Robot dynamic speed planning method and system and computer

Abstract

The invention provides a robot dynamic speed planning method and system and a computer. The method comprises the steps that a global path and performance parameters influencing the advancing speed of a robot are acquired; intercepting a local path comprising a path point group from the global path through the current position information of the robot, wherein the path point group comprises a plurality of continuous path points; calculating the maximum allowable speed of the continuous path points; determining a first reference speed of the continuous path point after acceleration limitation and a second reference speed of the continuous path point after deceleration limitation in an iteration mode; determining a planned linear velocity of the continuous path point, and calculating a planned angular velocity of the continuous path point based on the planned linear velocity; and summarizing the planned linear velocities and the planned angular velocities of all the continuous path points into a velocity change trajectory, and endowing the velocity change trajectory to the robot. The global path is used as the unique path reference information, the driving path is ensured to completely conform to the expected path, dynamic speed planning is completed through performance parameters, and performance exertion is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent control, and particularly to a method, system and computer for dynamic speed planning of a robot. Background Art

[0002] Mobile robots provide effective tools and platforms for studying the generation of complex intelligent behaviors and the exploration of human thinking. Mobile robots need to have the ability to sense the surrounding environmental information and their own states using sensors, and to autonomously locate, plan and move in a dynamic environment containing obstacles.

[0003] In a usage environment where a mobile robot needs to travel strictly along a specified path, such as a factory handling environment, it is necessary to reasonably plan the dynamic speed of the robot. The existing dynamic speed planning methods are as follows: one is coupled planning, which uses a fifth-degree polynomial to fit the path and solves the path and speed simultaneously with the starting and ending point states; the other is predicted time planning, which obtains the speed by combining the distance between the starting and ending points with the predicted time.

[0004] However, through coupled planning, it cannot be guaranteed that the traveling path of the mobile robot completely conforms to the expected path planning. And through predicted time planning, the accuracy requirement for time prediction is relatively high. If the time is short, the planned speed will be too large, and if the time is long, the operating efficiency will be low, making it difficult to adapt to the best performance of the robot. Summary of the Invention

[0005] Embodiments of the present application provide a method, system and computer for dynamic speed planning of a robot, so as to solve the technical problem in the prior art that it is difficult to plan a dynamic speed that can strictly conform to the expected path while giving full play to the best performance of the robot.

[0006] In a first aspect, embodiments of the present application provide a method for dynamic speed planning of a robot, including the following steps:

[0007] Obtain a global path and performance parameters affecting the traveling speed of the robot, where the performance parameters include the maximum linear speed, the maximum angular speed, the maximum centripetal force that can be borne, the mass of the robot, the reaction time, the maximum acceleration and the maximum deceleration;

[0008] Intercept a local path including a path point group from the global path through the current position information of the robot, where the path point group includes an initial path point, a termination path point and a plurality of continuation path points;

[0009] Calculate the maximum allowable speed of the continuation path points;

[0010] Determine the first reference speed of the continuation path points after acceleration limitation and the second reference speed after deceleration limitation in an iterative manner;

[0011] Compare the maximum allowable speed, the first reference speed, and the second reference speed to determine the planned linear speed of the continuation path point, and calculate the planned angular speed of the continuation path point based on the planned linear speed;

[0012] Aggregate the planned linear speeds and planned angular speeds of all the continuation path points into a speed change trajectory, and assign the speed change trajectory to the robot.

[0013] Further, the step of intercepting a local path including a path point group from the global path through the current position information of the robot includes:

[0014] Obtain the current position information of the robot, and calculate the projection point of the robot on the global path based on the current position information;

[0015] Calculate the maximum reaction distance of the robot through the reaction time;

[0016] Calculate the maximum braking distance of the robot through the maximum deceleration;

[0017] Obtain a local path including a path point group based on the projection point, the maximum reaction distance, and the maximum braking distance.

