Smoothing method for intelligent tracking path with body, robot and storage medium

Abstract

The invention discloses an intelligent tracking path smoothing method, a robot and a storage medium, and the method comprises the following steps: obtaining a preset path R0 in tracking, where R0 = {P0, P1, P2... Pi... Pj... Pn}; in the preset path R0, calculating a last point Pi which meets the passing condition with the P0 from the point P0, bringing the point P0 and the point Pi into the planned path R1, continuing to calculate a point Pj which meets the passing condition with the point Pi from the point Pi in the preset path R0, bringing the point Pj into the planned path R1, and repeating the steps until the last point Pn in the preset path R0; and obtaining a plurality of interpolation points according to the line segment length L of the front and rear points in the planned path R1 and the step length threshold sl, and sequentially adding the plurality of interpolation points between the corresponding front and rear points in the planned path R1 to form a planned path R2. According to the invention, the performance of the robot when passing through the inflection point is obviously improved, the oscillation phenomenon is reduced, and the stability and fluency of tracking walking are improved.

Description

Technical Field

[0001] The present invention relates to the field of robot path planning, and in particular to a smoothing method for embodied intelligent tracking path, a robot and a storage medium. Background Art

[0002] In the field of automation and robotics, path planning is crucial to ensure that robots can complete tasks safely and efficiently. Especially for robots that need to travel along a predetermined path, how to ensure that they walk smoothly and accurately while complying with the robot's kinematic constraints is a complex and critical issue.

[0003] Traditionally, robot path planning often simplifies the robot into a mass point to simplify the computational model and improve the efficiency of path planning. This idealized assumption allows path planning to be represented by a series of discrete path points in two-dimensional or three-dimensional space, and the robot is required to travel as close to these path points as possible while maintaining the direction defined by the path points. However, when the physical characteristics and kinematic constraints of the robot are actually considered, this method exposes several limitations, especially when there are inflection points on the path:

[0004] Speed ​​control and stability issues: When approaching a turning point at high speed, if the robot does not slow down appropriately, the robot may not be able to accurately follow the path point due to insufficient lateral force required for steering, resulting in deviation from the predetermined trajectory and oscillation near the turning point.

[0005] Increased risk of collision: For robots with non-circular contours, especially when performing sharp turns, excessive steering angles may cause the robot edge to exceed the safe range, increasing the risk of scratches or collisions with the surrounding environment. This not only poses a threat to the robot itself, but may also cause damage to surrounding facilities. Summary of the invention

[0006] To this end, it is necessary to provide a smoothing method for embodying an intelligent tracking path and a robot-readable storage medium to solve the problem that existing robots are prone to deviate from the predetermined trajectory.

[0007] To achieve the above purpose, this embodiment provides a smoothing method for an embodied intelligent tracking path, comprising the following steps:

[0008] Get the preset path R0 in the tracking, where R0 = {P0, P1, P2...P i ···P j ···Pn};

[0009] In the preset path R0, calculate from point P0 the last point P that meets the pass condition with P0 i , and point P0 and P iInclude it in the planned path R1, and then continue on the preset path R0 from point P i Start calculation with P i Point P that satisfies the traffic conditions j , point P j Include it in the planned path R1, and repeat the steps until the last point P in the preset path R0 n ;

[0010] According to the line segment length L of the front and rear points in the planned path R1 and the step threshold sl, a number of interpolation points are obtained, and the number of interpolation points are sequentially added between the corresponding front and rear points in the planned path R1 to form a planned path R2.

[0011] Furthermore, the passage condition is:

[0012] S1: define j=i+1;

[0013] S2: Calculation point P i With point P j The angle difference between them is diff;

[0014] S3: Determine whether the angle difference diff is less than or equal to a preset value e1;

[0015] If yes, execute S4: set j=j+1 and return to S2;

[0016] If not, execute S5: set P i With P j-1 Included in the preset path R1.

[0017] Furthermore, the preset value e1 satisfies: 15≤e1≤45.

