Path planning method, scribing robot, scribing system and computer storage medium

Abstract

The invention discloses a path planning method, a lineation robot, a lineation system and a computer storage medium, and the method comprises the steps: responding to the selection of a path template, carrying out the segmentation of the selected path template through a preset algorithm, and obtaining a plurality of path segments; obtaining a characteristic parameter corresponding to each route segment and a constraint relationship between any two route segments; obtaining a conversion relation between geographic coordinates and plane coordinates of the route template; in response to an operation on the route template according to the constraint relationship on a preset map interface, updating the feature parameters and the geographic coordinates of each route section according to the conversion relationship; in response to selection of at least one route section, generating an operation path according to the selected route section, the corresponding characteristic parameters and the corresponding geographic coordinates; and controlling the robot to walk and operate on the operation path. The working efficiency and the precision of the working path can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a path planning method, a marking robot, a marking system, and a computer storage medium. Background Art

[0002] At present, some operating robots generally use manual interpretation of route templates combined with on-site measurement to perform operations. For example, in a marking robot, the sports field marking template is equivalent to the above-mentioned route template. Construction personnel need to first use manual measuring equipment to convert the coordinates of the sports field marking template into coordinate points of the construction site, and then control the marking robot to perform marking operations according to the coordinate points.

[0003] Therefore, the efficiency of the operating robot that uses manual interpretation of route templates combined with on-site measurement to perform operations is relatively low, and the accuracy of the operating path is low. Summary of the Invention

[0004] In view of this, the present application provides a path planning method, a marking robot, a marking system, and a computer storage medium for improving operation efficiency and the accuracy of the operation path. The technical solution of the present application is as follows: The first aspect of the present application provides a path planning method, comprising: in response to the selection of a route template, performing segmentation processing on the selected route template according to a preset algorithm to obtain multiple route segments; obtaining characteristic parameters corresponding to each of the route segments, and the constraint relationship between any two of the route segments; obtaining the conversion relationship between the geographic coordinates and plane coordinates of the route template; in response to the operation of the route template according to the constraint relationship on a preset map interface, updating the characteristic parameters and the geographic coordinates of each of the route segments according to the conversion relationship; in response to the selection of at least one of the route segments, generating an operation path according to the selected route segment, the corresponding characteristic parameters and the corresponding geographic coordinates; and controlling the robot to walk and operate on the operation path.

[0005] In one embodiment of the present application, obtaining the conversion relationship between the geographic coordinates and the plane coordinates of the route template includes: obtaining the geographic coordinates of at least two reference points; and obtaining the conversion relationship from the geographic coordinate system to the plane coordinate system based on the geographic coordinates of at least two reference points, the plane coordinates of at least two reference points, and a preset projection algorithm.

[0006] In an embodiment of the present application, the constraint relationship comprises at least one of parallel, perpendicular, a preset included angle, and a preset distance, and the operation comprises at least one of translation, scaling, and rotation; and the updating of the characteristic parameter and the geographic coordinate of each route segment according to the conversion relationship comprises: obtaining a translation coefficient, a scaling coefficient, and a rotation coefficient according to the conversion relationship; and updating the characteristic parameter and the geographic coordinate of each route segment according to at least one of the translation coefficient, the scaling coefficient, and the rotation coefficient.

[0007] In an embodiment of the present application, the segmentation processing of the selected route template according to a preset algorithm comprises: segmenting the route template into at least one linear segment and at least one curved segment according to a reticle vector segmentation algorithm.

[0008] In an embodiment of the present application, the obtaining of the characteristic parameter corresponding to each route segment and the constraint relationship between any two route segments comprises: obtaining an end point of the linear segment as the corresponding characteristic parameter; identifying a curve type of the curved segment, and obtaining the characteristic parameter corresponding to the curved segment according to the curve type; and obtaining at least one of a parallel relationship, a perpendicular relationship, an included angle, and a distance between any two route segments as the constraint relationship.

[0009] In an embodiment of the present application, the identifying of the curve type of the curved segment and the obtaining of the characteristic parameter corresponding to the curved segment according to the curve type comprises: when the curve type is identified as a circular curve, obtaining a curvature, a center coordinate, and a radius of the circular curve as the characteristic parameter; when the curve type is identified as an elliptical curve, obtaining a curvature equation, a focus coordinate, and a major axis of the elliptical curve as the characteristic parameter; and when the curve type is identified as a Bezier curve, obtaining a curvature equation of the Bezier curve as the characteristic parameter.