[0018] Further, the step of calculating the maximum allowable speed of the continuation path point includes:

[0019] Obtain the maximum linear speed under the angular velocity limit, the maximum linear speed under the centripetal force limit, the maximum linear speed under the obstacle limit, and the maximum linear speed under the human limit of the robot based on the performance parameters;

[0020] Compare the maximum linear speed, the maximum linear speed under the angular velocity limit, the maximum linear speed under the centripetal force limit, the maximum linear speed under the obstacle limit, and the maximum linear speed under the human limit to obtain the maximum allowable speed of the continuation path point.

[0021] Further, the calculation formula for the maximum allowable speed is:

[0022] v i_max = min{v max_v , v max_ω , v max_f , v max_obst , v max_arti},

[0023] where, v i_max represents the maximum allowable speed, v max_v represents the maximum linear speed, v max_ω represents the maximum linear speed under the angular velocity limit, vmax_f Represents the maximum linear velocity under centripetal force limitation, v max_obst Represents the maximum linear velocity under obstacle limitation, v max_arti Represents the maximum linear velocity under human limitation.

[0024] Furthermore, the calculation formula for the maximum linear velocity under the angular velocity limitation is:

[0025]

[0026] Wherein, v max_ω Represents the maximum linear velocity under angular velocity limitation, ω max Represents the maximum angular velocity, c i Represents the curvature of the continuation path point;

[0027] The calculation formula for the maximum linear velocity under the centripetal force limitation is:

[0028]

[0029] Wherein, v max_f Represents the maximum linear velocity under centripetal force limitation, f max Represents the maximum bearable centripetal force, and m represents the mass of the robot;

[0030] The calculation formula for the maximum linear velocity under the obstacle limitation is:

[0031]

[0032] Wherein, v max_obst Represents the maximum linear velocity under obstacle limitation, Represents the maximum deceleration, t react Represents the reaction time, d obst Represents the distance from the robot to the obstacle.

[0033] Furthermore, the steps of determining the first reference velocity of the continuation path point after acceleration limitation and the second reference velocity of the continuation path point after deceleration limitation in an iterative manner include:

[0034] Assign the current velocity of the robot to the initial path point;

[0035] Iterate from the initial path point to the termination path point to determine the first reference velocity of the continuation path point after acceleration limitation;

[0036] Assign a value to the termination path point;

[0037] Iterate from the termination path point to the initial path point to determine the second reference velocity of the continuation path point after deceleration limitation.

[0038] Further, the calculation formula for the first reference speed is as follows:

[0039]

[0040] where v i_forward represents the first reference speed, v i-1 represents the iterative speed of the first continuation path point in the direction from the current continuation path point to the initial path point, represents the maximum acceleration, Δ s represents the distance from the first continuation path point in the direction from the current continuation path point to the initial path point to the current continuation path point;

[0041] The calculation formula for the second reference speed is as follows:

[0042]

[0043] where v i_backward represents the second reference speed, v i+1 represents the iterative speed of the first continuation path point in the direction from the current continuation path point to the termination path point, represents the maximum deceleration.

[0044] Further, the calculation formula for the planned angular velocity is as follows:

[0045] ω i = v i · c i ,

[0046] where ω i represents the planned angular velocity, v i represents the planned linear velocity, c i represents the curvature of the continuation path point.

[0047] In a second aspect, an embodiment of the present application provides a robot dynamic speed planning system, which is applied to the robot dynamic speed planning method in the above technical solution. The system includes:

[0048] An acquisition module, configured to acquire a global path and performance parameters affecting the traveling speed of the robot. The performance parameters include the maximum linear speed, the maximum angular speed, the maximum centripetal force that can be borne, the mass of the robot, the reaction time, the maximum acceleration, and the maximum deceleration;

[0049] A segmentation module, configured to intercept a local path including a path point group from the global path through the current position information of the robot. The path point group includes an initial path point, a termination path point, and several continuation path points;

[0050] A first calculation module, configured to calculate the maximum allowable speed of the continuation path point;

[0051] A second calculation module, configured to iteratively determine a first reference speed of the continuation path point after acceleration limitation and a second reference speed of the continuation path point after deceleration limitation;

[0052] A judgment module, configured to compare the maximum allowable speed, the first reference speed, and the second reference speed to determine a planned linear speed of the continuation path point, and calculate a planned angular speed of the continuation path point based on the planned linear speed;

[0053] An assignment module, configured to summarize the planned linear speeds and planned angular speeds of all the continuation path points into a speed change trajectory, and assign the speed change trajectory to the robot.