[0018] Furthermore, the passage condition is:

[0019] S1: define j=i+1;

[0020] S2: Calculation point P i With point P j The angle difference between them is diff;

[0021] S3: Determine whether the angle difference diff is less than or equal to a preset value e1;

[0022] If yes, then execute S30: determine point P i With point P j Whether the number of fatal cost values ​​NC of the line segment length between them is less than or equal to the preset value e2;

[0023] If yes, execute S4: set j=j+1 and return to S2;

[0024] If not, execute S5: set P iWith P j-1 Included in the preset path R1.

[0025] Furthermore, the preset value e1 satisfies: 15≤e1≤45, and the preset value e2 satisfies: e2=1.

[0026] Furthermore, when a number of interpolation points are obtained according to the line segment length L of the two preceding and following points in the planned path R1 and the step threshold s1, the following steps are also included:

[0027] The planned path R1: R1 = {Q0, Q1, Q2...Q t}, Q t =(x t ,y t ,z t ,r t );

[0028] Get the front and back points Q in the planned path R1 t , Q t+1 The slope k and the line length L between them;

[0029] In the planned path R1, the two points Qt and Q t+1 The interpolation points Q are inserted in sequence along the direction of the slope k with the length of the interval step threshold sl. n .

[0030] Furthermore, the step length threshold sl satisfies: 0.03m≤sl≤0.1m.

[0031] To achieve the above objectives, the present embodiment further provides a robot-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it can implement a method for smoothing an embodied intelligent tracking path as described in any of the above embodiments.

[0032] To achieve the above-mentioned purpose, the present embodiment also provides a robot, including a storage medium and a processor, wherein the storage medium stores a computer program, and when the computer program is executed by the processor, it can implement a smoothing method of an embodied intelligent tracking path described in any of the above-mentioned embodiments.

[0033] Furthermore, the shape of the robot is non-circular.

[0034] Different from the prior art, the above technical solution has the following beneficial effects:

[0035] Through the above path simplification and interpolation optimization methods, the present invention significantly improves the performance of the robot when passing through the turning point, reduces the occurrence of oscillation, and improves the stability and smoothness of the tracking walking. The introduction of interpolation points enables the robot to smoothly decelerate and adjust its direction when approaching the turning point, so as to better follow the predetermined path.

[0036] The above-mentioned records related to the invention content are only an overview of the technical solution of the present application. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present application, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purpose and other purposes, features and advantages of the present application easier to understand, the following is an explanation in combination with the specific implementation mode and drawings of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of the present invention and other related contents, and shall not be considered as limiting the present application.

[0038] Figure 1 A schematic diagram of a robot deviating from a predetermined trajectory in the background technology;

[0039] Figure 2 A schematic diagram of a robot in the background technology scraping or colliding with the surrounding environment;

[0040] Figure 3 is a flow chart of a method for smoothing a tracking path in this embodiment;

[0041] Figure 4 This is a flow chart of the traffic conditions in the first embodiment;

[0042] Figure 5 This is a flow chart of the traffic conditions in the second embodiment;

[0043] Figure 6 This is a schematic diagram of planning path R1 in this embodiment;

[0044] Figure 7 This is a schematic diagram of obtaining a planned path R2 through interpolation points in this embodiment;

[0045] Figure 8 Flow chart of a method for smoothing a tracking path in a preferred embodiment. DETAILED DESCRIPTION

[0046] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0047] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0048] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0049] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0050] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0051] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0052] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0053] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0054] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0055] See also Figure 3 This embodiment provides a method for smoothing a tracking path, comprising the following steps:

[0056] Step S100, obtaining a preset path R0 in the tracking, where R0 = {P0, P1, P2...P i ···P j ···Pn},P i =(x i ,y i ,z i ,r i );

[0057] In the robot tracking task, the preset path R0 refers to an idealized path that is predefined or calculated, which consists of a series of discrete points (P0, P1, ..., P n ) that together determine the trajectory the robot should follow. This path is usually designed based on specific mission requirements, environmental conditions, and possibly safety and efficiency considerations.