[0010] In an embodiment of the present application, the method further comprises: controlling the robot to walk along a target route and collect route data; and generating the route template according to the route data and a preset fitting algorithm.

[0011] The second aspect of the present application provides a scribing robot, comprising a processor and a memory, wherein the processor is configured to execute a computer program stored in the memory to implement the path planning method.

[0012] The third aspect of the present application provides a scribing system, comprising a terminal device and the scribing robot; the terminal device is in communication connection with the scribing robot, and the terminal device is configured to display the map interface and the route template, and provide an operation item of the route template on the map interface.

[0013] The fourth aspect of the present application provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the path planning method.

[0014] It can be understood that, in the embodiments of the present application, after the user selects the route template, the route template is first segmented to obtain a plurality of route segments, and then the feature parameters of each route segment and the constraint relationship between any two route segments are extracted. The constraint relationship can improve the operation efficiency of the route template and ensure the consistency and accuracy of the entire design of the route template. In addition, the conversion relationship between the geographic coordinates and the plane coordinates of the route template is obtained. When the route template is operated, the feature parameters and the geographic coordinates of the route segments can be updated according to the conversion relationship, thereby improving the accuracy of the operation path. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 FIG. 1 is a flowchart of a path planning method provided by an embodiment of the present application.

[0016] Figure 2 FIG. 4 is a flowchart of a conversion relationship obtaining process provided by an embodiment of the present application.

[0017] Figure 3 FIG. 5 is a flowchart of a feature parameter and geographic coordinate updating process provided by an embodiment of the present application.

[0018] Figure 4 FIG. 6 is a flowchart of a feature parameter and constraint relationship obtaining process provided by an embodiment of the present application.

[0019] Figure 5 FIG. 7 is a flowchart of a process of obtaining feature parameters corresponding to a curve segment provided by an embodiment of the present application.

[0020] Figure 6 FIG. 8 is a flowchart of a second path planning method provided by an embodiment of the present application.

[0021] Figure 7 FIG. 9 is a schematic block diagram of a scribing robot provided by an embodiment of the present application.

[0022] Figure 8 FIG. 10 is a schematic block diagram of a scribing system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] It should be noted that "at least one" in the embodiments of the present application means one or more, and "multiple" means two or more than two. The "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0024] In addition, it should be noted that the method disclosed in the embodiments of the present application or the method shown in the flowchart includes one or more steps for implementing the method, and the execution order of the multiple steps can be interchanged with each other without departing from the scope of the claims, and some steps can also be deleted.

[0025] At present, part of the work robots generally adopt the mode of manually interpreting the route template combined with field measurement to work, for example, the sports field marking template in the marking robot is equivalent to the above-mentioned route template, and the construction personnel need to first convert the coordinates of the sports field marking template into the coordinate points of the construction site through manual measurement equipment, and then control the marking robot to mark according to the coordinate points.

[0026] Therefore, the work robot which adopts the mode of manually interpreting the route template combined with field measurement to work has relatively low efficiency, and the accuracy of the work path is low.

[0027] The embodiments of the present application provide a path planning method, a marking robot, a marking system and a computer storage medium, which are used to improve the work efficiency and the accuracy of the work path.

[0028] Please refer to Figure 1 , Figure 1 A flowchart of a path planning method provided by the embodiments of the present application is shown, which specifically includes the following steps: Step S11: In response to the selection of the route template, the selected route template is subjected to segmentation processing of a preset algorithm to obtain multiple route segments.

[0029] In the embodiments of the present application, the above-mentioned path planning method can be applied to various work robots, for example, can be applied to marking robots and weeding robots, etc., which are not limited here. Among them, multiple route templates can be pre-stored in the work robot, and the above-mentioned route templates include combinations of various line segments such as straight line segments, circular arc curve segments, elliptical curve segments and Bezier curve segments, for example, when applied to marking robots, the route template can be various sports field marking templates composed of combinations of various straight line segments, circular arc curve segments, elliptical curve segments and Bezier curve segments.

[0030] The route template can be a CAD format file, which is generated by a user operating a terminal device to combine various straight line segments and curve segments, and stored in the work robot. The straight line segments and curve segments in the route template have initial parameters such as scale, length, and curvature, which are not limited here.

