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

Abstract

The application provides a trajectory planning method and device, a robot, a storage medium and a computer device. The method comprises the following steps: obtaining a task path and a task path length of the robot; if the task path length is greater than a preset length threshold, obtaining a current task sub-path in the task path according to the length threshold; obtaining a current activity trajectory of the robot according to the current task sub-path; predicting an activity time of the robot for completing the current activity trajectory when the robot moves according to the current activity trajectory; determining a next task sub-path from the task path according to the activity time; planning a next activity trajectory of the robot according to the next task sub-path; and taking 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. The application can reduce the time for the robot to wait for activity trajectory planning and improve the work efficiency of the robot.

Description

Technical Field

[0001] This application relates to the field of trajectory planning technology for robots, specifically to a trajectory planning method, apparatus, robot, storage medium, and computer equipment. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. In existing technologies, when controlling a semi-autonomous robot, it needs to remain stationary and follow the trajectory planned for the entire task path. Only after obtaining this trajectory will the robot begin to move along it, traversing the entire task path. Therefore, the robot needs to remain stationary before obtaining the planned trajectory, and the longer the task path, the longer the stopping time, which is very time-consuming and reduces the robot's work efficiency. Summary of the Invention

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

[0004] The first aspect of this application provides a trajectory planning method, including:

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

[0006] 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.

[0007] Based on the current task sub-path, obtain the robot's current activity trajectory;

[0008] As the robot moves according to the current activity trajectory, the activity time for the robot to complete the current activity trajectory is predicted; based on the activity time, the next task sub-path is determined from the task path; based on the next task sub-path, the next activity trajectory of the robot is planned.

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

[0010] A second aspect of this application provides a trajectory planning device, comprising:

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

[0012] The current task sub-path acquisition module is used to obtain the current task sub-path in the task path according to the length threshold if the length of the task path is greater than a preset length threshold.

[0013] The current activity trajectory acquisition module is used to obtain the current activity trajectory of the robot based on the current task sub-path;

[0014] The next activity trajectory acquisition module is used to predict the activity time for 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 update module is used to update 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.

[0016] A third aspect of this application provides a robot, including: a control motherboard; the control motherboard is used to execute the steps of the trajectory planning method described above.

[0017] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the trajectory planning method described above.

[0018] A fifth aspect of this application provides a computer device including a storage device, a processor, and a computer program stored in the storage device and executable by the processor, wherein the processor executes the computer program to implement the steps of the trajectory planning method as described above.

[0019] Compared to related technologies, this application, for task paths whose length exceeds a preset length threshold, first obtains the current task sub-path based on the length threshold, then obtains the robot's current activity trajectory based on the current task sub-path. Next, as the robot moves according to the current activity trajectory, the activity time required to complete the current activity trajectory is predicted, and the next task sub-path is determined based on this activity time. The next activity trajectory is then planned based on the next task sub-path. Finally, when the robot completes the current activity trajectory, the next activity trajectory is used as the current activity trajectory, allowing the robot to continue moving according to the current activity trajectory until the entire task path has been traversed. By planning the activity trajectory of a portion of the path first, and then planning the next activity trajectory as the robot moves according to the current activity trajectory, the time the robot spends waiting for activity trajectory planning is significantly reduced, thus improving the robot's work efficiency.

[0020] To provide a clearer understanding of this application, the specific embodiments of this application will be described below in conjunction with the accompanying drawings. Attached Figure Description

[0021] Figure 1 This is a flowchart of a trajectory planning method according to an embodiment of this application.

[0022] Figure 2 This is a schematic diagram of the task path for a trajectory planning method according to an embodiment of this application.

[0023] Figure 3 This is a schematic diagram of the current active trajectory of a trajectory planning method according to an embodiment of this application.

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

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

[0026] Figure 6 This is a schematic diagram of the module connections of a trajectory planning device according to an embodiment of this application.