[0054] In a third aspect, an embodiment of the present application provides a computer, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the robot dynamic speed planning method described in the first aspect above is implemented.

[0055] Compared with the related art, the beneficial effects of the present invention are as follows:

[0056] In the process of dynamic speed planning, this dynamic speed planning method uses the global path as the only path reference information, ensuring that the driving path of the robot completely conforms to the expected path, and improving the stability and controllability of the operation process. The global path is intercepted into several path point groups, the speed of any continuation path point is independently calculated based on performance parameters, and the planned linear speeds and planned angular speeds of all the continuation path points are summarized into a speed change trajectory, thereby realizing the dynamic speed planning of the robot, ensuring the performance of the robot, and improving the operation efficiency of the robot.

[0057] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 is a flowchart of the robot dynamic speed planning method in the first embodiment of the present invention;

[0059] Figure 2 is a structural block diagram of the robot dynamic speed planning system in the second embodiment of the present invention;

[0060] In the figure: 10, an acquisition module, 20, a segmentation module, 30, a first calculation module, 40, a second calculation module, 50, a judgment module, 60, an assignment module.

[0061] The following specific embodiments will further illustrate the present invention in conjunction with the above drawings. Detailed implementation manners

[0062] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without creative efforts belong to the scope of protection of the present application.

[0063] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood as the content disclosed in the present application being insufficient.

[0064] Referring to "embodiments" in the present application means that the specific features, structures or characteristics described in conjunction with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0065] Please refer to Figure 1 , the robot dynamic speed planning method provided by the first embodiment of the present invention includes the following:

[0066] Step S10: Obtain the global path and performance parameters that affect the traveling speed of the robot. The performance parameters include the maximum linear speed, the maximum angular speed, the maximum centripetal force that can be borne, the mass of the robot, the reaction time, the maximum acceleration and the maximum deceleration;

[0067] The global path is the operation path planned for the robot, and the performance parameters represent the maximum performance that can be exerted during the operation of the robot.

[0068] Step S20: Intercept a local path including a path point group from the global path through the current position information of the robot. The path point group includes an initial path point, a termination path point and several continuation path points;

[0069] The path point group consists of different grid points on the local path. The starting point of the local path is the initial path point, and the ending point of the local path is the terminal path point. A number of continuation path points are set between the initial path point and the terminal path point. The connection between the initial path point, the number of continuation path points, and the terminal path point forms the local path.

[0070] In the dynamic speed planning method of this embodiment, during the dynamic speed planning process, taking the global path as the only path reference information ensures that the driving path of the robot fully conforms to the expected path, improving the stability and controllability of the operation process. The global path is intercepted into several path point groups, and the speed of any continuation path point is independently calculated based on the performance parameters. The planned linear speed and planned angular speed of all the continuation path points are summarized into a speed change trajectory, thereby realizing the dynamic speed planning of the robot, that is, planning a dynamic speed that can not only strictly conform to the expected path but also give full play to the best performance of the robot, ensuring the performance of the robot is exerted, and improving the operation efficiency of the robot.

[0071] Specifically, step S20 includes:

[0072] Step S201: Obtain the current position information of the robot, and calculate the projection point of the robot on the global path based on the current position information;

[0073] After obtaining the global path, the current position information of the robot may not be on the global path. Therefore, by projecting the current position information onto the global path to form a projection point, the position correction of the robot can be completed, ensuring that the robot runs with the global path as the guiding path.

[0074] Step S202: Calculate the maximum reaction distance of the robot through the reaction time;

[0075] Step S203: Calculate the maximum braking distance of the robot through the maximum deceleration;

[0076] Step S204: Obtain the local path including the path point group based on the projection point, the maximum reaction distance, and the maximum braking distance;

[0077] Due to the limited detection distance of the robot, it cannot obtain all the information on the global path at one time. Therefore, by determining the local path, the global path can be divided, and the intelligent operation of the robot on the global path can be completed.