[0031] In some embodiments, the work robot includes a processor and a communication module, the processor is connected with the communication module, the work robot is connected with the terminal device through the communication module, a display interface of the route template is displayed in the terminal device, and a map interface can be displayed in the terminal device, the route template is loaded and displayed in the map interface, so that the user can operate the route template on the map interface through the terminal device. The terminal device includes electronic devices such as mobile phones and tablet computers.

[0032] The processor of the work robot performs segmentation processing on the selected route template according to a preset algorithm to obtain a plurality of path segments, each path segment can be used as a work path for issuing, so that the work robot can perform local movement work. For example, when applied to a line marking robot, the line marking robot can be controlled to perform local line marking in a sports field by issuing one of the path segments as a work path.

[0033] Step S12: Obtain the feature parameters corresponding to each route segment and the constraint relationship between any two route segments.

[0034] In the embodiments of the present application, after the segmentation processing of the route template is performed, the processor can extract the features of each route segment in the route template, such as curvature, key points, and orientation, as feature parameters. In some embodiments, the processor can first extract the features of each line segment in the route template, and perform segmentation processing according to the features. For example, the curvature in the route template can be extracted, and the straight lines and curves can be segmented according to the curvature. The orientation in the straight line can be further extracted, and the line segments in the straight line can be further segmented according to the orientation. Here, the limitations are not made.

[0035] The processor of the work robot also obtains the relationship between any two route segments as a constraint relationship, such as the relative position between the key points of the two route segments, the distance and angle between the two route segments, the connection point between the two route segments, etc. When the user adjusts the route segment, the related other route segments can be automatically adjusted through the constraint relationship, thereby improving the efficiency. For example, when applied to a line marking robot, the parallel relationship between the forbidden line and the bottom line in the sports field line marking, the vertical relationship between the frame lines, etc. can be used as the constraint relationship.

[0036] Step S13: Obtain the conversion relationship between the geographic coordinates and the plane coordinates of the route template.

[0037] In the embodiments of the present application, when the terminal device is in communication connection with the work robot, a map interface for user operation can be provided, and a route template is loaded and displayed in the map interface. After loading and displaying the route template on the preset map interface, the processor can obtain the geographic coordinates of each route segment in the route template on the map interface, and obtain the plane coordinates of each route segment in the route template, and obtain the conversion relationship between the geographic coordinates and the plane coordinates according to the geographic coordinates and the corresponding plane coordinates of the route segment. In some embodiments, when the route template is a CAD format file, the plane coordinates of the route segment can be CAD coordinates.

[0038] Step S14: In response to the operation of the route template on the preset map interface according to the constraint relationship, updating the characteristic parameters and the geographic coordinates of each route segment according to the conversion relationship.

[0039] In the embodiments of the present application, the above operation includes translating, scaling and rotating at least one route segment of the route template on the map interface. When the user operates one of the route segments, the processor adjusts the related other route segments according to the constraint condition, thereby improving the operation efficiency of the route template and ensuring the consistency and accuracy of the entire design of the route template. For example, when adjusting the radius of the circular arc route segment, the processor can adjust the end point position of the straight line end connected to the circular arc route segment according to the constraint relationship. Moreover, after operating the route template, the processor also updates the characteristic parameters and the geographic coordinates of each route segment in real time according to the conversion relationship.

[0040] Step S15: In response to the selection of at least one route segment, generating a work path according to the selected route segment, the corresponding characteristic parameters and the corresponding geographic coordinates.

[0041] It can be understood that after the user performs the above translation, scaling and rotation operations on the route template, the user can select at least one route segment as a work path for work, so as to facilitate the user to adjust and work on the local work path. In some embodiments, the processor can also store the route template after the translation, scaling and rotation operations, so that the user can directly call it next time.

[0042] Step S16: Control the robot to walk and work on the work path.

[0043] In the embodiments of the present application, after the user selects a route template, the route template is first segmented to obtain a plurality of route segments, and then the feature parameters of each route segment and the constraint relationship between any two route segments are extracted. The constraint relationship can improve the operation efficiency of the route template and ensure the consistency and accuracy of the entire design of the route template. In addition, the conversion relationship between the geographic coordinates and the plane coordinates of the route template is obtained. When the route template is operated, the feature parameters and the geographic coordinates of the route segment can be updated according to the conversion relationship, thereby improving the accuracy of the operation path.