[0058] Step S200, starting from point P0 in the preset path R0, calculate the last point P that meets the traffic condition with P0 i , point P0 and P i Include it in the planned path R1, and then continue on the preset path R0 from point Pi Start calculation with P i Point P that satisfies the traffic conditions j , point P j Include it in the planned path R1, and repeat the steps until the last point P in the preset path R0 n ;

[0059] Assume that there is a preset path R0 consisting of 7 points, that is, R0 = {P0, P1, P2, P3, P4, P5, P6}, and these points are arranged in the order that the robot should follow. First, calculate whether P0 to P1 meets the pass conditions. If so, continue to calculate whether P0 to P2 meets the pass conditions. If P0 to P2 meets the pass conditions, continue to calculate whether P0 to P3 meets the pass conditions. If P0 to P3 still meets the pass conditions, continue to calculate whether P0 to P4 meets the pass conditions. If so, continue to calculate whether P0 to P5 meets the pass conditions. If P0 to P4 does not meet the pass conditions, P0 and P3 are included in the planned path R1, and points P1 and P2 between P0 and P3 are removed. Next, start calculating from point P3 (the last point that meets the pass conditions) to see whether P3 to P4 meets the pass conditions. If so, continue to calculate whether P3 to P5 meets the pass conditions. If P3 to P5 meet the traffic conditions, then continue to calculate whether P3 to P6 meet the traffic conditions. If P3 to P5 do not meet the traffic conditions, then add P4 to the planned path R1, and then start calculating from point P4 (the last point that meets the traffic conditions). That is, the planned path R1 above includes P0, P3, and P4.

[0060] In this way, we successfully simplified the 8 points in the original path R0 into fewer key points, reducing unnecessary turning points while ensuring that each section of the path meets the robot's passage conditions. This not only makes the path smoother, but also improves the stability and efficiency of the robot when driving along the path.

[0061] Step S300, obtain a number of interpolation points according to the line segment length L of the front and rear points in the planned path R1 and the step threshold s1, and add the interpolation points in sequence between the corresponding front and rear points in the planned path R1 to form a planned path R2.

[0062] Through the above path simplification and interpolation optimization methods, the present invention significantly improves the performance of the robot when passing through the turning point, reduces the occurrence of oscillation, and improves the stability and smoothness of the tracking walking. The introduction of interpolation points enables the robot to smoothly decelerate and adjust its direction when approaching the turning point, so as to better follow the predetermined path.

[0063] See also Figure 4 In this embodiment 1, the traffic conditions are:

[0064] Step S1: define j=i+1;

[0065] Step S2: Calculate point P i With point P j The angle difference between them is diff;

[0066] Step S3: Determine whether the angle difference diff is less than or equal to a preset value e1;

[0067] If yes, execute step S4: set j=j+1 and return to step S2;

[0068] If not, then execute step S5: i With P j-1 Included in the preset path R1.

[0069] Assume that there is a preset path R0 consisting of 7 points, that is, R0 = {P0, P1, P2, P3, P4, P5, P6}, where P0 = (x0, y0, z0, r0), P1 = (x1, y1, z1, r1). First, calculate whether P0 to P1 meets the pass conditions, and the angle difference diff satisfies: diff1 = |r1-r0|. If the angle difference diff1 between P0 and point P1 is less than or equal to the preset value e1, it means that P0 and point P1 meet the pass conditions. If the angle difference diff1 between P0 and point P1 is greater than the preset value e1, it means that P0 and point P1 do not meet the pass conditions. On the premise that P0 and point P1 meet the pass conditions, assign j = j + 1 = 2, and continue to calculate whether the angle difference diff1 between P0 and point P2 is less than or equal to the preset value e1.

[0070] In this embodiment, the preset value e1 satisfies: 15≤e1≤45. Preferably, e1 is 30°, which can ensure the smoothness of the path in most cases.

[0071] See also Figure 5 In the second embodiment, the traffic conditions are:

[0072] Step S1: define j=i+1;

[0073] Step S2: Calculate point P i With point P j The angle difference between them is diff;

[0074] Step S3: Determine whether the angle difference diff is less than or equal to a preset value e1;

[0075] If yes, then execute S30: determine point P i With point P j Whether the number of fatal cost values ​​NC of the line segment length between them is less than or equal to the preset value e2;

[0076] If yes, execute step S4: set j=j+1 and return to step S2;

[0077] If not, then execute step S5: i With P j-1 Included in the preset path R1.

