1380 results about "Control point" patented technology

The invention discloses an intelligent optimization method based on lightweight language training data, which comprises the following steps of: constructing a self-attention mechanism by using a Transform architecture, giving an embedding matrix of an input sequence, n being the sequence length, d being the embedding dimension, representing Query, Key and Value matrixes, and controlling the product magnitude by using a scaling factor; a low-rank adapter is added beside an original weight matrix, a parameter update quantity is decomposed into a product of two small matrixes, and the original weight matrix is a sum of two low-rank matrixes introduced by LoRA. According to the method, an end-to-end personalized dialogue memory system is constructed based on a MiniMind framework, dynamic internalization and accurate recall of user habit information are realized on the premise that a local vector knowledge base does not need to be constructed through organic integration of a supervision fine tuning strategy and a LoRA technology, a dialogue memory coding mechanism is designed, and the memory efficiency is improved. User interaction data is directly mapped into an implicit memory unit of a model parameter space, a lightweight memory trigger-retrieval protocol is developed, key features are extracted through dialogue context, and long-term memory response is activated.

The invention relates to the field of navigation, and more particularly discloses a gradient optimization driven unmanned aerial vehicle real-time obstacle avoidance multi-stage trajectory planning method, which comprises the following steps of: in a trajectory initialization stage, firstly, searching a collision-free geometric path considering steering limitation of an unmanned aerial vehicle on an occupied grid map by utilizing an improved algorithm to generate an initial B-spline control point; then, in a trajectory optimization stage, constructing a multi-target trajectory optimization problem, introducing an obstacle avoidance constraint based on an Euclidean distance field map, and optimizing the initial control point set in combination with unmanned aerial vehicle parameters and optimization weights to obtain a trajectory meeting an obstacle avoidance requirement; and finally, for the optimized trajectory, performing dynamic feasibility evaluation based on unmanned aerial vehicle kinematics limitation in a trajectory correction stage, and if the trajectory does not meet the constraint, performing correction based on the minimum curvature constraint on the control point to ensure that the finally generated trajectory is not only obstacle-avoiding but also feasible in dynamics, and finally, determining that the trajectory does not meet the constraint. Therefore, the real-time obstacle avoidance capability of the unmanned aerial vehicle in a complex environment is effectively improved.

The invention relates to the technical field of three-dimensional modeling in engineering surveying, in particular to a point cloud building component modeling method and system based on feature extraction. Three-dimensional point cloud data of building components are obtained, a multi-scale local neighborhood calculation covariance matrix is constructed with each point as the center, eigenvalues are decomposed, an edge probability graph is generated, corresponding component categories are semantically output, and corresponding key feature point sets are screened; taking the feature point cloud as a control point, constructing a three-level B-spline surface model, and adjusting the corresponding spatial distribution density; a weighted complete graph is formed through a key feature point set, a non-planar area is identified and processed through a Kurtowski theorem, a QEM algorithm is applied to carry out lightweight processing on a three-dimensional model, screening and optimization are carried out through automatically extracting key feature points of building components, and a concise and accurate lightweight model is constructed based on feature point topological optimization and a graph theory algorithm. The automation degree and efficiency of modeling are improved, and the contradiction between model lightweight and precision is effectively solved.

The embodiment of the invention provides a three-dimensional ray drawing method and device, and a curve control point is dynamically generated through precise conversion of a geographic coordinate system and a projection coordinate system in combination with an azimuth angle and an earth surface distance. A curvature correction mechanism based on a curved surface projection model is innovatively designed, the influence of the earth curvature on a ray trajectory is considered, and smooth space trajectory generation is realized through a Bezier curve parameter model. According to the system, the coordinate transformation compensation and spherical projection technology is adopted, accurate mapping of a geodetic coordinate system and a display coordinate system is established, accurate rendering of a three-dimensional space curve under different scales and view angles is ensured, and a high-precision technical scheme is provided for geographic information visualization. According to the method, the limitation of traditional straight line drawing is broken through, and the real trajectory expression considering the earth curvature is realized.

The invention relates to the technical field of glass container structure optimization, in particular to a lightweight glass container structure optimization design method based on a three-dimensional simulation model. The method comprises the following steps: constructing a continuous curved surface model of the glass container; constructing a glass container geometric variant library based on the continuous curved surface model of the glass container; performing multi-working-condition simulation on the glass container geometric variant library, and performing stress distribution feature extraction to obtain a container stress distribution feature set; constructing a container forming process constraint set; and performing NURBS control point identification on the glass container according to the container forming process constraint set to obtain a constraint container NURBS control point set. On the premise of ensuring the mechanical property and manufacturing feasibility of the glass container, the lightweight design can be realized to the greatest extent.