[0078] Taking the projection point as the starting point of the local path, the local path can be obtained by determining the path length. The calculation formula for the path length is:

[0079] l local =l f +l s ,

[0080] Among them, l local represents the path length, l f represents the maximum reaction distance, l s represents the maximum braking distance.

[0081] Step S30: Calculate the maximum allowable speed of the continuous path point.

[0082] The maximum allowable speed is the maximum speed when the robot passes through the continuous path point. Specifically, step S30 includes:

[0083] Step S301: Obtain the maximum linear speed under the angular velocity limit, the maximum linear speed under the centripetal force limit, the maximum linear speed under the obstacle limit, and the maximum linear speed under the human limit of the robot based on the performance parameters;

[0084] The maximum linear speed v max_v is the maximum linear speed of the robot;

[0085] In an environment such as a factory handling environment or an assembly line production environment, after the robot carries an item and reaches the designated unloading section, it needs to decelerate to unload the item. The introduction of the maximum linear speed v max_arti , is a judgment condition introduced for the more intelligent movement of the robot, realizing the interaction between the robot and other devices, and improving the flexibility of the process flow design.

[0086] The calculation formula for the maximum linear speed under the angular velocity limit is:

[0087]

[0088] Among them, v max_ω represents the maximum linear speed under the angular velocity limit, ω max represents the maximum angular velocity, c i represents the curvature of the continuous path point;

[0089] The calculation formula for the maximum linear speed under the centripetal force limit is:

[0090]

[0091] Among them, v max_f represents the maximum linear speed under the centripetal force limit, f max represents the maximum centripetal force that can be borne, and m represents the mass of the robot;

[0092] The calculation formula for the maximum linear speed under the obstacle limit is:

[0093]

[0094] Among them, v max_obstRepresents the maximum linear velocity under obstacle constraints. Represents the maximum deceleration, t react Represents the reaction time, d obst Represents the distance from the robot to the obstacle.

[0095] Introducing the maximum linear velocity under obstacle constraints can decelerate or even stop and wait for obstacles on the path, avoiding collisions with other objects that accidentally enter the travel route and affecting production efficiency.

[0096] Step S302: Compare the maximum linear velocity, the maximum linear velocity under angular velocity constraints, the maximum linear velocity under centripetal force constraints, the maximum linear velocity under obstacle constraints, and the maximum linear velocity under human constraints to obtain the maximum allowable velocity of the continuous path point.

[0097] The calculation formula for the maximum allowable velocity is:

[0098] v i_max = min{v max_v , v max_ω , v max_f , v max_obst , v max_arti},

[0099] where, v i_max represents the maximum allowable velocity, v max_v represents the maximum linear velocity, v max_ω represents the maximum linear velocity under angular velocity constraints, v max_f represents the maximum linear velocity under centripetal force constraints, v max_obst represents the maximum linear velocity under obstacle constraints, v max_arti represents the maximum linear velocity under human constraints. That is, in theory, the velocity of the robot passing through the continuous path point should be the maximum allowable velocity to exert the optimal performance of the robot. Understandably, the maximum allowable velocities of the initial path point and the termination path point can be obtained in the same way.

[0100] Step S40: Determine the first reference velocity after acceleration constraint and the second reference velocity after deceleration constraint of the continuous path point in an iterative manner;

[0101] The first reference velocity of the continuous path point after acceleration constraint is to consider the acceleration limit of the robot within a certain distance, while the second reference velocity of the continuous path point after deceleration constraint is to consider the deceleration limit of the robot within a certain distance.

[0102] Specifically, step S40 includes:

[0103] S401: Assign the current velocity of the robot to the initial path point;

[0104] S402: Iterate from the initial path point to the termination path point to determine the first reference speed after acceleration limitation for the continuation path point;

[0105] The calculation formula for the first reference speed is:

[0106]

[0107] where, v i_forward represents the first reference speed, v i-1 represents the iteration speed from the current continuation path point to the first continuation path point in the direction of the initial path point, represents the maximum acceleration, Δ s represents the distance from the first continuation path point in the direction of the initial path point from the current continuation path point to the current continuation path point.