[0027] Figure 7 This is a schematic diagram of a robot according to one embodiment of this 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 motherboard. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0030] It should be understood that the described embodiments are merely some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of the embodiments of this application.

[0031] In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The singular forms "a," "the," and "the" used in this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. The word "if" as used herein can be interpreted as "when," "when," or "in response to determination."

[0032] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0033] To better understand the technical solution of this application, the relevant application scenarios of this application are introduced below.

[0034] The application scenarios of this application include robots. The robot is an electronic machine device with a moving component and a robotic arm assembly. The moving component may be a chassis equipped with multiple electric wheels and / or multiple mechanical legs, the robotic arm assembly is mounted on the chassis, and the end effector of the robotic arm assembly may be a mechanical gripper and / or a camera, etc.

[0035] When a robot is working, it needs to plan its trajectory according to the task path to obtain an activity trajectory. This trajectory includes the chassis rotation speed and chassis translation speed. The chassis rotation speed changes the robot's direction of movement, and the chassis translation speed controls the speed of the robot's movement along that direction. In related technologies, the robot only moves according to the complete activity trajectory after the entire task path has been planned. However, the longer the task path, the longer the time the robot spends waiting for the complete activity trajectory, wasting time resources and reducing the robot's work efficiency.

[0036] Please see Figure 1 This is a trajectory planning method according to one embodiment of the present application, comprising:

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

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

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

[0040] The length threshold can be preset by the user. When the task path length is less than or equal to the length threshold, it indicates that the task path length is short, and a complete activity trajectory can be planned according to the corresponding task path in a short time. When the task path length is greater than the length threshold, it indicates that the task path length is long, and a complete activity trajectory cannot be planned according to the corresponding task path in a short time. Therefore, the robot waits for a long time. In this case, the current task sub-path obtained according to the length threshold can be used to plan a complete activity trajectory according to the corresponding task path in a short time.

[0041] S3: Obtain the robot's current activity trajectory based on the current task sub-path.

[0042] The current activity trajectory refers to the trajectory generated by the trajectory planning module based on multiple spatial discrete points with sequential relationships along the task path, containing activity information such as chassis translation speed and chassis rotation speed. The robot's controller controls the robot's movement according to the current activity trajectory.

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

[0044] Preferably, in step S4, the determined next task sub-paths all include the task sub-paths corresponding to the current activity trajectory, which can make the robot more robust when moving according to the next activity trajectory corresponding to the next task sub-path. As a feasible embodiment, the next task sub-paths determined in step S4 may not include the task sub-paths corresponding to the current activity trajectory; for example, the starting point of the next task sub-path may be the ending point of the previous activity trajectory.

[0045] S5: When the robot completes the current activity trajectory, the next activity trajectory is taken 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] In step S5, traversing the task path refers to planning the activity trajectory based on the entire task path, i.e. Figure 3 As shown, the current activity trajectory is planned based on the entire task path. If the task path has not been traversed, step S4 is executed again to achieve the cyclic execution of steps S4 and S5 when the task path has not been traversed.

[0047] In this embodiment, for task paths whose length exceeds a preset length threshold, this application first obtains the current task sub-path based on the length threshold, then obtains the robot's current activity trajectory based on the current task sub-path. As the robot moves according to the current activity trajectory, the activity time required to complete the current activity trajectory is predicted, and the next task sub-path is determined based on this activity time. The next activity trajectory is then planned based on the next task sub-path. Finally, when the robot completes the current activity trajectory, the next activity trajectory is used as the current activity trajectory, allowing the robot to continue moving according to the current activity trajectory until the entire task path has been traversed. By first planning the activity trajectory of a portion of the path, and then planning the next activity trajectory as the robot moves according to the current activity trajectory, the time the robot spends waiting for activity trajectory planning is greatly reduced, thus improving the robot's working efficiency.

