CN115061464A - Dynamic robot operation path planning method and device based on dynamic operation target - Google Patents
Dynamic robot operation path planning method and device based on dynamic operation target Download PDFInfo
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a robot working path dynamic planning method and a device based on a dynamic working target, wherein the method comprises the following steps: performing target positioning processing on the dynamic operation target in real time based on the operation instruction to obtain target position information and target motion trend information of the dynamic operation target; acquiring robot position information and robot motion trend information; marking on a work map in the work area to form a marked map; predicting the position of the dynamic operation target at the next moment to obtain the predicted position of the dynamic operation target at the next moment; and dynamically planning the robot working path based on the position information of the robot, the motion trend information of the robot and the predicted position of the dynamic working target at the next moment. In the embodiment of the invention, the position of the dynamic operation target is predicted, and the operation path of the robot is dynamically planned, so that the robot has higher operation efficiency.
Description
Technical Field
The invention relates to the technical field of robot operation control, in particular to a method and a device for dynamically planning a robot operation path based on a dynamic operation target.
Background
As the robot technology is matured day by day, the robot is applied to various industrial production or some dangerous environments for replacing operation, so that the corresponding used cost is reduced, in the prior art, when some operation targets with fixed positions or targets with fixed motion trends are processed, the operation efficiency of the robot is high, but when some dynamic operation targets without fixed motion trends are processed, the existing robot cannot accurately capture the dynamic operation targets, so that the related operation processes cannot be completed, and meanwhile, the operation efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a dynamic robot operation path planning method and device based on a dynamic operation target, which can be used for predicting the position of the dynamic operation target and dynamically planning the operation path of a robot, so that the robot has higher operation efficiency.
In order to solve the technical problem, an embodiment of the present invention provides a robot working path dynamic planning method based on a dynamic working target, where the method includes:
performing target positioning processing on the dynamic operation target in real time based on the operation instruction to obtain target position information and target motion trend information of the dynamic operation target;
acquiring robot position information and robot motion trend information;
marking the target position information, the target movement trend, the robot position information and the robot movement trend information on an operation map in an operation area to form a marked map;
predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information to obtain the predicted position of the dynamic operation target at the next moment;
and dynamically planning the operation path of the robot based on the position information of the robot, the motion trend information of the robot and the predicted position of the dynamic operation target at the next moment.
Optionally, the performing target location processing on the dynamic operation target in real time based on the operation instruction to obtain target position information and target movement trend information of the dynamic operation target includes:
starting a video acquisition system arranged above the side of the operation area based on the operation instruction, and carrying out video acquisition on the operation area to obtain video data;
positioning the operation target in the operation area based on the video data to obtain target position information of a dynamic operation target;
performing motion trend acquisition processing on the operation target in the operation area based on the video data to obtain target motion trend information of a dynamic operation target;
the target motion trend information comprises target motion direction information and target motion speed information.
Optionally, the positioning the job target in the job area based on the video data to obtain target position information of the dynamic job target includes:
dividing the operation area by using positioning grid lines to form an operation area with the positioning grid lines;
and extracting a last frame of video image frame in the video data, and positioning the operation target in the last frame of video image frame based on an operation area with a positioning grid line to obtain target position information of a dynamic operation target.
Optionally, the performing, on the basis of the video data, motion trend acquisition processing on the job target in the job area to obtain target motion trend information of the dynamic job target includes:
extracting a last frame video image frame and a first frame video image frame in the video data;
respectively positioning the operation target in the most previous frame of video image frame and the last frame of video image frame to respectively obtain the target position information of the operation target in the most previous frame of video image frame and the last frame of video image frame;
and performing motion trend acquisition processing based on the target position information of the operation target in the most previous frame video image frame and the last frame video image frame to obtain target motion trend information of the dynamic operation target.
Optionally, the obtaining of the robot position information and the robot motion trend information includes:
performing video acquisition on the operation area based on a video acquisition system arranged above the operation area side to obtain video data;
and positioning and acquiring the motion trend of the robot in the operation area based on the video data to obtain the position information and the motion trend information of the robot.