[0044] In some embodiments, as shown in Figure 2 The process of obtaining the conversion relationship between the geographic coordinates and the plane coordinates can include the following steps: Step S21: Obtain the geographic coordinates of at least two reference points.

[0045] In the embodiments of the present application, the reference points can be specified points in the route template. For example, in a line marking robot, the route template is a sports field line marking template, and the user can specify a corner point in the sports field line marking template as the reference point through the terminal device.

[0046] In some embodiments, the user can control the operation robot to walk to the actual geographic location of the reference point through the terminal device, and control the operation robot to obtain the geographic coordinates at the actual geographic location.

[0047] Step S22: Obtain the conversion relationship from the geographic coordinate system to the plane coordinate system according to the geographic coordinates of the at least two reference points, the plane coordinates of the at least two reference points, and a preset projection algorithm.

[0048] In the embodiments of the present application, the processor can convert the geographic coordinates of the at least two reference points into coordinates in the plane coordinate system, and then calculate the conversion relationship between the geographic coordinates and the plane coordinates as the conversion relationship from the geographic coordinate system to the plane coordinate system. The geographic coordinates of the reference points can be converted into coordinates in the plane coordinate system by using Gauss-Kruger forward projection.

[0049] In some embodiments, after obtaining the conversion relationship from the map coordinate system to the plane coordinate system, the processor can also obtain the map coordinates of each route segment according to the conversion relationship, the plane coordinates and the feature parameters of each route segment. In some embodiments, the geographic coordinates of the end points of each route segment can be displayed in the map interface for the user to check.

[0050] In some embodiments, the constraint relationship includes at least one of parallel, perpendicular, a preset angle, and a preset distance, and the operation includes at least one of translation, scaling, and rotation. As shown in Figure 3As shown, the process of updating the characteristic parameters and geographic coordinates of each route segment according to the conversion relationship may specifically include the following steps: Step S31: Obtain translation coefficients, scaling coefficients, and rotation coefficients according to the conversion relationship.

[0051] Step S32: updating characteristic parameters and geographic coordinates of each route segment according to at least one of a translation coefficient, a scaling coefficient, and a rotation coefficient.

[0052] In an embodiment of the present application, in response to a user performing a translation operation on a route template on a map interface, the processor obtains a corresponding translation coefficient based on a conversion relationship, and updates the characteristic parameters and geographic coordinates of each route segment in the route template based on the translation coefficient. In response to a user performing a zoom operation on the route template on a map interface, the processor obtains a corresponding zoom coefficient based on a conversion relationship, and updates the characteristic parameters and geographic coordinates of each route segment in the route template based on the zoom coefficient. In response to a user performing a rotation operation on the route template on a map interface, the processor obtains a corresponding rotation coefficient based on a conversion relationship, and updates the characteristic parameters and geographic coordinates of each route segment in the route template based on the rotation coefficient.

[0053] In some embodiments, the process of performing segmentation processing on the route template using a preset algorithm to obtain multiple route segments may specifically include: segmenting the route template into at least one straight line segment and at least one curved line segment according to a marking vector segmentation algorithm.

[0054] The robot's processor can also use a line vector segmentation algorithm to first segment all routes in the route template into multiple straight segments and multiple curved segments, maintaining topological connectivity at the segmentation points. In some embodiments, the route template can also be segmented using a Douglas-Peucker adaptive algorithm and a curvature-driven segmentation method, which will not be further described here.

[0055] like Figure 4 As shown, the process of obtaining the characteristic parameters and constraint relationships of the route segment may include the following steps: Step S41: Obtain the endpoints of the straight line segment as corresponding feature parameters.

[0056] In the embodiment of the present application, after dividing the route template into a plurality of straight segments and curved segments, the processor can further extract characteristic parameters of each segment. When extracting the characteristic parameters of the straight segment, the two endpoints and the length of the straight segment can be obtained as the corresponding characteristic parameters.

[0057] Step S42: Identify the curve type of the curve segment, and obtain characteristic parameters corresponding to the curve segment according to the curve type.

[0058] In the embodiments of the present application, when the characteristic parameters of the curve segment are extracted, the curve type of the curve segment can be extracted, and the corresponding characteristic parameters are obtained according to the curve type. For example, when the curve segment is identified as an arc, the radius, the center and the length of the arc can be obtained as the corresponding characteristic parameters.