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

[0049] In S2, the steps for predicting the robot's activity time to complete the current activity trajectory include:

[0050] S21: The activity time is obtained based on 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. 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] Please see Figure 4 In one feasible embodiment, S21: The step of obtaining the activity time based on 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: Get the path difference between the length of the subpath of the current task and the length of the subpath of the previous task.

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

[0055] S212: The quotient of the path difference divided by the chassis translation speed is determined as the activity time.

[0056] In this embodiment, the path difference, representing the actual distance the robot travels according to 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. 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] Please see Figure 5 In one feasible embodiment, step S2, determining the next task sub-path from the task path based on the activity time, includes:

[0058] S221: Obtain the planning speed of the planned activity trajectory; wherein, the planning speed is greater than the chassis translation speed of the robot.

[0059] The faster the planning speed, the longer the path length corresponding to the activity trajectory obtained per unit of time.

[0060] S222: Based on the planned speed and activity time, obtain the sub-path length of the next task sub-path.

[0061] Because the planning speed is greater than the movement speed, the sub-path length of the next task sub-path is greater than the sub-path length of the current task sub-path.

[0062] S223: Based on the sub-path length, obtain the next task sub-path in the task path.

[0063] In this embodiment, the sub-path length of the next task sub-path can be accurately calculated based on the planned speed and activity time, thereby obtaining 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 based on the planned speed and activity time includes:

[0065] The product of the planned speed and the activity time is used to determine the sub-path length of the next task sub-path.

[0066] In this embodiment, the planned speed and activity time can be multiplied according to the calculation relationship between the planned speed, activity time and the sub-path length of the next task sub-path, so as to accurately calculate the sub-path length of the next task sub-path.

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

[0068] S6: If the task path length is less than or equal to the length threshold, obtain the robot's current activity trajectory based on the task path.

[0069] Since a task path length less than or equal to a length threshold indicates a short task path length, a complete activity trajectory can be planned within a short time based on the corresponding task path. Therefore, the robot's waiting time is short, and the robot's current activity trajectory can be obtained directly based on the task path.

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

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

[0072] To further illustrate the technical content of this application, the following examples are provided:

[0073] (1) For example, if the length of task path P is greater than the length threshold L0, the path from 0m to L0m in task path P is stored in the segmented result data asyn_path. The purpose is to store a shorter path in asyn_path as a sub-path of the task. The trajectory planning module can complete trajectory planning for the path of length L0 in asyn_path in a short time to obtain the current activity trajectory, and the robot can move based on the current activity trajectory. At this time, the path length corresponding to the current activity trajectory can be recorded by defining the variable last_L, 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 path 0 of task path P to path L0 is: t0 = L0 / v1. Based on the computing power of the computing unit, the path length that the trajectory planning module can plan per second is estimated to be K, that is, the planning speed is v2 = K / 1. Therefore, the robot can complete the trajectory planning of the path with a length of t0*v2 in time t0 and obtain the next activity trajectory. At this time, the path length corresponding to the next activity trajectory can be recorded by defining the variable current_L, that is, the current_L is initialized to t0*L1.

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

[0076] (4) When current_L is less than the task path length of task path P, store the path from 0 to current_Lm in task path P into asyn_path and prepare to calculate the path length of the next task sub-path.

[0077] Define the distance increment delta_L to represent the increment of the sub-path length of the current task sub-path corresponding to the current activity trajectory relative to the sub-path length of the previous task sub-path. delta_L = current_L - last_L, indicating that when the robot reaches the end point last_L of the previous task sub-path, the robot continues to move delta_L from the end point last_L of the previous task sub-path to the end point current_L of the current task sub-path based on the current activity 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 the time t1 and obtain the next activity trajectory. After the robot updates the next activity trajectory to the current activity trajectory, the robot can continue to move based on the current activity trajectory. At this time, assign current_L to last_L, and then assign t1*v2 to current_L. Compare current_L with the task path length of task path P, and return to step (3) or step (4) according to the comparison result.

[0078] Please see Figure 6 The second embodiment of this application provides a trajectory planning device 100, including:

[0079] The task path acquisition module 101 is used to acquire the robot's task path and task path length.

