Motion speed curve planning method, device, equipment and storage medium

Abstract

The present application discloses a motion speed curve planning method, device, equipment and storage medium, which obtains the current planned motion speed, current target motion speed and last target motion speed of a moving object; determines the acceleration state of the moving object based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed; uses an acceleration correction strategy corresponding to the acceleration state to perform acceleration correction on the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed to obtain the target acceleration of the moving object, and the acceleration correction strategy includes an acceleration coefficient and a curve flexibility coefficient; generates a motion speed curve of the moving object based on the target acceleration and the current planned motion speed. The present application uses the acceleration coefficient and the curve flexibility coefficient to make the motion process of the moving object smoother when the target speed is frequently changed.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a motion speed curve planning method, device, equipment and storage medium. Background Art

[0002] With the development of industrial intelligence, many simple and repetitive tasks are replaced by intelligent robots such as robotic arms and inspection robots. In order to make the robot move more smoothly, the robot's S-shaped motion speed curve is usually planned so that the robot's motion image is shaped like the letter "S", thereby reducing the impact during the movement and reducing energy consumption.

[0003] At present, conventional S-shaped motion speed curve planning usually sets the acceleration, uniform acceleration, uniform speed, uniform deceleration, deceleration and other speed zones based on jerk and acceleration time to complete the motion speed curve planning, and needs to set multiple parameters such as jerk, maximum acceleration and acceleration and deceleration time. However, when the target speed changes frequently, speed planning will be limited by jerk and planning time, resulting in poor smoothing effect of robot motion. Summary of the invention

[0004] The present application provides a motion speed curve planning method, device, equipment and storage medium to solve the technical problem that the current motion speed curve planning process is limited by acceleration and planning time.

[0005] In order to solve the above technical problems, in a first aspect, the present application provides a motion speed curve planning method, comprising:

[0006] Get the current planned motion speed, current target motion speed and last target motion speed of the moving object;

[0007] Based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed, determining the acceleration state of the moving object, the acceleration state being an acceleration state or a deceleration state;

[0008] Using the acceleration correction strategy corresponding to the acceleration state, the acceleration of the moving object is corrected according to the current planned motion speed and the current target motion speed or the last target motion speed to obtain the target acceleration of the moving object. The acceleration correction strategy includes an acceleration coefficient and a curve softness coefficient.

[0009] Based on the target acceleration and the current planned motion speed, a motion speed curve of the moving object is generated, and the motion speed curve is used to control the speed of the moving object.

[0010] Preferably, determining the acceleration state of the moving object based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed includes:

[0011] Calculating a first difference between the current planned motion speed and the current target motion speed;

[0012] Calculating a second difference between the current planned motion speed and the last target motion speed;

[0013] If the first difference is not less than the second difference, the acceleration state of the moving object is determined to be a jerk state;

[0014] If the first difference is smaller than the second difference, it is determined that the acceleration state of the moving object is a deceleration state.

[0015] Preferably, using an acceleration correction strategy corresponding to the acceleration state, the acceleration of the moving object is corrected according to the current planned motion speed and the current target motion speed or the last target motion speed to obtain the target acceleration of the moving object, including:

[0016] Using the acceleration calculation formula corresponding to the acceleration state, the acceleration of the moving object is calculated according to the current planned motion speed and the current target motion speed or the last target motion speed. The acceleration calculation formula includes an acceleration coefficient and a curve softness coefficient.

[0017] Compare the acceleration value with the preset acceleration range;

[0018] If the acceleration is within the preset acceleration range, the acceleration is determined to be the target acceleration.

[0019] Preferably, the acceleration of the moving object is calculated using an acceleration calculation formula corresponding to the acceleration state according to the current planned motion speed and the current target motion speed or the last target motion speed, including:

[0020] If the acceleration state is the accelerated state, the first acceleration calculation formula is used to calculate the acceleration of the moving object according to the current planned motion speed and the last target motion speed. The first acceleration calculation formula is:

[0021]

[0022] Where a is acceleration, K1 is acceleration coefficient, V t-1 is the last target motion speed, V p is the current planned motion speed, and K2 is the curve softness coefficient.

[0023] Preferably, the acceleration of the moving object is calculated using an acceleration calculation formula corresponding to the acceleration state according to the current planned motion speed and the current target motion speed or the last target motion speed, including:

[0024] If the acceleration state is the deceleration state, the second acceleration calculation formula is used to calculate the acceleration of the moving object according to the current planned motion speed and the current target motion speed. The second acceleration calculation formula is:

[0025]

[0026] Where a is acceleration, K1 is acceleration coefficient, V t is the current target motion speed, V p is the current planned motion speed, and K2 is the curve softness coefficient.