The invention provides an automatic building design scene generation method and system based on artificial intelligence. According to the method, a geometric feature parameter library and a spatial topological relation parameter library of a special-shaped component are integrated, an artificial intelligence optimization engine is used for carrying out conjoint analysis, and a building scene dynamic form constraint map is created. The process comprises the following steps: acquiring three-dimensional data of a construction site by using laser point cloud scanning, and extracting real-time curvature gradient parameters and functional region connection node parameters from the three-dimensional data; and then matching verification is carried out on the parameters and corresponding threshold values and conditions in the dynamic form constraint map, so that a building scene self-adaptive correction parameter set is generated. And finally, building component processing track control points are adjusted based on the parameter set, and a construction instruction containing spatial form and functional topology linkage is formed. According to the technical scheme provided by the invention, the efficiency and flexibility of building design scene automatic generation can be improved.

The invention relates to the technical field of aircrafts, and discloses an aircraft attitude control method, device and equipment and a storage medium, and the method comprises the steps: collecting flight state parameters of an aircraft; the pitch angle data in the flight state parameters are compared with a preset angle threshold value, corresponding flight mode switching is executed, and the attitude deviation value is calculated; power distribution calculation is conducted on the three ducts, and the target rotating speed of each duct paddle is obtained; performing position optimization calculation on the guide plates below the duct to obtain the position control quantity of each guide plate; the three flow guide plates are configured as triangular control points, the position compensation amount of an aileron, a yaw rudder and an elevator is calculated and determined through vector synthesis, and the angle control amount of each control surface is obtained; according to the method, the attitude of the aircraft is converted into an execution signal, execution feedback data is acquired to correct a control instruction in real time, closed-loop attitude control of the aircraft is realized, the attitude control precision of the aircraft is improved, and the stability of the flight process is ensured.

The invention discloses an automatic dovetail welding seam grinding control method based on robot visual positioning, and relates to the technical field of visual positioning. The method comprises the steps that after welding is completed, a dovetail welding seam image is collected and converted into a three-dimensional coordinate through a vision algorithm, and a three-dimensional point cloud is generated; smooth interpolation is performed on the three-dimensional point cloud through a B spline curve method to obtain a parameterized curve, and a control point set is optimized through a genetic algorithm to generate a global optimal polishing path; the polishing robot executes a task according to a path, a tail end sensor collects a real-time path and calculates a deviation value with a global path, and when the deviation value exceeds a preset threshold value, inverse kinematics is triggered to solve and correct the path; the hardness of the dovetail weld is measured through laser-induced breakdown spectroscopy, a comprehensive hardness value is obtained in combination with a matrix hardness database, meanwhile, a visual sensor collects the surface state, and polishing process parameters are dynamically adjusted according to the surface state; after the task is completed, the welding seam angle and flatness are detected. According to the method, the optimal path is generated through visual positioning, and automatic grinding of the dovetail welding seam is achieved.

The invention provides a cobblestone stratum bored pile construction and drilling parameter intelligent control method, and relates to the technical field of artificial intelligence and bored pile construction, and the method comprises the following steps: arranging a sound wave emission array at the end part of a drill bit to collect cobblestone distribution information, identifying a weak connecting band as a passable area, calculating an optimal obstacle avoidance track, and setting a posture control point; and drill bit displacement, slurry injection and drill rod deformation parameters are adjusted, so that the drilling tool can intelligently pass along the obstacle avoidance track. Large cobblestones can be effectively avoided, the drilling resistance is reduced, the drilling efficiency is improved, and equipment abrasion is reduced.