[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 length of the task path is greater than the preset length threshold.

[0081] The current activity trajectory acquisition module 103 is used to obtain the robot's current activity trajectory based on the current task sub-path;

[0082] The next activity trajectory acquisition module 104 is used to predict the activity time for 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 robot's next activity trajectory according to the next task sub-path.

[0083] The current activity trajectory update module 105 is used to update the next activity trajectory as the current activity trajectory when the robot completes the current activity trajectory, so that the robot can continue 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 this application is only illustrated by the above-described division of functional modules when executing the trajectory planning method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 this application and the trajectory planning method of the first embodiment of this application belong to the same concept, and its implementation process is detailed in the method embodiment, which will not be repeated here.

[0085] Please see Figure 7 The third embodiment of this application provides a robot 200, including: a control motherboard 201; the control motherboard is used to execute the steps of the trajectory planning method described above.

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

[0087] The fourth embodiment of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the trajectory planning method described above.

[0088] The fifth embodiment of this application provides a computer device, including a storage device, a processor, and a computer program stored in the storage device and executable by the processor. When the processor executes the computer program, it implements the steps of the trajectory planning method as described above.

[0089] The device embodiments described above are merely illustrative. The components described as separate parts may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without any inventive effort.

[0090] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function selected in one or more boxes.

[0092] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function selected in one or more boxes.

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

[0094] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0095] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0096] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0097] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A trajectory planning method, characterized in that, include: Obtain the robot's task path and task path length; 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. Based on the current task sub-path, obtain the robot's current activity trajectory; As the robot moves according to the current activity trajectory, the activity time for the robot to complete the current activity trajectory is predicted; based on the activity time, the next task sub-path is determined from the task path; based on the next task sub-path, the next activity trajectory of the robot is planned. When the robot completes the current activity trajectory, the next activity trajectory is taken as the current activity trajectory, and the robot continues to move according to the current activity trajectory until the task path is traversed; The step of determining the next task sub-path from the task path based on the activity time includes: The planned speed for the planned activity trajectory is obtained; wherein the planned speed is greater than the chassis translation speed of the robot; Based on the planned speed and the activity time, the sub-path length of the next task sub-path is obtained; Based on the sub-path length, the next task sub-path is obtained in the task path.

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 for the robot to complete the current activity trajectory includes: The activity time is obtained based on 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 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 includes: Obtain 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; 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 obtaining the sub-path length of the next task sub-path based on the planned speed and the activity time includes: The product of the planned speed and the activity time is used to determine the sub-path length of the next task sub-path.

5. 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, the current activity trajectory of the robot is obtained based on the task path; Drive the robot to move along the current activity trajectory.

6. A trajectory planning device, characterized in that, include: The task path acquisition module is used to obtain the robot's task path and task path length; The current task sub-path acquisition module is used to obtain the current task sub-path in the task path according to the length threshold if the length of the task path is greater than a preset length threshold. The current activity trajectory acquisition module is used to obtain the current activity trajectory of the robot based on the current task sub-path; The next activity trajectory acquisition module is used to predict the activity time for 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 update module is used to update 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; The step of determining the next task sub-path from the task path based on the activity time includes: The planned speed for the planned activity trajectory is obtained; wherein the planned speed is greater than the chassis translation speed of the robot; Based on the planned speed and the activity time, the sub-path length of the next task sub-path is obtained; Based on the sub-path length, the next task sub-path is obtained in the task path.

7. A robot, characterized in that, include: A control motherboard; the control motherboard is used to perform the steps of the trajectory planning method as described in any one of claims 1-6.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the steps of the trajectory planning method as described in any one of claims 1 to 5.

9. A computer device, characterized in that: It includes a storage device, a processor, and a computer program stored in the storage device and executable by the processor, wherein the processor executes the computer program to implement the steps of the trajectory planning method as described in any one of claims 1 to 5.

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