[0027] Preferably, the preset acceleration range includes a preset maximum acceleration value and a preset minimum acceleration value, and after comparing the acceleration with the preset acceleration range, the following further comprises:

[0028] If the acceleration is less than the preset minimum acceleration value, the preset minimum acceleration value is determined to be the target acceleration;

[0029] If the acceleration is greater than the preset maximum acceleration value, the preset maximum acceleration value is determined to be the target acceleration.

[0030] Preferably, generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed includes:

[0031] If the current planned motion speed is greater than the current target motion speed, a first motion speed curve of the moving object is generated according to the target acceleration and the current planned motion speed;

[0032] If the current planned motion speed is not greater than the current target motion speed, a second motion speed curve of the moving object is generated according to the target acceleration and the current planned motion speed.

[0033] In a second aspect, the present application further provides a motion speed curve planning device, comprising:

[0034] An acquisition module is used to acquire the current planned motion speed, the current target motion speed and the last target motion speed of the moving object;

[0035] A determination module, used to determine the acceleration state of the moving object based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed, the acceleration state being an accelerated state or a decelerated state;

[0036] A correction module is used to use an acceleration correction strategy corresponding to the acceleration state to correct the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed to obtain the target acceleration of the moving object. The acceleration correction strategy includes an acceleration coefficient and a curve softness coefficient.

[0037] The generation module is used to generate a motion speed curve of a moving object based on the target acceleration and the current planned motion speed.

[0038] In a third aspect, the present application further provides a computer device, including a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the motion speed curve planning method of the first aspect is implemented.

[0039] In a fourth aspect, the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the motion speed curve planning method as in the first aspect.

[0040] Compared with the prior art, this application has the following beneficial effects:

[0041] The acceleration state of the moving object is determined by the difference between the current planned motion speed, the current target motion speed and the last target motion speed, so as to know the acceleration stage of the current speed planning, and then use the acceleration correction strategy corresponding to the acceleration state to correct the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed to obtain the target acceleration of the moving object, wherein the acceleration correction strategy includes an acceleration coefficient and a curve softness coefficient, so as to use the acceleration coefficient to adjust the overall time of the speed planning, and use the curve softness coefficient to adjust the overall softness of the speed planning, so that the speed planning process only needs to set the acceleration coefficient and the curve softness coefficient, and there is no need to set multiple parameters such as planning time, jerk and acceleration time, and remove the restrictions of jerk and planning time on the motion speed curve planning; finally, based on the target acceleration and the current planned motion speed, the motion speed curve of the moving object is generated, so that the speed control process of the moving object is smoother when the target speed is frequently changed. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a flow chart of a method for planning a motion speed curve according to an embodiment of the present application;

[0043] Figure 2 A schematic flow chart of a method for planning a motion speed curve according to another embodiment of the present application;

[0044] Figure 3A schematic diagram of a speed curve of the current target motion speed and the current planned motion speed shown in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of a speed curve showing acceleration and current planned motion speed in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of the structure of a motion speed curve planning device shown in an embodiment of the present application;

[0047] Figure 6 A schematic diagram of the structure of a computer device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] Please refer to Figure 1 , Figure 1 The flow chart of a motion speed curve planning method provided in an embodiment of the present application. The motion speed curve planning method of the embodiment of the present application can be applied to computer devices, including but not limited to robot devices or smart phones, laptops, tablet computers, desktop computers, physical servers, cloud servers and other devices that are connected to the moving object for communication. Figure 1 As shown, the motion speed curve planning method of this embodiment includes steps S101 to S104, which are described in detail as follows:

[0050] Step S101, obtaining the current planned motion speed, the current target motion speed and the last target motion speed of the moving object.

[0051] In this step, the moving object is a device or component controlled by a computer device, such as a robot or a mechanical arm. The current planned motion speed is the motion speed of the moving object, the current target motion speed is the motion speed that the moving object is to achieve during this motion control process, and the last target motion speed is the motion speed before the target motion speed of the moving object is changed to the current target motion speed. It can be understood that the current planned motion speed is the motion speed collected in real time, and the current target motion speed and the last target motion speed are the motion speeds carried in the control instruction.