[0078] The second embodiment adds a condition based on the first embodiment: the critical cost value threshold value e2 of the line segment length. First, the preset value e1 is determined, and then the preset value e2 is determined. When the above two conditions are met at the same time, it is determined that the point-to-point connection is passable, otherwise it is not passable, which can be expressed as:

[0079] diff i0 ≤e1

[0080] NC i0 ≤e2

[0081] Calculate the length of the line segment between the first point and the next point on the preset path R0, map the line segment to the cost map in combination with the cost map of autonomous driving, divide the line segment according to the cost map resolution, and obtain the number of fatal cost values ​​on the line segment. The line segment length L can be calculated by the Euclidean equation. For example, the line segment distance L1 between points P1 and P2 is: Among them, the cost map is a commonly used data structure in the field of robot navigation, which is used to represent the difficulty or cost of each position in the environment for the robot to move. It is usually a two-dimensional or three-dimensional grid, in which each cell contains a cost value to reflect the cost or risk of the robot traveling at that location. The number of critical cost values ​​NC (Number of Critical Cost Values) usually refers to the number of cells in the cost map with "fatal" level cost values ​​in a specific path segment or area. The "fatal" level here means that these locations pose extremely high risks or costs to the robot's movement, so that the robot should try to avoid passing through these areas.

[0082] Assume that there is a preset path R0 consisting of 7 points, that is, R0 = {P0, P1, P2, P3, P4, P5, P6}, where P0 = (x0, y0, z0, r0), P1 = (x1, y1, z1, r1). First, calculate whether P0 to P1 meets the pass conditions, and the angle difference diff satisfies: diff1 = |r1-r0|. If the angle difference diff1 between P0 and point P1 is less than or equal to the preset value e1, and the number of cost values ​​NC1 is less than or equal to e2, it means that P0 and point P1 meet the pass conditions, otherwise it means that P0 and point P1 do not meet the pass conditions.

[0083] The working principle of this method is to control the maximum turning angle and line segment length of the robot on the path by setting a reasonable angle threshold e1 and a fatal cost value threshold e2 of the line segment length, thereby achieving the purpose of path simplification and smoothing.

[0084] In the second embodiment, the preset value e1 satisfies: 15≤e1≤45, and the preset value e2 satisfies: e2 = 1. The turning points on the path exceeding the above range are considered to be too sharp, which may cause the robot to be unstable or unable to pass smoothly when turning.

[0085] In the third embodiment, only the condition of "determining whether the number NC of fatal cost values ​​of line segment length is less than or equal to the preset value e2" may be used, without the condition of "determining whether the angle difference diff is less than or equal to the preset value e1".

[0086] See also Figure 6 and Figure 7 In this embodiment, when obtaining a plurality of interpolation points according to the line segment length L of the two preceding and following points in the planned path R1 and the step threshold sl, the following steps are also included:

[0087] The planned path R1: R1 = {Q0, Q1, Q2...Q t}, Q t =(x t ,y t ,z t ,r t );

[0088] Get the front and back points Q in the planned path R1 t , Q t+1 The slope k and the line length L between them;

[0089] In the planned path R1, the two points Qt and Q t+1 The interpolation points Q are inserted in sequence along the direction of the slope k with the length of the interval step threshold sl. n .

[0090] Among them, Q n The posture is:

[0091]

[0092] At this time, there is a large distance between the path points, and interpolation is required between the path points. The same step threshold sl is used each time to insert the interpolation points along the slope direction to ensure that the length of each line segment on the path does not exceed the robot's range of motion and the path is smoother. Insert the point into the path, and when the distance between the points is less than the step length, terminate the calculation of the interpolation point.