The invention relates to the technical field of low-altitude aircraft obstacle avoidance, and discloses an autonomous obstacle avoidance method and system for a low-altitude intelligent dynamic monitoring aircraft, and the method comprises the steps: carrying out the state vector construction of a position coordinate, a flight speed and a course angle of a low-altitude aircraft cluster, and obtaining a state space of the low-altitude aircraft cluster; performing Bezier curve calculation and genetic optimization on the control point sequence in the low-altitude aircraft cluster state space to obtain an optimal detection route parameter; performing geometric distance calculation and double-point removal processing according to the waypoint sequence of the optimal detection route to obtain a patrol airspace equation; performing multi-level reward function calculation through a hierarchical reinforcement learning framework to obtain a high-low layer decision network; time sequence differential learning and strategy gradient optimization are carried out based on the high-low layer decision network to obtain a distributed control strategy, so that global optimization control of the low-altitude aircraft cluster is realized, and stable operation of the low-altitude aircraft cluster in an unknown wind disturbance environment is ensured.

The invention discloses an acupuncture teaching auxiliary platform and method based on intelligent analysis. The method comprises the steps that S1, a preprocessing action signal data set is output; s2, obtaining a delay parameter set and an embedded dimension value; s3, forming a phase space reconstruction trajectory set; s4, generating an action track fragment object set; s5, constructing a bilateral preference sequence according to the dynamic similarity index and the stability difference index; s6, an improved stable marriage algorithm is executed on the basis of the bilateral preference sequence, and a comprehensive stability measurement index value is obtained; and S7, mapping a preset scoring interval according to the comprehensive stability measurement index value to generate a stability scoring result, and pushing the stability scoring result and the corresponding action gap information to the teaching platform to complete feedback. According to the invention, unstable paragraphs and control weak points existing in student operation can be accurately identified, and teaching intervention is more targeted.

The invention discloses a multi-working-condition multi-objective optimization design method for a water bucket structure of an impulse water turbine, which comprises the following steps: constructing a three-dimensional numerical model of an original water bucket structure of the impulse water turbine, and obtaining parameterized optimization design variables; modeling is conducted through the parameterized optimization design variables, a three-dimensional model of the impulse turbine runner bucket subjected to preliminary optimization design is obtained, the coordinate change direction and range of a control point of the three-dimensional model are restrained, and the restrained optimization design variables are obtained; according to the parameterized optimization design variable and the constrained optimization design variable, constructing a sample space of optimization design, and constructing a response surface model between the constrained optimization design variable and the optimization objective function; and performing global optimization on the response surface model to obtain an optimal solution set, and obtaining an optimal solution from the optimal solution set. According to the method, actual engineering requirements are considered when the optimization parameter range is set, and the phenomenon that the bucket blade is excessively deformed in the multi-working-condition optimization design process is effectively avoided.

The invention discloses a diamond cutter path error compensation method based on cutter wear evolution, which comprises the following steps: S1, multi-modal sensor data acquisition and processing: in the machining process, key state information between a diamond cutter and a workpiece is acquired in real time through a multi-modal sensor; s2, tool wear modeling: key geometric parameters and evolution trend of tool wear are extracted from the collected and processed data, and tool wear modeling is carried out. And S3, artificial intelligence prediction of the abrasion loss: training a tool abrasion prediction model based on a deep learning network structure. And S4, tool path compensation is conducted, specifically, the predicted abrasion loss and the actual free-form surface model are combined, the tool path compensation amount and the compensated control point coordinates are calculated, a new machining path is generated, and dynamic compensation of tool cutting edge abrasion is achieved. And S5, system integration and closed-loop control: integrating the steps on processing equipment, and realizing real-time data interaction and synchronization through a unified data protocol.

The embodiment of the invention discloses a tray forking control method and device of an unmanned forklift and a medium, and relates to the technical field of path planning, and the method comprises the steps that multi-mode environment data in a target forking environment is collected in real time through a multi-mode sensor, and based on the multi-mode environment data, region segmentation is conducted on the target forking environment, and the target forking environment is obtained; constructing a dynamic risk map, wherein the dynamic risk map comprises a static obstacle, a dynamic obstacle and a tray target position; according to the dynamic risk map, an improved adaptive sampling search algorithm and a preset node expansion constraint condition are adopted to generate a global forklift path; b spline curve fitting is carried out on the global forklift path, a multi-source error compensation item is introduced into the track control point through a pre-obtained multi-source quantization error, a fitted forklift path is determined, and the target tray is forked through the fitted forklift path.