Optionally, the marking the target position information, the target movement trend, the robot position information, and the robot movement trend information on a work map in a work area to form a marked map includes:
constructing a coordinate system on the operation map in the operation area, and converting the target position information and the robot position information into a target position coordinate and a robot position coordinate based on the coordinate system established by the operation map in the operation area;
and marking the target position coordinates, the robot position coordinates, the target movement trend and the robot movement trend information on a work map in a work area to form a marked map.
Optionally, the marking the target position coordinate, the robot position coordinate, the target movement trend and the robot movement trend information on the work map in the work area includes:
coordinate marking is carried out on the target position coordinate and the robot position coordinate on a working map in a working area to form an initial marking map;
and converting the target movement trend and the robot movement trend information into digital information, and performing marking processing on the initial marking map.
Optionally, the predicting the position of the dynamic job target at the next time based on the target position information and the target movement tendency information includes:
acquiring target movement speed information in the target movement trend, and calculating the movement distance of the dynamic operation target at the next moment based on the target movement speed information;
and predicting the position of the dynamic operation target at the next moment based on the target position information, the distance of the dynamic operation target at the next moment and the target movement direction information in the target movement trend information.
Optionally, the dynamic planning processing of the robot working path based on the position information of the robot, the robot motion trend information, and the predicted position of the dynamic working target at the next time includes:
adjusting the robot motion direction information and the robot motion speed information in the robot motion trend information based on the position information of the robot and the predicted position of the dynamic operation target at the next moment;
and dynamically planning the operation path of the robot based on the adjusted motion direction information and the adjusted motion speed information of the robot.
In addition, the embodiment of the invention also provides a robot working path dynamic planning device based on the dynamic working target, which comprises:
a positioning module: the system comprises a target positioning module, a target positioning module and a target motion trend module, wherein the target positioning module is used for carrying out target positioning processing on a dynamic operation target in real time based on an operation instruction to obtain target position information and target motion trend information of the dynamic operation target;
an obtaining module: the system is used for acquiring the position information and the motion trend information of the robot;
a marking module: the system comprises a working area, a target position information acquisition unit, a target motion trend information acquisition unit, a robot position information acquisition unit, a robot motion trend information acquisition unit and a marking unit, wherein the working area is a working area;
a prediction module: the system is used for predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information to obtain the predicted position of the dynamic operation target at the next moment;
a planning module: and the dynamic planning processing is used for performing the dynamic planning processing of the robot working path based on the position information of the robot, the robot motion trend information and the next moment prediction position of the dynamic working target.
In the embodiment of the invention, the current position and the target motion trend information of the dynamic operation target are obtained, the position of the dynamic operation target appearing at the next moment is predicted, the dynamic planning processing of the robot operation path is carried out according to the predicted position, the position of the dynamic operation target is predicted, the operation path of the robot is dynamically planned, the robot can dynamically change the motion path and the motion trend of the robot, the accurate operation processing of the dynamic operation target is ensured, and the robot has higher operation efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart illustrating a method for dynamically planning a working path of a robot based on dynamic working objectives according to an embodiment of the present invention;
fig. 2 is a schematic structural component diagram of a robot working path dynamic planning device based on dynamic working targets in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for dynamically planning a working path of a robot based on a dynamic working target according to an embodiment of the present invention.
As shown in fig. 1, a method for dynamically planning a working path of a robot based on a dynamic working target includes:
s11: performing target positioning processing on the dynamic operation target in real time based on the operation instruction to obtain target position information and target motion trend information of the dynamic operation target;
in a specific implementation process of the present invention, the performing target location processing on the dynamic operation target in real time based on the operation instruction to obtain target position information and target motion trend information of the dynamic operation target includes: starting a video acquisition system arranged above the side of the operation area based on the operation instruction, and carrying out video acquisition on the operation area to obtain video data; positioning the dynamic operation target in the operation area based on the video data to obtain target position information of the dynamic operation target; performing motion trend acquisition processing on the operation target in the operation area based on the video data to obtain target motion trend information of the dynamic operation target; the target motion trend information comprises target motion direction information and target motion speed information.