[0052] Step S102, based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed, determine the acceleration state of the moving object, the acceleration state being an accelerated state or a decelerated state.

[0053] In this step, the motion speed curve can be divided into an acceleration stage, a uniform acceleration stage, a deceleration stage, a uniform speed stage, an acceleration and deceleration stage, a uniform deceleration stage and a deceleration and deceleration stage. The present application is aimed at the speed planning of the moving object in the acceleration stage. For example, the robotic arm needs to place an apple on the ground onto the table. Then, in the process from grabbing the apple to moving the apple, the robotic arm will have an acceleration movement process. The present application can make the acceleration process of the moving object smoother.

[0054] It should be noted that in order to make the movement of the moving object smoother, its motion control process is a multi-stage process. For example, the robotic arm needs to move from point A to point B in a stationary state within 10 seconds. The distance between point A and point B is 24 meters. Usually, the robotic arm is told to move 2.4 meters per second every 1 second in the form of control instructions, but the movement process is not smooth, and sudden acceleration and sudden stop may occur. Therefore, the present application uses motion speed planning, for example: in the first second, the robotic arm is told to move forward 1 meter per second; in the second second, the robotic arm is told to move forward 2 meters per second; from the third second to the eighth second, the robotic arm is told to move forward 3 meters per second every 1 second; in the ninth second, the robotic arm is told to move forward 2 meters per second; in the tenth second, the robotic arm is told to move forward 1 meter per second; so that the robotic arm moves slowly and stops slowly, and the overall movement process is smoother. Optionally, since the speed difference before and after the target speed changes increases, the moving object needs a larger acceleration to reach the target speed, which means that the acceleration of the moving object increases and it is in the acceleration stage, otherwise it is in the deceleration stage. Therefore, by calculating the difference between the current planned speed of the moving object, the current target speed and the last target speed, the speed difference before and after the target speed changes is compared to determine the current acceleration state of the moving object.

[0055] Step S103, utilizing an acceleration correction strategy corresponding to the acceleration state, performing acceleration correction on the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed, to obtain the target acceleration of the moving object, wherein the acceleration correction strategy includes an acceleration coefficient and a curve softness coefficient.

[0056] In this step, the acceleration correction strategy is a strategy for correcting the acceleration of a moving object that frequently changes its target speed during motion, so that the acceleration is more suitable for the motion state of the moving object after the target speed is changed, thereby making the motion process of the moving object smoother.

[0057] The acceleration coefficient is the linear gain of acceleration, which is used to affect the overall slope of the motion speed curve to adjust the overall planning time of the speed planning. Specifically, the larger the acceleration coefficient, the smaller the overall planning time. The curve softness coefficient is the power exponential gain of acceleration, which is used to affect the softness of the motion speed curve to adjust the overall softness of the speed planning. Specifically, the smaller the curve softness coefficient, the softer the motion speed curve.

[0058] Optionally, an acceleration calculation formula is established based on the acceleration coefficient and the curve flexibility coefficient to perform acceleration correction on the moving object. It should be noted that the acceleration coefficient and the curve flexibility coefficient can be obtained based on artificial intelligence model training or based on experience.

[0059] Step S104: generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed, wherein the motion speed curve is used to control the speed of the moving object.

[0060] In this step, the computer device controls the acceleration phase of the moving object according to the motion speed curve, which can be the initial acceleration phase of the moving object after a given target speed, or the re-acceleration phase of the moving object after changing the target speed.

[0061] It should be noted that the present application only needs to set the acceleration coefficient and the curve softness coefficient to correct the acceleration, so as to make the motion process of the moving object after changing the target motion smoother, without setting multiple parameters such as jerk, planning time and acceleration time, thereby eliminating the restrictions of multiple parameters such as jerk, acceleration time and planning time. At the same time, the present application reduces the set parameters to the acceleration coefficient and the curve softness coefficient, thereby reducing a large amount of complex logical processing of multiple parameters such as jerk, acceleration time and planning time, reducing the complexity of logical processing and data calculation complexity, and saving computing resources.

[0062] In some embodiments, Figure 1 Based on the illustrated embodiment, step S102 includes:

[0063] Calculating a first difference between the current planned motion speed and the current target motion speed;

[0064] Calculating a second difference between the current planned motion speed and the last target motion speed;

[0065] If the first difference is not less than the second difference, determining that the acceleration state of the moving object is a jerk state;

[0066] If the first difference is smaller than the second difference, it is determined that the acceleration state of the moving object is a deceleration state.