The invention belongs to the field of path planning, and particularly relates to a rescue robot multi-constraint path planning method based on a Voronoi diagram. Comprising the following steps: constructing a Voronoi graph: constructing the Voronoi graph according to a known global two-dimensional grid map; initial path / trajectory searching: constructing an initial feasible path from a starting point to an end point in the Voronoi diagram by using an A * algorithm, and fitting the path by using a cubic spline curve to obtain an initial trajectory; and constructing an optimization function: constructing a proper trajectory optimization function according to task requirements. And trajectory optimization: optimizing the initial trajectory by taking a control point of the initial trajectory as a variable to be optimized and taking a minimum optimization function as an optimization target. The advantages of the Voronoi diagram and the optimization algorithm are fused, and compared with a traditional global path planning method, the method has the advantages of being high in time efficiency, robustness and flexibility, and is a solution suitable for a global path planning task in a large-scale and complex environment.

The embodiment of the invention provides a network security validity verification and quantitative evaluation method and system, and relates to the technical field of network security, and the method comprises the steps: obtaining global dynamic threat intelligence and a multi-dimensional global network security risk data source, and carrying out the preprocessing; constructing a global feature engineering system based on heterogeneous information network atlas and sequence analysis, forming a feature vector matrix, and mapping the feature vector matrix into an index state vector; inputting the feature vector matrix, the index state vector and the external environment information vector into an evaluation model, dynamically adjusting the weight of the feature vector matrix of each dimension, and outputting the validity score of each safety control point; based on the score, calculating a safety effectiveness index based on a time decay factor; identifying a weak link based on the index, and performing simulation verification to obtain a simulation attack actual measurement result; and an error vector is constructed based on the result and the validity score, and parameter adjustment and weight calibration are carried out. According to the scheme, the accuracy and the real-time performance of network security evaluation are improved.

Methods, devices, media, and other embodiments are described for generating, modifying, and outputting pseudorandom animations that can be synchronized to audio data. In one embodiment, a computer animation model made up of comprising one or more control points is accessed by one or more processors, which associate motion patterns with a first control point of the one or more control points, and associate one or more speed harmonics with the first control point. A set of motion states is identify with a motion state for the combinations of possibilities, and a probability value is assigned to each motion state of the set of motion states. The probability value can be used to probabilistically determine a particular motion state to be part of displayed animation for the computer animation model.

The invention discloses an unmanned aerial vehicle cluster collaborative operation path planning method based on distributed computing power. The method comprises the following steps: constructing a space-time safety corridor composed of convex polyhedrons for each unmanned aerial vehicle; an initial connected track is generated in the corridor, invariant re-parameterization based on curvature and torsion is carried out, and optimization solution is carried out in an invariant space; the result is expressed as a curvature continuous spline curve, a target function containing bending energy and path cost is constructed with control points and node time as variables, multiple constraints are applied, and complementary curvature constraints are established; minimizing the target function under constraint to obtain a smooth track; when an obstacle or a near conflict is detected, local re-optimization is carried out; and the edge nodes are responsible for constraint synchronization, independent optimization of each unmanned aerial vehicle and rolling updating of the flight path. According to the method, the stability of path planning and the energy utilization efficiency are improved by combining distributed computing power collaboration, geometric invariant re-parameterization and complementary curvature constraint.

The invention provides a multi-axis linkage engraving equipment control algorithm optimization method, which belongs to the technical field of engraving equipment, and comprises the following steps of: decomposing a model into a plurality of curved surface segmentation segments according to a curvature change rate, and performing NURBS curve parameterization processing on each segment to generate control point coordinates and weight coefficient data; a dynamic weight adjustment model is adopted to dynamically calculate a path planning weight coefficient according to a tool cutting force value, a surface roughness demand value and a machining efficiency index value, a minimum spanning tree path algorithm is utilized to carry out path connection sequence planning, and a layered interpolation operation framework combining preprocessing interpolation calculation and real-time interpolation compensation is established. And the optimized interpolation coordinate data is converted into an axis control instruction sequence containing a position instruction, a speed instruction and an acceleration instruction, and the technical problem that the interpolation calculation precision and the real-time performance are difficult to balance when the multi-axis linkage carving equipment is used for machining a complex curved surface is solved.