Further, the positioning the operation target in the operation area based on the video data to obtain target position information of the dynamic operation target includes: dividing the operation area by using positioning grid lines to form an operation area with the positioning grid lines; and extracting a last frame of video image frame in the video data, and positioning the operation target in the last frame of video image frame based on an operation area with a positioning grid line to obtain target position information of a dynamic operation target.
Further, the obtaining of the movement trend of the job target in the job area based on the video data to obtain target movement trend information of the dynamic job target includes: extracting a last frame video image frame and a foremost frame video image frame in the video data; respectively positioning the operation target in the most previous frame of video image frame and the last frame of video image frame to respectively obtain the target position information of the operation target in the most previous frame of video image frame and the last frame of video image frame; and performing motion trend acquisition processing based on the target position information of the operation target in the most previous frame video image frame and the last frame video image frame to obtain target motion trend information of the dynamic operation target.
Specifically, a video acquisition system is arranged above the side of the operation area, and after the video acquisition system is started, the video acquisition area covers the whole operation area; therefore, when the user needs to perform the operation, the user performs the related operation, and after the operation instruction is generated, the video acquisition system arranged above the operation area side is started according to the operation instruction to acquire the video in the operation area, so that the video data is obtained; after the video data are obtained, positioning processing is carried out on the dynamic operation target in the operation area according to the video data, so that target position information of the dynamic operation target is obtained, and then movement trend obtaining processing is carried out on the dynamic operation target in the operation area according to the video data, so that target movement trend information of the dynamic operation target is obtained; the target motion trend information comprises target motion direction information and target motion speed information.
The method comprises the steps of dividing a cable area by using positioning grid lines to form a working area with the positioning grid lines, then performing framing processing on video data, extracting a last frame of video image frame in the video data, and performing positioning processing on a dynamic working target in the last frame of video image frame according to the working area with the positioning grid lines to obtain target position information of the dynamic working target.
Performing frame division processing on video data, and then extracting a last frame video image frame and a first frame video image frame in the video data; respectively positioning the operation target in the most previous frame of video image frame and the last frame of video image frame to respectively obtain the target position information of the dynamic operation target in the most previous frame of video image frame and the last frame of video image frame; and then, carrying out motion trend acquisition processing according to target position information of the dynamic operation target in the first frame of video image frame and the last frame of video image frame to obtain target motion trend information of the dynamic operation target.
S12: acquiring robot position information and robot motion trend information;
in the specific implementation process of the present invention, the obtaining of the robot position information and the robot motion trend information includes: performing video acquisition on the operation area based on a video acquisition system arranged above the operation area side to obtain video data; and positioning and acquiring the motion trend of the robot in the operation area based on the video data to obtain the position information and the motion trend information of the robot.
Specifically, videos in the operation area are collected through a video collecting system arranged above the side of the operation area, video data are obtained, then the robot is positioned in the operation area and the movement trend is obtained and processed according to the video data, and the specific processing mode can refer to the mode of the previous step, so that the position information and the movement trend information of the robot can be obtained.
S13: marking the target position information, the target movement trend, the robot position information and the robot movement trend information on a work map in a work area to form a marked map;
in a specific implementation process of the present invention, the marking the target position information, the target movement trend, the robot position information, and the robot movement trend information on a work map in a work area to form a marked map includes: constructing a coordinate system on the operation map in the operation area, and converting the target position information and the robot position information into a target position coordinate and a robot position coordinate based on the coordinate system established on the operation map in the operation area; and marking the target position coordinates, the robot position coordinates, the target movement trend and the robot movement trend information on a work map in a work area to form a marked map.
Further, the marking the target position coordinate, the robot position coordinate, the target movement trend and the robot movement trend information on the work map in the work area includes: coordinate marking is carried out on the target position coordinate and the robot position coordinate on a working map in a working area to form an initial marking map; and converting the target movement trend and the robot movement trend information into digital information, and performing marking processing on the initial marking map.