[0108] It can be understood that when the current continuation path point is the first continuation path point near the initial path point, the first continuation path point in the direction of the initial path point from the current continuation path point is the initial path point.

[0109] S403: Assign a value to the termination path point;

[0110] Specifically, determine whether the termination path point is the end point of the global path;

[0111] If the termination path point is the end point of the global path, assign the termination path point as zero;

[0112] If the termination path point is not the end point of the global path, assign it with the maximum allowable speed of the termination path point;

[0113] S404: Iterate from the termination path point to the initial path point to determine the second reference speed after deceleration limitation for the continuation path point.

[0114] It can be understood that when reaching the termination path point, the robot completes the running work on the global path. At this time, the robot needs to be in a stationary state.

[0115] The calculation formula for the second reference speed is:

[0116]

[0117] where, v i_backward represents the second reference speed, v i+1 represents the iteration speed from the current continuation path point to the first continuation path point in the direction of the termination path point, represents the maximum deceleration.

[0118] Understandably, if the current continuation path point is the first continuation path point adjacent to the termination path point, the first continuation path point in the direction from the current continuation path point to the termination path point is the termination path point.

[0119] Step S50: Compare the maximum allowable speed, the first reference speed, and the second reference speed to determine the planned linear speed of the continuation path point, and calculate the planned angular speed of the continuation path point based on the planned linear speed;

[0120] If the speed of the robot at the previous continuation path point is 5 m / s, and with its acceleration limit, the speed at the current continuation path point is 8 m / s, while the maximum allowable speed at the current continuation path point is 10 m / s, this will cause the robot to operate overloaded, affecting the running stability and performance of the robot.

[0121] If the speed of the robot at the previous path point is 5 m / s, and with its deceleration limit, the speed at the current continuation path point is 3 m / s, while the maximum allowable speed at the current continuation path point is 1 m / s, at this time, the smooth deceleration of the robot cannot be guaranteed, affecting the running stability and performance of the robot.

[0122] Compare the maximum allowable speed, the first reference speed, and the second reference speed, and take the minimum value among the three as the planned linear speed of the continuation path point.

[0123] After obtaining the planned linear speed, calculate the planned angular speed of the continuation path point. The calculation formula for the planned angular speed is:

[0124] ω i =v i ·c i ,

[0125] where ω i represents the planned angular speed, v i represents the planned linear speed, and c i represents the curvature of the continuation path point.

[0126] where, Q′ i represents the first derivative of the path curve of the local path at the continuation path point, and Q″ i represents the second derivative of the path curve of the local path at the continuation path point.

[0127] Step S60: Aggregate the planned linear speeds and planned angular speeds of all the continuation path points into a speed change trajectory, and assign the speed change trajectory to the robot.

[0128] After obtaining the planned linear velocity and planned angular velocity of all path points, combine them into a velocity change trajectory distributed along the local path, and assign the velocity change trajectory to the robot, then the dynamic velocity planning of the robot can be completed. By repeating steps S20 - S60, the planned operation of the robot on the global path can be completed.

[0129] During the process of dynamic velocity planning, using the global path as the only path reference information ensures that the driving path of the robot fully conforms to the expected path, improving the stability and controllability of the operation process. At the same time, completing the dynamic velocity planning with performance parameters guarantees the performance of the robot and improves the operation efficiency of the robot.

[0130] Please refer to Figure 2 , the second embodiment of the present invention provides a robot dynamic velocity planning system, which is applied to the robot dynamic velocity planning method in the above - mentioned embodiment. Those that have been described will not be elaborated again. As used below, terms such as "module", "unit", "sub - unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0131] The system includes:

[0132] An acquisition module 10, configured to acquire the global path and performance parameters that affect the traveling speed of the robot. The performance parameters include the maximum linear velocity, maximum angular velocity, maximum centripetal force that can be borne, the mass of the robot, reaction time, maximum acceleration, and maximum deceleration;

[0133] A segmentation module 20, configured to intercept a local path including a path point group from the global path through the current position information of the robot. The path point group includes an initial path point, a termination path point, and several continuation path points;

[0134] The segmentation module 20 includes:

[0135] A first unit, configured to acquire the current position information of the robot and calculate the projection point of the robot on the global path based on the current position information;

[0136] A second unit, configured to calculate the maximum reaction distance of the robot through the reaction time;

[0137] A third unit, configured to calculate the maximum braking distance of the robot through the maximum deceleration;

[0138] A fourth unit, configured to acquire a local path including a path point group based on the projection point, maximum reaction distance, and maximum braking distance.