The invention discloses an NURBS curve robot trajectory offset point focusing fitting method based on adaptive optimization, which remarkably improves trajectory precision and calculation efficiency through adaptive optimization focused on an error offset point. The method comprises the steps of initial path planning, NURBS curve fitting, error evaluation and offset point extraction, adaptive optimization and real-time feedback adjustment. In error evaluation, double indexes of a root-mean-square error and a maximum absolute error are adopted, an offset point is accurately identified, a control point, a weight and a node vector are focused and optimized by using a genetic algorithm, and local optimum is effectively avoided. A regularization item is introduced into a fitness function, curve complexity and precision are balanced, and smoothness and feasibility of a track are achieved. And finally, real-time adjustment of the trajectory is realized through a multi-feedback mechanism, and the robustness of the robot in a dynamic environment is improved. Compared with the prior art, the precision, the real-time performance and the environmental adaptability of track generation are realized, and particularly, an efficient and accurate track fitting effect is achieved in a complex dynamic environment.

The invention relates to a robot G3 continuous corner smoothing method based on a Bezier curve. The method comprises the steps that robot small line segment machining tool nose position data is input, six times of Bezier curves are adopted for transfer fairing under a workpiece coordinate system, and control points of the Bezier curves are analyzed and calculated according to the maximum allowable value of tool nose position fairing errors and the condition constraint that G3 at the curve connection position is continuous; secondly, robot small line segment machining cutter axis direction data are input, six times of Bezier curves are adopted in an RPY angle space under a workpiece coordinate system for transfer fairing, and control points of the Bezier curves are analyzed and calculated according to the maximum allowable value of fairing errors in the cutter axis direction and the condition constraint that G3 at the curve connection position is continuous; and finally, parameter synchronization is carried out on the cutter shaft direction and the cutter point position path after switching and smoothing, and a B spline straight line is adopted to replace the remaining linear section. According to the method, continuous and smooth switching of the tool path G3 can be realized analytically, no iterative computation is needed, and the processing real-time performance and stability are improved while the fairing error is controllable.

The invention discloses an assembly type laminated slab installation guiding system and method for a public building special-shaped formwork system, and relates to the technical field of constructions.The assembly type laminated slab installation guiding system comprises a data acquisition module, a calculation decision module, an installation guiding module and a geometric compensation connection module; the system comprises a point cloud acquisition module, a point cloud processing module, a BIM processing module, a point cloud processing module, a BIM processing module, a point cloud processing module, a BIM processing module, a field-BIM coordinate correspondence and output of original measurement data and quality indexes, a calculation decision-making module, a component optimal installation attitude and tolerance distribution and generation of installation instruction parameters, and an installation guiding module, which projects an installation instruction to a field in laser, total station and AR modes, and the geometric compensation connecting module is connected with an edge compressible layer through an adjustable bracket and an oval groove hole to achieve XYZ and angle fine adjustment, reliable locking and post-grouting curing are achieved on the premise that the bearing requirement is met, and the device has the advantage of being high in accuracy.

Methods and systems are described for analyzing images. One or more machine learning models may be trained based on a plurality of images. The one or more machine learning models may comprise a model representing a feature in a scene. The one or more machine learning models may be trained to map input image coordinates to vectors of spline control points. Images may be reconstructed removing the feature from the scene.

The invention provides a tunnel oven control method and device, terminal equipment and a program product. The method comprises the steps that historical parameters and real-time parameters corresponding to multiple control points of a tunnel oven are obtained; the historical parameters comprise historical temperature data and historical atmosphere data, and the real-time parameters comprise real-time temperature data and real-time atmosphere data; predicting prediction parameters respectively corresponding to the plurality of control points at the future moment according to the historical parameters and the real-time parameters by utilizing a prediction model; the prediction parameters comprise predicted temperature data and predicted atmosphere data; determining target set values respectively corresponding to the prediction parameters by using a model prediction control model; the target set value comprises a target temperature set value and a target atmosphere set value; and the temperature and the atmosphere of the tunnel oven are controlled and adjusted according to the target temperature set value and the target atmosphere set value. The control efficiency of the tunnel oven can be improved, and the production efficiency and the product quality are improved.

The method for automatically compensating glue amount according to the seam width disclosed in the first aspect of the present invention includes: calculating the total glue amount of glue dispensed; scanning the glue dispensing trajectory and collecting the actual gap widths of multiple points to calculate the reference seam width; calculating the actual glue dispensing speed of each section of the trajectory according to the reference speed, the reference seam width and the actual gap width of each point; controlling the running speed of the glue dispensing axis system to perform variable speed glue dispensing; the system for automatically compensating glue amount according to the seam width of the second aspect of the present invention includes a PC industrial computer, an electronic scale, a 3D line laser, a motion control board and a driver; the automatic glue compensation method of the present invention can adjust the speed of the glue dispensing axis system according to the actual seam width to automatically compensate for the glue amount, ensure that the glue fully fills the gap, and improve the bonding strength and sealing of the product; it is suitable for the glue dispensing requirements of different seam widths, and enhances the flexibility and adaptability of the glue dispensing system; the automatic glue compensation system of the present invention has a high degree of automation, reduces manual intervention, and improves work efficiency.