Specifically, a coordinate system is built on a work map in a work area, the target position information and the robot position information are converted into a target position coordinate and a robot position coordinate through the coordinate system built on the work map in the work area, and the target position coordinate, the robot position coordinate, the target movement trend and the robot movement trend information are marked on the work map in the work area to form a marked map.
Coordinate marking is carried out on the target position coordinate and the robot position coordinate on a working map in a working area to form an initial marking map; and then converting the target movement tendency and the robot movement tendency information into digital information while performing a marking process on the initial marking map.
S14: predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information to obtain the predicted position of the dynamic operation target at the next moment;
in a specific implementation process of the present invention, the predicting the position of the dynamic operation target at the next time based on the target position information and the target movement tendency information includes: acquiring target movement speed information in the target movement trend, and calculating the movement distance of the dynamic operation target at the next moment based on the target movement speed information; and predicting the position of the dynamic operation target at the next moment based on the target position information, the distance of the dynamic operation target at the next moment and the target movement direction information in the target movement trend information.
Specifically, target movement speed information in a target movement trend needs to be obtained, and then the movement distance of the dynamic operation target at the next moment is calculated according to the target movement speed information; and predicting the position of the dynamic operation target at the next moment according to the target position information, the moving distance of the dynamic operation target at the next moment and the target moving direction information in the target moving trend information, so that the predicted position of the dynamic operation target at the next moment can be obtained.
S15: and dynamically planning the operation path of the robot based on the position information of the robot, the motion trend information of the robot and the predicted position of the dynamic operation target at the next moment.
In a specific implementation process of the present invention, the dynamic planning processing of the robot operation path based on the position information of the robot, the robot motion trend information, and the predicted position of the dynamic operation target at the next time includes: adjusting the robot motion direction information and the robot motion speed information in the robot motion trend information based on the position information of the robot and the next moment predicted position of the dynamic operation target; and performing dynamic planning processing on the operation path of the robot based on the adjusted movement direction information and the movement speed information of the robot.
Specifically, the robot motion direction information and the robot motion speed information in the robot motion trend information are adjusted according to the position information of the robot and the next moment predicted position of the dynamic operation target; and then, dynamically planning and processing the operation path of the robot according to the adjusted motion direction information and the motion speed information of the robot.
In the embodiment of the invention, the current position and the target motion trend information of the dynamic operation target are obtained, the position of the dynamic operation target appearing at the next moment is predicted, the dynamic planning processing of the robot operation path is carried out according to the predicted position, the position of the dynamic operation target is predicted, the operation path of the robot is dynamically planned, the robot can dynamically change the motion path and the motion trend of the robot, the accurate operation processing of the dynamic operation target is ensured, and the robot has higher operation efficiency.
Example two
Referring to fig. 2, fig. 2 is a schematic structural diagram of a robot working path dynamic planning apparatus based on dynamic working targets in an embodiment of the present invention.
As shown in fig. 2, a robot working path dynamic planning apparatus based on dynamic working target, the apparatus includes:
the positioning module 21: the system comprises a target positioning module, a target positioning module and a target motion trend module, wherein the target positioning module is used for carrying out target positioning processing on a dynamic operation target in real time based on an operation instruction to obtain target position information and target motion trend information of the dynamic operation target;
in a specific implementation process of the present invention, the performing target location processing on the dynamic operation target in real time based on the operation instruction to obtain target position information and target motion trend information of the dynamic operation target includes: starting a video acquisition system arranged above the side of the operation area based on the operation instruction, and carrying out video acquisition on the operation area to obtain video data; positioning the dynamic operation target in the operation area based on the video data to obtain target position information of the dynamic operation target; performing motion trend acquisition processing on the operation target in the operation area based on the video data to obtain target motion trend information of a dynamic operation target; the target motion trend information comprises target motion direction information and target motion speed information.
