory; determine the next task sub-path from the task path according to the activity time; and plan the next activity trajectory of the robot according to the next task sub-path; The current activity trajectory updating module is used to use the next activity trajectory as the current activity trajectory when the robot completes the current activity trajectory, so that the robot continues to move according to the current activity trajectory until traversing the task path.

8. A robot, characterized in that: include: Control main board; the control main board is used to execute the steps of the trajectory planning method as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the trajectory planning method according to any one of claims 1 to 6 are implemented.

10. A computer device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the steps of the trajectory planning method according to any one of claims 1 to 6 when executing the computer program.

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