[0067] In this embodiment, the first difference and the second difference are positive numbers, that is, the first difference and the second difference are absolute values. p -V t |≥|V t-1 -V p |, it means that the acceleration state of the moving object is the accelerated state. If |V p -V t |<|V t-1 -V p |, it means that the acceleration state of the moving object is the deceleration state, where V p is the current planned motion speed, V t is the current target motion speed, V t-1 The last target movement speed.

[0068] In some embodiments, Figure 1 Based on the illustrated embodiment, step S103 includes:

[0069] Calculating the acceleration of the moving object according to the current planned motion speed, the current target motion speed, and the current target motion speed or the last target motion speed using an acceleration calculation formula corresponding to the acceleration state, wherein the acceleration calculation formula includes the acceleration coefficient and the curve flexibility coefficient;

[0070] Comparing the acceleration with a preset acceleration range;

[0071] If the acceleration is within a preset acceleration range, the acceleration is determined to be the target acceleration.

[0072] In this embodiment, the acceleration calculation formula includes a first acceleration calculation formula corresponding to the acceleration state and a second acceleration calculation formula corresponding to the deceleration state. The preset acceleration range is the preset acceleration minimum value a min and the preset maximum acceleration value a max This embodiment uses an acceleration calculation formula including an acceleration coefficient and a curve softness coefficient to correct the acceleration while calculating the acceleration, thereby ensuring a smooth effect of the subsequent motion speed curve.

[0073] Optionally, if the acceleration is less than the preset minimum acceleration value, the preset minimum acceleration value is determined to be the target acceleration; if the acceleration is greater than the preset maximum acceleration value, the preset maximum acceleration value is determined to be the target acceleration. This optional embodiment avoids excessive acceleration due to abnormal operation logic, which makes the moving object unable to move too fast, by presetting the minimum and maximum acceleration values, thereby ensuring the reliability and safety of speed planning, and avoiding excessive acceleration that affects the working efficiency of the moving object.

[0074] Optionally, if the acceleration state is an accelerated state, a first acceleration calculation formula is used to calculate the acceleration of the moving object according to the current planned motion speed and the last target motion speed, and the first acceleration calculation formula is:

[0075]

[0076] Wherein, a is the acceleration, K1 is the acceleration coefficient, V t-1 is the last target motion speed, V p is the current planned motion speed, and K2 is the curve softness coefficient.

[0077] Optionally, if the acceleration state is a deceleration state, a second acceleration calculation formula is used to calculate the acceleration of the moving object according to the current planned motion speed and the current target motion speed, and the second acceleration calculation formula is:

[0078]

[0079] Wherein, a is the acceleration, K1 is the acceleration coefficient, V t is the current target motion speed, V p is the current planned motion speed, and K2 is the curve softness coefficient.

[0080] In some embodiments, Figure 1 Based on the illustrated embodiment, step S104 includes:

[0081] If the current planned motion speed is greater than the current target motion speed, generating a first motion speed curve of the moving object according to the target acceleration and the current planned motion speed;

[0082] If the current planned motion speed is not greater than the current target motion speed, a second motion speed curve of the moving object is generated according to the target acceleration and the current planned motion speed.

[0083] In this embodiment, illustratively, if V p >Vt , then the expression of the first motion speed curve is:

[0084] V p ′ =V p -a ′ t; if V p ≤V t , then the expression of the second motion speed curve is: V p ′ =V p +a ′ t, where V p ′ The real-time speed of a moving object controlled by a computer device. ′ is the target acceleration, and t is the motion time.

[0085] As an example and not a limitation, an application scenario of mobility scooter motion planning is shown below:

[0086] Figure 2 This is a flow chart of the application scenario of the motion speed curve planning method. Figure 3 It is a speed curve diagram of the current target motion speed and the current planned motion speed. Figure 4 A schematic diagram of a speed curve showing acceleration and current planned motion speed according to an embodiment of the present application.

[0087] like Figure 2 As shown, set the current target movement speed V t . According to |V p -V t |≥|V t-1 -V p |Determine the acceleration state of the scooter; if the acceleration state is the accelerated state, the acceleration of the scooter is If the acceleration state is the deceleration state, the acceleration of the scooter is

[0088] If a min <a<a max , then the target acceleration a of the scooter ′ =a; if a min ≥a, then the target acceleration of the scooter is a ′ =a min If a max ≤a, then the target acceleration of the scooter is a ′ =a max If V p >V t , then the expression of the first motion speed curve is: V p ′ =Vp -a ′ t; if V p ≤V t , then the expression of the second motion speed curve is: V p ′ =V p +a ′ t.