Further, the positioning the operation target in the operation area based on the video data to obtain target position information of the dynamic operation target includes: dividing the operation area by using positioning grid lines to form an operation area with the positioning grid lines; and extracting a last frame of video image frame in the video data, and positioning the operation target in the last frame of video image frame based on an operation area with a positioning grid line to obtain target position information of a dynamic operation target.
Further, the obtaining of the movement trend of the job target in the job area based on the video data to obtain target movement trend information of the dynamic job target includes: extracting a last frame video image frame and a first frame video image frame in the video data; respectively positioning the operation target in the most previous frame of video image frame and the last frame of video image frame to respectively obtain the target position information of the operation target in the most previous frame of video image frame and the last frame of video image frame; and performing motion trend acquisition processing based on the target position information of the operation target in the most previous frame video image frame and the last frame video image frame to obtain target motion trend information of the dynamic operation target.
Specifically, a video acquisition system is arranged above the side of the operation area, and after the video acquisition system is started, the video acquisition area covers the whole operation area; therefore, when the user needs to perform the operation, the user performs the related operation, and after the operation instruction is generated, the video acquisition system arranged above the operation area side is started according to the operation instruction to acquire the video in the operation area, so that the video data is obtained; after the video data are obtained, positioning processing is carried out on the dynamic operation target in the operation area according to the video data, so that target position information of the dynamic operation target is obtained, and then movement trend obtaining processing is carried out on the dynamic operation target in the operation area according to the video data, so that target movement trend information of the dynamic operation target is obtained; the target motion trend information comprises target motion direction information and target motion speed information.
The method comprises the steps of dividing a cable area by using positioning grid lines to form a working area with the positioning grid lines, then performing framing processing on video data, extracting a last frame of video image frame in the video data, and performing positioning processing on a dynamic working target in the last frame of video image frame according to the working area with the positioning grid lines to obtain target position information of the dynamic working target.
Performing frame division processing on video data, and then extracting a last frame video image frame and a first frame video image frame in the video data; respectively positioning the operation target in the most previous frame of video image frame and the last frame of video image frame to respectively obtain the target position information of the dynamic operation target in the most previous frame of video image frame and the last frame of video image frame; and then, carrying out motion trend acquisition processing according to target position information of the dynamic operation target in the first frame of video image frame and the last frame of video image frame to obtain target motion trend information of the dynamic operation target.
The obtaining module 22: the system is used for acquiring the position information and the motion trend information of the robot;
in the specific implementation process of the present invention, the obtaining of the robot position information and the robot motion trend information includes: performing video acquisition on the operation area based on a video acquisition system arranged above the operation area side to obtain video data; and positioning and acquiring the motion trend of the robot in the operation area based on the video data to obtain the position information and the motion trend information of the robot.
Specifically, videos in the operation area are collected through a video collecting system arranged above the side of the operation area, video data are obtained, then the robot is positioned in the operation area and the movement trend is obtained and processed according to the video data, and the specific processing mode can refer to the mode of the previous step, so that the position information and the movement trend information of the robot can be obtained.
The marking module 23: the system comprises a working area, a target position information acquisition unit, a target motion trend information acquisition unit, a robot position information acquisition unit, a robot motion trend information acquisition unit and a marking unit, wherein the working area is a working area;
in a specific implementation process of the present invention, the marking the target position information, the target movement trend, the robot position information, and the robot movement trend information on a work map in a work area to form a marked map includes: constructing a coordinate system on the operation map in the operation area, and converting the target position information and the robot position information into a target position coordinate and a robot position coordinate based on the coordinate system established on the operation map in the operation area; and marking the target position coordinates, the robot position coordinates, the target movement trend and the robot movement trend information on a work map in a work area to form a marked map.
Further, the marking the target position coordinate, the robot position coordinate, the target movement trend and the robot movement trend information on the work map in the work area includes: coordinate marking is carried out on the target position coordinates and the robot position coordinates on a work map in a work area to form an initial mark map; and converting the target movement trend and the robot movement trend information into digital information, and performing marking processing on the initial marking map.