[0059] Step S43: Obtain at least one of the parallel relationship, the perpendicular relationship, the included angle and the distance between any two route segments as the constraint relationship.

[0060] In some embodiments, the user can also set and adjust the constraint relationship between any two route segments through the terminal device, and the user can also set the fixed length of the route segment as the constraint relationship, and set the radius and the position of the center of the arc route segment as the constraint relationship, so as to update and optimize the route template.

[0061] When the route segment in the route template is operated, the processor can identify the parameters of the route segment to be changed, for example, including the length of the route segment and the radius of the arc route segment, and then calculate the new position, the new size and the new parameters of other associated route segments according to the constraint relationship of the route segment, and make corresponding adjustments.

[0062] It can be understood that the technology of automatically adjusting the related route segment through the constraint relationship can reduce the errors that may occur when the user manually adjusts the route template, and the route template generated after recalculation can perfectly fit the original design framework, and the efficiency of the user adjusting the route template is improved.

[0063] For reference Figure 5 , Figure 5 A flowchart of a process for obtaining the characteristic parameters corresponding to the curve segment provided in the embodiments of the present application is shown, which specifically includes the following steps: Step S51: When the curve is identified as a circular curve, the curvature, the center coordinates and the radius of the circular curve are obtained as the characteristic parameters.

[0064] Step S52: When the curve is identified as an elliptical curve, the curvature equation, the focal point coordinates and the major axis of the elliptical curve are obtained as the characteristic parameters.

[0065] Step S53: When the curve is identified as a Bezier curve, the curvature equation of the Bezier curve is obtained as the characteristic parameter.

[0066] For reference Figure 6 , Figure 6 A flowchart of a second path planning method provided in the embodiments of the present application is shown, which specifically includes the following steps: Step S61: Control the robot to walk along the target route and collect route data.

[0067] Step S62: generating a route template according to the route data and a preset fitting algorithm.

[0068] In the embodiments of the present application, the work robot can also walk along the target route, collect and record route data in the process of walking, and after completing the walking task of the target route, generate a route template according to the recorded route data and a preset fitting algorithm. For example, when the work robot is a line marking robot, the processor of the line marking robot can control it to walk along the line marking of the sports field and collect route data, and finally generate a route template for line marking of the sports field.

[0069] In some embodiments, the line marking robot collects geographic coordinates as route data, and can record key coordinate points as route data in the process of walking to reduce the capacity of route data. The above-mentioned preset fitting algorithm includes a curve fitting algorithm, and the processor can analyze and process the route data according to the curve fitting algorithm after obtaining the route data, restore geometric elements conforming to the design specification of the sports field line marking, including straight line segments, circular arcs, elliptical arcs and Bezier curves, and finally combine the fitted geometric elements into a route template, so as to facilitate the robot to directly call the route template and the user to adjust the route template.

[0070] Step S63: in response to the selection of the route template, performing a preset algorithm segmentation processing on the selected route template to obtain a plurality of route segments.

[0071] Step S64: obtaining the feature parameters corresponding to each route segment and the constraint relationship between any two route segments.

[0072] Step S65: obtaining the conversion relationship between the geographic coordinates and the plane coordinates of the route template.

[0073] Step S66: in response to the operation of the route template according to the constraint relationship in the preset map interface, updating the feature parameters and the geographic coordinates of each route segment according to the conversion relationship.

[0074] Step S67: in response to the selection of at least one route segment, generating a work path according to the selected route segment, the corresponding feature parameters and the corresponding geographic coordinates.

[0075] Step S68: controlling the robot to walk and work on the work path.

[0076] In the embodiments of the present application, the above-mentioned steps S63-S68 are consistent with steps S11-S16, and will not be repeated here.

[0077] Please refer to Figure 7 , Figure 7The schematic block diagram of a line marking robot provided in an embodiment of the present application is shown in FIG. The line marking robot 100 includes a processor 110 and a memory 120 , and the processor 110 is configured to execute a computer program stored in the memory 120 to implement the path planning method of any of the above embodiments.

[0078] Please refer to Figure 8 , Figure 8 This is a schematic block diagram of a marking system provided in an embodiment of the present application, wherein the marking system 10 includes a terminal device 101 and the marking robot 100 of the above embodiment.

[0079] In an embodiment of the present application, the terminal device 101 is communicatively connected to the line marking robot 100 , and the terminal device 101 is used to display a map interface and a route template, and provide operation items of the route template on the map interface.