[0093] In this embodiment, the step length threshold sl satisfies: 0.03m≤sl≤0.1m, preferably 0.05m. Taking the point Q0 to Q1 as an example, its slope k1 is: If the line segment length L1 is 0.16 and sl is 0.05m, only 3 interpolation points can be inserted between Q0 and Q1. First, the first interpolation point is inserted between Q0 and Q1, then the second interpolation point is inserted between the first interpolation point and Q1, and then the third interpolation point is inserted between the second interpolation point and Q1. If the line segment length L1 is 0.11 and sl is 0.05m, only 2 interpolation points can be inserted between Q0 and Q1. If the line segment length L1 is 0.16 and sl is 0.03m, only 5 interpolation points can be inserted between Q0 and Q1. Figure 7 Middle, click Q t To point Q t+1 Insert 2 Q in between n .

[0094] In this embodiment, if the last point (end point) in the preset path R0 is not included in the planned path R2, in order to make the robot follow the track to the end point, the direction of the last point in the planned path R2 is replaced with the direction of the end point, so as to obtain the complete path after pruning and inserting the turning points of the tracking path, and the path is smoother.

[0095] See also Figure 8 In order to enable readers to more clearly understand the content of the present invention, one of the preferred implementation modes is described here:

[0096] 1. The robot obtains a preset path R0 during tracking. The path is a set of multiple points, that is, R0 = {P0, P1, P2...P i ···P j ···Pn},P i =(x i ,y i ,z i ,r i ).

[0097] 2. Calculate the first point P0 to point P on the preset path line i (i≥1) angle difference diff i0 , that is, diff i0 =|r i -r0|.

[0098] 3. Calculate the first point P0 to point P on the preset path line i The length of the line segment between them is combined with the cost map of autonomous driving. The line segment is mapped to the cost map. After the line segment is divided according to the resolution of the cost map, the number of fatal cost values ​​NC on the line segment is calculated. i0 .

[0099] 4. Incorporate P0 into the new planned path R1, and determine the distance from P0 to point P according to the angle difference and the number of fatal cost values. i Whether it is passable or not, the conditions for passage are:

[0100] diff i0 ≤e1

[0101] NC i0 ≤e2

[0102] If both of the above conditions are met, then P0 is determined to be at point P i Passable between.

[0103] 5. When the above conditions are not met, determine P0 to point P i If point P is impassable, n-1 Incorporate into path R1. From point P n-1 Start, repeat steps 2, 3, and 4 until the last point P n .

[0104] 6. After the above steps, prune the inflection points to obtain a new planning path R1 = {Q0, Q1, Q2···Q t}, Q t =(x t ,y t ,z t ,r t ), there is a large distance between the path points, and interpolation is required between the path points.

[0105] 7. Calculate the two points Q before and after the path R1 t To point Q t+1 The slope k and the length L of the line segment.

[0106] 8. According to the step threshold sl, intercept the step sl from the point along the slope k direction on the line segment L, and get the interpolation point Q according to the slope k direction n , its posture is:

[0107]

[0108] 9. Click Q n Insert into path R1, calculate Q according to step length sl and slope k t To point Q t+1 The interpolation point between t To point Q t+1 When the distance between them is less than the step size sl, the calculation of the interpolation point is terminated.

[0109] 10. Repeat steps 7, 8, and 9 above to obtain all interpolation points that meet the conditions on the path, thereby forming a new planned path R2.

[0110] 11. In order to make the robot follow the track to the end point, the direction of the last point in the planned path R2 is replaced with the direction of the target point. In this way, the complete path after pruning and inserting the turning points of the tracking path is obtained, and the path is smoother.

[0111] It has the following advantages:

[0112] Advantage 1: The method is simple and effective, and can solve the smoothness of the tracking turning point;

[0113] Advantage 2: It takes into account the physical characteristics of the robot and enhances the robustness of the robot's operation.

[0114] This embodiment also provides a robot-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the smoothing method of an embodied intelligent tracking path described in any of the above embodiments can be implemented. Figures 1 to 8 shown.

[0115] Those skilled in the art should understand that the above embodiments can be provided as methods, devices, or computer program products. These embodiments can be in the form of complete hardware embodiments, complete software embodiments, or embodiments combining software and hardware. All or part of the steps in the methods involved in the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a storage medium readable by a computer device for executing all or part of the steps described in the above embodiments. The computer device includes, but is not limited to: personal computers, servers, general-purpose computers, special-purpose computers, network devices, embedded devices, programmable devices, smart mobile terminals, smart home devices, wearable smart devices, in-vehicle smart devices, etc.; the storage medium includes, but is not limited to: RAM, ROM, disk, tape, CD, flash memory, U disk, mobile hard disk, memory card, memory stick, network server storage, network cloud storage, etc.