Specifically, a coordinate system is built on a work map in the work area, the target position information and the robot position information are converted into a target position coordinate and a robot position coordinate through the coordinate system built on the work map in the work area, and the target position coordinate, the robot position coordinate, the target movement trend and the robot movement trend information are marked on the work map in the work area to form a marked map.
Coordinate marking is carried out on the target position coordinate and the robot position coordinate on a working map in a working area to form an initial marking map; and then converting the target movement tendency and the robot movement tendency information into digital information while performing a marking process on the initial marking map.
The prediction module 24: the system is used for predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information to obtain the predicted position of the dynamic operation target at the next moment;
in a specific implementation process of the present invention, the predicting the position of the dynamic operation target at the next time based on the target position information and the target movement tendency information includes: acquiring target movement speed information in the target movement trend, and calculating the movement distance of the dynamic operation target at the next moment based on the target movement speed information; and predicting the position of the dynamic operation target at the next moment based on the target position information, the distance of the dynamic operation target at the next moment and the target movement direction information in the target movement trend information.
Specifically, target movement speed information in a target movement trend needs to be obtained, and then the movement distance of the dynamic operation target at the next moment is calculated according to the target movement speed information; and predicting the position of the dynamic operation target at the next moment according to the target position information, the moving distance of the dynamic operation target at the next moment and the target moving direction information in the target moving trend information, so that the predicted position of the dynamic operation target at the next moment can be obtained.
The planning module 25: and the dynamic planning processing is used for performing the dynamic planning processing of the robot working path based on the position information of the robot, the robot motion trend information and the next moment prediction position of the dynamic working target.
In a specific implementation process of the present invention, the dynamic planning processing of the robot working path based on the position information of the robot, the robot motion trend information, and the predicted position of the dynamic working target at the next moment includes: adjusting the robot motion direction information and the robot motion speed information in the robot motion trend information based on the position information of the robot and the next moment predicted position of the dynamic operation target; and dynamically planning the operation path of the robot based on the adjusted motion direction information and the adjusted motion speed information of the robot.
Specifically, the robot motion direction information and the robot motion speed information in the robot motion trend information are adjusted according to the position information of the robot and the next moment predicted position of the dynamic operation target; and then, dynamically planning and processing the operation path of the robot according to the adjusted motion direction information and the motion speed information of the robot.
In the embodiment of the invention, the current position and the target motion trend information of the dynamic operation target are obtained, the position of the dynamic operation target appearing at the next moment is predicted, the dynamic planning processing of the robot operation path is carried out according to the predicted position, the position of the dynamic operation target is predicted, the operation path of the robot is dynamically planned, the robot can dynamically change the motion path and the motion trend of the robot, the accurate operation processing of the dynamic operation target is ensured, and the robot has higher operation efficiency.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
In addition, the method and the device for dynamically planning the operation path of the robot based on the dynamic operation target according to the embodiments of the present invention are described in detail, and a specific example is used herein to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A robot working path dynamic planning method based on a dynamic working target is characterized by comprising the following steps:
performing target positioning processing on the dynamic operation target in real time based on the operation instruction to obtain target position information and target motion trend information of the dynamic operation target;
acquiring robot position information and robot motion trend information;
marking the target position information, the target movement trend, the robot position information and the robot movement trend information on an operation map in an operation area to form a marked map;
predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information to obtain the predicted position of the dynamic operation target at the next moment;
and dynamically planning the operation path of the robot based on the position information of the robot, the motion trend information of the robot and the predicted position of the dynamic operation target at the next moment.
2. The method for dynamically planning the working path of the robot according to claim 1, wherein the performing target positioning processing on the dynamic working target in real time based on the working instruction to obtain target position information and target motion trend information of the dynamic working target comprises:
starting a video acquisition system arranged above the side of the operation area based on the operation instruction, and carrying out video acquisition on the operation area to obtain video data;
positioning the dynamic operation target in the operation area based on the video data to obtain target position information of the dynamic operation target;
performing motion trend acquisition processing on the dynamic operation target in the operation area based on the video data to obtain target motion trend information of the dynamic operation target;
the target motion trend information comprises target motion direction information and target motion speed information.