[0089] The calculation process of acceleration a is as follows: If the acceleration of the mobility scooter is too fast, the passengers will feel insecure, and if the acceleration is too slow, the passengers will feel anxious. Therefore, the minimum wheel acceleration is set to 20 rpm. 2 , the maximum wheel acceleration is 200rpm 2 . Assume that the shortest time required for the scooter to accelerate from 0rpm to 1000rpm is 1000 / 200=5s (the scooter moves at the maximum acceleration of the wheels), and the longest time is 1000 / 20=50s (the scooter moves at the minimum acceleration of the wheels). This embodiment sets the acceleration coefficient K1 and the curve softness K2 so that the acceleration time of the scooter is between 5-50s. It can be understood that the specific values ​​of K1 and K2 can be adjusted according to the user's actual riding experience.

[0090] by Figure 2 and Figure 3 For example, set K1 = 1, K2 = 1.2, a min =20rpm 2 、a max =50rpm 2 , given V at t = 1 t = Motion planning process for target speed of 1000 rpm:

[0091] When t=1-1.6, the planned acceleration is less than the minimum acceleration, the acceleration is the minimum acceleration, and the planned speed increases linearly. This stage is the uniform acceleration stage;

[0092] When t=1.6-2.6, the acceleration increases from the minimum acceleration to the maximum acceleration, and the planned speed increases nonlinearly. This stage is the acceleration stage;

[0093] When t=2.6-6.7, the planned acceleration is greater than the maximum acceleration, the acceleration is the maximum acceleration, and the planned speed increases linearly. This stage is the uniform acceleration stage;

[0094] When t=6.7-7.7, the acceleration decreases from the maximum acceleration to the minimum acceleration, and the planned speed increases nonlinearly. This stage is the deceleration stage;

[0095] When t=7.7-8.4, the planned acceleration is less than the minimum acceleration, the acceleration is the minimum acceleration, and the planned speed increases linearly. This stage is the uniform acceleration stage;

[0096] When t=8.4, the planned speed reaches the target speed and the planning ends.

[0097] In order to execute the motion speed curve planning method corresponding to the above method embodiment, so as to achieve the corresponding functions and technical effects. Figure 5 , Figure 5 The structural block diagram of a motion speed curve planning device provided by an embodiment of the present application is shown. For the sake of convenience, only the parts related to the present embodiment are shown. The motion speed curve planning device provided by the embodiment of the present application includes:

[0098] An acquisition module 501 is used to acquire the current planned motion speed, the current target motion speed and the last target motion speed of the moving object;

[0099] A determination module 502 is used to determine the acceleration state of the moving object based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed, wherein the acceleration state is an acceleration state or a deceleration state;

[0100] A correction module 503 is used to use an acceleration correction strategy corresponding to the acceleration state to perform acceleration correction on the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed to obtain the target acceleration of the moving object, wherein the acceleration correction strategy includes an acceleration coefficient and a curve softness coefficient;

[0101] The generating module 504 is used to generate a motion speed curve of the moving object based on the target acceleration and the current planned motion speed.

[0102] In some embodiments, the determining module 502 is specifically configured to:

[0103] Calculating a first difference between the current planned motion speed and the current target motion speed;

[0104] Calculating a second difference between the current planned motion speed and the last target motion speed;

[0105] If the first difference is not less than the second difference, determining that the acceleration state of the moving object is a jerk state;

[0106] If the first difference is smaller than the second difference, it is determined that the acceleration state of the moving object is a deceleration state.

[0107] In some embodiments, the correction module 503 includes:

[0108] a calculation unit, configured to calculate the acceleration of the moving object according to the current planned motion speed, the current target motion speed, and the current target motion speed or the last target motion speed, using an acceleration calculation formula corresponding to the acceleration state, wherein the acceleration calculation formula includes the acceleration coefficient and the curve flexibility coefficient;

[0109] A comparison unit, used for comparing the acceleration with a preset acceleration range;

[0110] A determination unit is configured to determine that the acceleration is the target acceleration if the acceleration is within a preset acceleration range.