[0116] This embodiment further provides a robot, including a storage medium and a processor, wherein a computer program is stored on the storage medium, and when the computer program is executed by the processor, the smoothing method of an embodied intelligent tracking path described in any of the above embodiments can be implemented, such as Figures 1 to 8 shown.

[0117] In this embodiment, the shape of the robot is non-circular, which refers to any robot shape that does not have a completely circular outline, such as a rectangle, an ellipse, a polygon (rectangle, hexagon, triangle), etc. Figure 6 and Figure 7The top view of the robot shown is a combination of a rectangle and a triangle (one side of the rectangle and one side of the triangle overlap), and the contour of a non-circular robot is relatively complex, which increases the risk of collision with surrounding objects. Of course, the smoothing method of the present invention can also be applied to circular robots.

[0118] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A smoothing method for embodied intelligent tracking path, characterized in that: The steps include: Get the preset path R0 in the tracking, where R0 = {P0, P1, P2...P i ···P j ···Pn}; In the preset path R0, calculate from point P0 the last point P that meets the pass condition with P0 i , and point P0 and P i Include it in the planned path R1, and then continue on the preset path R0 from point P i Start calculation with P i Point P that satisfies the traffic conditions j , point P j Include it in the planned path R1, and repeat the steps until the last point P in the preset path R0 n ; According to the line segment length L of the front and rear points in the planned path R1 and the step threshold sl, a number of interpolation points are obtained, and the number of interpolation points are sequentially added between the corresponding front and rear points in the planned path R1 to form a planned path R2.

2. The smoothing method according to claim 1, characterized in that: The passage conditions are: S1: define j=i+1; S2: Calculation point P i With point P j The angle difference between them is diff; S3: Determine whether the angle difference diff is less than or equal to a preset value e1; If yes, execute S4: set j=j+1 and return to S2; If not, execute S5: set P i With P j-1 Included in the preset path R1.

3. The smoothing method according to claim 2, characterized in that: The preset value e1 satisfies: 15≤e1≤45.

4. The smoothing method according to claim 1, characterized in that: The passage conditions are: S1: define j=i+1; S2: Calculation point P i With point P j The angle difference between them is diff; S3: Determine whether the angle difference diff is less than or equal to a preset value e1; If yes, then execute S30: determine point P i With point P j Whether the number of fatal cost values ​​NC of the line segment length between them is less than or equal to the preset value e2; If yes, execute S4: set j=j+1 and return to S2; If not, execute S5: set P i With P j-1 Included in the preset path R1.

5. The smoothing method according to claim 4, characterized in that: The preset value e1 satisfies: 15≤e1≤45, and the preset value e2 satisfies: e2=1.

6. The smoothing method according to claim 1, characterized in that: When obtaining a number of interpolation points according to the line segment length L of the two preceding and following points in the planned path R1 and the step threshold sl, the following steps are also included: The planned path R1: R1 = {Q0, Q1, Q2...Q t }, Q t =(x t ,y t ,z t ,r t ); Get the front and back points Q in the planned path R1 t , Q t+1 The slope k and the line length L between them; In the planned path R1, the two points Qt and Q t+1 The interpolation points Q are inserted in sequence along the direction of the slope k with the length of the interval step threshold sl. n .

7. The smoothing method according to claim 6, characterized in that: The step length threshold sl satisfies: 0.03m≤sl≤0.1m.

8. A robot-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, it can implement a method for smoothing an embodied intelligent tracking path as described in any one of claims 1 to 7.

9. A robot, characterized in that: It includes a storage medium and a processor, wherein the storage medium stores a computer program, and when the computer program is executed by the processor, it can implement the smoothing method of an embodied intelligent tracking path as described in any one of claims 1 to 7.

10. The robot according to claim 9, characterized in that: The shape of the robot is non-circular.

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