3. The method according to claim 2, wherein the locating the dynamic working target in the working area based on the video data to obtain target position information of the dynamic working target comprises:
dividing the operation area by using positioning grid lines to form an operation area with the positioning grid lines;
and extracting a last frame of video image frame in the video data, and positioning the dynamic operation target in the last frame of video image frame based on an operation area with a positioning grid line to obtain target position information of the dynamic operation target.
4. The method for dynamically planning the working path of the robot according to claim 2, wherein the obtaining of the movement trend of the dynamic working target in the working area based on the video data to obtain the target movement trend information of the dynamic working target comprises:
extracting a last frame video image frame and a first frame video image frame in the video data;
respectively positioning the operation target in the most previous frame of video image frame and the last frame of video image frame to respectively obtain the target position information of the dynamic operation target in the most previous frame of video image frame and the last frame of video image frame;
and performing motion trend acquisition processing based on the target position information of the dynamic operation target in the most previous frame video image frame and the last frame video image frame to obtain target motion trend information of the dynamic operation target.
5. The method according to claim 1, wherein the obtaining of the robot position information and the robot motion trend information comprises:
performing video acquisition on the operation area based on a video acquisition system arranged above the operation area side to obtain video data;
and positioning and acquiring the motion trend of the robot in the operation area based on the video data to obtain the position information and the motion trend information of the robot.
6. The method according to claim 1, wherein the step of marking the target position information, the target movement trend, the robot position information and the robot movement trend information on a work map in a work area to form a marked map comprises:
constructing a coordinate system on the operation map in the operation area, and converting the target position information and the robot position information into a target position coordinate and a robot position coordinate based on the coordinate system established by the operation map in the operation area;
and marking the target position coordinates, the robot position coordinates, the target movement trend and the robot movement trend information on a work map in a work area to form a marked map.
7. The method according to claim 6, wherein the marking of the target position coordinates, the robot position coordinates, the target movement trend and the robot movement trend information on the work map in the work area comprises:
coordinate marking is carried out on the target position coordinate and the robot position coordinate on a working map in a working area to form an initial marking map;
and converting the target movement trend and the robot movement trend information into digital information, and performing marking processing on the initial marking map.
8. The method according to claim 1, wherein the predicting the position of the dynamic working target at the next time based on the target position information and the target motion tendency information comprises:
obtaining target movement speed information in the target movement trend, and calculating the movement distance of the dynamic operation target at the next moment based on the target movement speed information;
and predicting the position of the dynamic operation target at the next moment based on the target position information, the moving distance of the dynamic operation target at the next moment and the target moving direction information in the target moving trend information.
9. The method according to claim 1, wherein the dynamic planning of the robot working path based on the position information of the robot, the robot motion trend information, and the predicted position of the dynamic working target at the next moment comprises:
adjusting the robot motion direction information and the robot motion speed information in the robot motion trend information based on the position information of the robot and the next moment predicted position of the dynamic operation target;
and dynamically planning the operation path of the robot based on the adjusted motion direction information and the adjusted motion speed information of the robot.
10. A dynamic robot work path planning apparatus based on dynamic work goals, the apparatus comprising:
a positioning module: the system comprises a target positioning module, a target positioning module and a target motion trend module, wherein the target positioning module is used for carrying out target positioning processing on a dynamic operation target in real time based on an operation instruction to obtain target position information and target motion trend information of the dynamic operation target;
an obtaining module: the system is used for acquiring the position information and the motion trend information of the robot;
a marking module: the system comprises a working area, a target position information acquisition unit, a target motion trend information acquisition unit, a robot position information acquisition unit, a robot motion trend information acquisition unit and a marking unit, wherein the working area is a working area;
a prediction module: the system is used for predicting the position of the dynamic operation target at the next moment based on the target position information and the target motion trend information to obtain the predicted position of the dynamic operation target at the next moment;
a planning module: and the dynamic planning processing is used for performing the dynamic planning processing of the robot working path based on the position information of the robot, the robot motion trend information and the next moment prediction position of the dynamic working target.
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