[0139] A first calculation module 30, configured to calculate the maximum allowable velocity of the continuation path point

[0140] The first calculation module 30 includes:

[0141] A fifth unit for obtaining the maximum linear velocity under the angular velocity limit, the maximum linear velocity under the centripetal force limit, the maximum linear velocity under the obstacle limit, and the maximum linear velocity under the human limit of the robot based on performance parameters;

[0142] A sixth unit for comparing the maximum linear velocity, the maximum linear velocity under the angular velocity limit, the maximum linear velocity under the centripetal force limit, the maximum linear velocity under the obstacle limit, and the maximum linear velocity under the human limit to obtain the maximum allowable velocity of the continuous path point;

[0143] A second calculation module 40 for iteratively determining a first reference velocity of the continuous path point after acceleration limit and a second reference velocity after deceleration limit;

[0144] The second calculation module 40 includes:

[0145] A seventh unit for assigning the current velocity of the robot to the initial path point;

[0146] An eighth unit for iterating from the initial path point to the termination path point to determine the first reference velocity of the continuous path point after acceleration limit;

[0147] A ninth unit for assigning a value to the termination path point;

[0148] A tenth unit for iterating from the termination path point to the initial path point to determine the second reference velocity of the continuous path point after deceleration limit;

[0149] A judgment module 50 for comparing the maximum allowable velocity, the first reference velocity, and the second reference velocity to determine the planned linear velocity of the continuous path point, and calculating the planned angular velocity of the continuous path point based on the planned linear velocity;

[0150] An assignment module 60 for summarizing the planned linear velocity and planned angular velocity of all continuous path points into a velocity change trajectory and assigning the velocity change trajectory to the robot.

[0151] The present invention also provides a computer, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the robot dynamic speed planning method in the above technical solution is implemented.

[0152] The present invention also provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the robot dynamic speed planning method in the above technical solution is implemented.

[0153] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0154] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for dynamic speed planning of a robot, characterized in that, Including the following steps: Obtain the global path and performance parameters affecting the traveling speed of the robot, where the performance parameters include the maximum linear velocity, maximum angular velocity, maximum centripetal force that can be borne, the mass of the robot, reaction time, maximum acceleration, and maximum deceleration; Intercept a local path including a path point group from the global path through the current position information of the robot, where the path point group includes an initial path point, a termination path point, and several continuation path points; Calculate the maximum allowable speed of the continuation path point; Determine the first reference speed after acceleration limit and the second reference speed after deceleration limit of the continuation path point in an iterative manner; Compare the maximum allowable speed, the first reference speed, and the second reference speed to determine the planned linear speed of the continuation path point, and calculate the planned angular velocity of the continuation path point based on the planned linear speed; Summarize the planned linear speeds and planned angular velocities of all the continuation path points into a speed change trajectory, and assign the speed change trajectory to the robot.

2. The robot dynamic speed planning method according to claim 1, wherein The step of intercepting a local path including a path point group from the global path through the current position information of the robot includes: Obtain the current position information of the robot, and calculate the projection point of the robot on the global path based on the current position information; Calculate the maximum reaction distance of the robot through the reaction time; Calculate the maximum braking distance of the robot through the maximum deceleration; Obtain a local path including a path point group based on the projection point, the maximum reaction distance, and the maximum braking distance.