To provide a video encoding / decoding method for performing intra-prediction on the basis of availability of a reference pixel so as to improve encoding performance.SOLUTION: An intra-prediction method for a color copy mode checks a reference pixel region designated to obtain correlation information, determines a reference pixel processing setting based on a determination of availability of the reference pixel region, and performs intra-prediction according to the determined reference pixel processing. In addition, a candidate list for motion information prediction of the current block is generated, a control point vector of the current block is derived based on the candidate list and a candidate index, a motion vector of the current block is derived based on the control point vector of the current block, and inter prediction is performed on the current block.SELECTED DRAWING: Figure 14

The invention relates to the technical field of water conservancy project quality management, in particular to a BIM-based water conservancy project construction quality digital acceptance management system, which is used for solving the problems that BIM and OWL ontology cannot be fused, semantic modeling and multi-source data association of quality control points and time state attributes are difficult to realize, and the construction quality of a water conservancy project is influenced in the prior art. BIM model information cannot be dynamically updated, intelligent construction suggestions cannot be generated, and the intelligence, precision and automation level of water conservancy project construction quality management and control is reduced. According to the method, BIM and OWL ontologies are fused through the water conservancy component quality intelligent control module, semantic modeling and multi-source data association of quality control points and time state attributes are achieved, and the intelligence, precision and automation level of water conservancy project construction quality control is remarkably improved by dynamically updating BIM model information and generating intelligent construction suggestions.

The invention relates to the technical field of turning machining, and discloses an ultra-precision turning machining control method and system and a storage medium. The method comprises the steps that a laser contourgraph detects geometric parameters and abrasion data of a turning tool, and a tool health degree index is calculated; performing error compensation based on the health degree index to obtain a feeding control parameter; cutting force signals are collected, and technological parameters are optimized through a multi-target genetic algorithm; arranging a temperature sensor array, and adjusting cooling control according to process parameters; and generating a track control point and performing interpolation processing to obtain a motion control sequence. According to the method, the problem that the machining precision is unstable due to the fact that the cutter state cannot be quantitatively evaluated in real time in traditional turning is solved, and the precision control capability and machining quality consistency of ultra-precision turning are improved.

The invention discloses a welding seam self-adaption B spline curve fitting method for a 3D dense out-of-order point set, and aims at solving the problem of complex curved surface welding seam track generation in robot welding and breaking through the limitation of the prior art through a three-stage self-adaption fitting mechanism. The method comprises the following steps: firstly, self-adaptive screening and projection sorting are carried out by utilizing a straight line fitting error, so that the disordering problem of discrete points of a quadratic curved surface intersection line is effectively solved, and the strong dependence of a traditional method on a CAD model is overcome; secondly, in combination with a region growing method guided by an end tangent vector, robust conversion from an out-of-order point set to an ordered control point is realized through dynamic neighborhood search and projection value sorting, and path continuity of an open / closed curve is guaranteed; and finally, mean sampling quadratic fitting is adopted, control point distribution is optimized while noise is restrained, and a smooth B-spline track meeting the movement requirement of the welding gun is generated. According to the method, direct fitting of the 3D dense out-of-order point set under the model-free condition is achieved for the first time, and the generation efficiency and adaptability of the irregular welding seam track are remarkably improved.

The invention discloses a trajectory correction method, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring a plurality of control points corresponding to an original path of a vehicle model in a map; wherein the map at least comprises coordinate information of the obstacle; acquiring a current control point, and determining a nearest barrier corresponding to the current control point and an actual distance between the current control point and the nearest barrier based on the current control point and the coordinate information of the barrier; based on the current control point, a historical control point before the current control point and coordinate information of a nearest obstacle corresponding to the current control point, an orientation angle value between the vehicle model and the nearest obstacle is obtained, and a safety threshold matched with the orientation angle value is obtained; and optimizing each control point based on the safety threshold and the actual distance, and generating a correction path by using all optimized control points. According to the scheme, the operation efficiency and safety of the automatic guided vehicle can be improved.