[0080] It can be understood that the beneficial effects of the marking robot 100 and the marking system 10 in the above embodiments can be referred to the beneficial effects of the path planning method in the above embodiments, and will not be repeated here.

[0081] An embodiment of the present application further provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the above-mentioned path planning method.

[0082] In the above embodiments, all or part of the methods can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the methods can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer storage medium or transmitted by the computer storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital versatile disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by a computer program instructing relevant hardware, which can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiments. The storage medium includes ROM, RAM, magnetic or optical discs, and various program code storage media. In the case of no conflict, the technical features in the embodiments and the embodiments can be combined arbitrarily.

[0084] The above-described embodiments are merely preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements of the technical solutions of the present application made by those of ordinary skill in the art shall fall within the protection scope of the claims of the present application.

Claims

1. A path planning method, characterized in that: include: In response to selection of a route template, performing segmentation processing on the selected route template using a preset algorithm to obtain a plurality of route segments; Obtaining characteristic parameters corresponding to each route segment and a constraint relationship between any two route segments; Obtaining the conversion relationship between the geographic coordinates and the plane coordinates of the route template; In response to an operation on the route template according to the constraint relationship on a preset map interface, updating the characteristic parameters and the geographic coordinates of each route segment according to the conversion relationship; In response to selection of at least one of the route segments, generating a work path according to the selected route segment, the corresponding characteristic parameters, and the corresponding geographic coordinates; The robot is controlled to walk and operate on the operation path.

2. The path planning method according to claim 1, wherein: The step of obtaining the conversion relationship between the geographic coordinates and the plane coordinates of the route template includes: Obtain the geographic coordinates of at least two reference points; The conversion relationship from the geographic coordinate system to the plane coordinate system is obtained according to the geographic coordinates of at least two of the reference points, the plane coordinates of at least two of the reference points, and a preset projection algorithm.

3. The path planning method according to claim 1, wherein: The constraint relationship includes at least one of parallel, vertical, preset angle and preset distance, and the operation includes at least one of translation, scaling and rotation; Updating the characteristic parameters and the geographic coordinates of each route segment according to the conversion relationship includes: Obtaining a translation coefficient, a scaling coefficient, and a rotation coefficient according to the conversion relationship; The characteristic parameters and the geographic coordinates of each route segment are updated according to at least one of the translation coefficient, the scaling coefficient, and the rotation coefficient.

4. The path planning method according to claim 1, wherein: The segmentation process of the selected route template using a preset algorithm to obtain a plurality of route segments includes: The route template is segmented into at least one straight line segment and at least one curved line segment according to a marking vector segmentation algorithm.

5. The path planning method according to claim 4, wherein: The obtaining of characteristic parameters corresponding to each route segment and the constraint relationship between any two route segments includes: Obtaining the endpoints of the straight line segment as the corresponding feature parameters; Identifying a curve type of the curve segment, and acquiring the characteristic parameter corresponding to the curve segment according to the curve type; At least one of a parallel relationship, a perpendicular relationship, an angle, and a distance between any two route segments is obtained as the constraint relationship.

6. The path planning method according to claim 5, wherein: The identifying the curve type of the curve segment and obtaining the characteristic parameter corresponding to the curve segment according to the curve type includes: When a circular curve is identified, the curvature, center coordinates and radius of the circular curve are obtained as the characteristic parameters; When an elliptic curve is identified, the curvature equation, focus coordinates and major axis of the elliptic curve are obtained as the characteristic parameters; When the curve is identified as a Bezier curve, the curvature equation of the Bezier curve is obtained as the characteristic parameter.

7. The path planning method according to claim 1, wherein: Also includes: Control the robot to walk along the target route and collect route data; The route template is generated according to the route data and a preset fitting algorithm.

8. A marking robot, characterized in that: The method comprises a processor and a memory, wherein the processor is configured to execute a computer program stored in the memory to implement the path planning method according to any one of claims 1 to 7.

9. A marking system, characterized in that: comprising a terminal device and the marking robot as claimed in claim 8; The terminal device is communicatively connected to the line marking robot, and the terminal device is used to display the map interface and the route template, and provide operation items of the route template on the map interface.

10. A computer storage medium, characterized in that The computer storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute the path planning method according to any one of claims 1 to 7.

Images