3. The robot dynamic speed planning method according to claim 1, wherein, The step of calculating the maximum allowable speed of the continuation path point includes: Based on the performance parameters, obtain the maximum linear speed under angular velocity limit, the maximum linear speed under centripetal force limit, the maximum linear speed under obstacle limit, and the maximum linear speed under human limit of the robot; Compare the maximum linear speed in the performance parameters, the maximum linear speed under angular velocity limit, the maximum linear speed under centripetal force limit, the maximum linear speed under obstacle limit, and the maximum linear speed under human limit to obtain the maximum allowable speed of the continuation path point.

4. The robot dynamic speed planning method according to claim 3, wherein The calculation formula for the maximum allowable speed is: v i_max = min{v max_v , v max_ω , v max_f , v max_obst , v max_arti}, Among them, v i_max represents the maximum allowable speed, v max_v represents the maximum linear speed, v max_ω represents the maximum linear speed under angular velocity limitation, v max_f represents the maximum linear speed under centripetal force limitation, v max_obst represents the maximum linear speed under obstacle limitation, v max_arti represents the maximum linear speed under human limitation.

5. The robot dynamic speed planning method according to claim 3, wherein The calculation formula for the maximum linear speed under angular velocity limit is: Among them, v max_ω represents the maximum linear velocity under the angular velocity limit, ω max represents the maximum angular velocity, c i represents the curvature of the continuous path point; The calculation formula for the maximum linear speed under centripetal force limit is: Among them, v max_f represents the maximum linear velocity under centripetal force limitation, f max represents the maximum centripetal force that can be borne, and m represents the mass of the robot; The calculation formula for the maximum linear speed under obstacle limit is: Among them, v max_obst represents the maximum linear velocity under obstacle constraints, represents the maximum deceleration, t react represents the reaction time, d obst represents the distance from the robot to the obstacle.

6. The robot dynamic speed planning method according to claim 1, characterized in that The step of determining the first reference speed after acceleration limit and the second reference speed after deceleration limit of the continuation path point in an iterative manner includes: Assign the current speed of the robot to the initial path point; Iterate from the initial path point to the termination path point to determine the first reference speed after acceleration limit of the continuation path point; Assign a value to the termination path point; Iterate from the termination path point to the initial path point to determine the second reference speed after deceleration limit of the continuation path point.

7. The robot dynamic speed planning method according to claim 6, wherein The calculation formula for the first reference speed is: where, v i_forward represents the first reference speed, v i-1 represents the iterative speed of the first continuation path point from the current continuation path point towards the initial path point, represents the maximum acceleration, Δ s represents the distance from the first continuation path point from the current continuation path point towards the initial path point to the current continuation path point; The calculation formula for the second reference speed is: Among them, v i_backward represents the second reference speed, v i+1 represents the iterative speed of the first continuation path point in the direction from the current continuation path point to the termination path point, represents the maximum deceleration.

8. The robot dynamic speed planning method according to claim 1, wherein The calculation formula for the planned angular velocity is: ω i = v i · c i , where ω i represents the planned angular velocity, v i represents the planned linear velocity, c i represents the curvature of the continuous path point.

9. A robot dynamic speed planning system, applied to the robot dynamic speed planning method according to any one of claims 1 to 8, characterized in that, The system includes: An acquisition module, configured to acquire a global path and performance parameters affecting the traveling speed of the robot, where the performance parameters include a maximum linear velocity, a maximum angular velocity, a maximum centripetal force that can be borne, the mass of the robot, a reaction time, a maximum acceleration, and a maximum deceleration; A segmentation module, configured to intercept a local path including a path point group from the global path through the current position information of the robot, where the path point group includes an initial path point, a termination path point, and a plurality of continuation path points; A first calculation module, configured to calculate the maximum allowable speed of the continuation path points; A second calculation module, configured to iteratively determine a first reference speed after acceleration limitation and a second reference speed after deceleration limitation of the continuation path points; A judgment module, configured to compare the maximum allowable speed, the first reference speed, and the second reference speed to determine the planned linear speed of the continuation path points, and calculate the planned angular speed of the continuation path points based on the planned linear speed; An assignment module, configured to summarize the planned linear speeds and planned angular speeds of all the continuation path points into a speed change trajectory, and assign the speed change trajectory to the robot.

10. A computer, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the robot dynamic speed planning method according to any one of claims 1 to 8.

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