[0111] In some embodiments, the computing unit comprises:

[0112] The first calculation subunit is used to calculate the acceleration of the moving object using a first acceleration calculation formula according to the current planned motion speed and the last target motion speed if the acceleration state is the accelerated state, wherein the first acceleration calculation formula is:

[0113]

[0114] Wherein, a is the acceleration, K1 is the acceleration coefficient, V t-1 is the last target motion speed, V p is the current planned motion speed, and K2 is the curve softness coefficient.

[0115] In some embodiments, the computing unit comprises:

[0116] The second calculation subunit is used to calculate the acceleration of the moving object using a second acceleration calculation formula according to the current planned motion speed and the current target motion speed if the acceleration state is a deceleration state, wherein the second acceleration calculation formula is:

[0117]

[0118] Wherein, a is the acceleration, K1 is the acceleration coefficient, V t is the current target motion speed, V p is the current planned motion speed, and K2 is the curve softness coefficient.

[0119] In some embodiments, the determining unit is further configured to:

[0120] If the acceleration is less than the preset minimum acceleration value, determining that the preset minimum acceleration value is the target acceleration;

[0121] If the acceleration is greater than the preset maximum acceleration value, the preset maximum acceleration value is determined to be the target acceleration.

[0122] In some embodiments, the generating module 504 is specifically used to:

[0123] If the current planned motion speed is greater than the current target motion speed, generating a first motion speed curve of the moving object according to the target acceleration and the current planned motion speed;

[0124] If the current planned motion speed is not greater than the current target motion speed, a second motion speed curve of the moving object is generated according to the target acceleration and the current planned motion speed.

[0125] The above-mentioned motion speed curve planning device can implement the motion speed curve planning method of the above-mentioned method embodiment. The options in the above-mentioned method embodiment are also applicable to this embodiment and will not be described in detail here. The rest of the contents of the embodiment of the present application can refer to the contents of the above-mentioned method embodiment, and will not be repeated in this embodiment.

[0126] Figure 6 This is a schematic diagram of the structure of a computer device provided in one embodiment of the present application. Figure 6 As shown, the computer device 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown in the figure) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, and when the processor 60 executes the computer program 62, the steps in any of the above method embodiments are implemented.

[0127] The computer device 6 may be a computing device such as a smart phone, a tablet computer, a desktop computer, a cloud server, etc. The computer device may include but is not limited to a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of the computer device 6 and does not constitute a limitation on the computer device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0128] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0129] In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as a hard disk or memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the computer device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0130] In addition, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0131] An embodiment of the present application provides a computer program product. When the computer program product is run on a computer device, the computer device implements the steps in the above-mentioned method embodiments when executing the computer device.

[0132] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0133] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0134] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for planning a motion speed curve, characterized in that: include: Get the current planned motion speed, current target motion speed and last target motion speed of the moving object; Determine the acceleration state of the moving object based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed, the acceleration state being an accelerated state or a decelerated state; Using an acceleration correction strategy corresponding to the acceleration state, according to the current planned motion speed and the current target motion speed or the last target motion speed, the acceleration correction of the moving object is performed to obtain the target acceleration of the moving object, wherein the acceleration correction strategy includes an acceleration coefficient and a curve softness coefficient; generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed, wherein the motion speed curve is used to control the speed of the moving object; The method based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed includes: Calculating a first difference between the current planned motion speed and the current target motion speed; Calculating a second difference between the current planned motion speed and the last target motion speed; The method of using the acceleration correction strategy corresponding to the acceleration state to correct the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed to obtain the target acceleration of the moving object includes: Calculating the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed using an acceleration calculation formula corresponding to the acceleration state, wherein the acceleration calculation formula includes the acceleration coefficient and the curve softness coefficient; Comparing the acceleration with a preset acceleration range; If the acceleration is within a preset acceleration range, determining that the acceleration is the target acceleration; The using of the acceleration calculation formula corresponding to the acceleration state to calculate the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed includes: If the acceleration state is the accelerated state, the acceleration of the moving object is calculated using a first acceleration calculation formula according to the current planned motion speed and the last target motion speed. The first acceleration calculation formula is: Wherein, a is the acceleration, K1 is the acceleration coefficient, V t-1 is the last target motion speed, V p is the current planned motion speed, K2 is the curve softness coefficient; The using of the acceleration calculation formula corresponding to the acceleration state to calculate the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed includes: If the acceleration state is a deceleration state, the acceleration of the moving object is calculated using a second acceleration calculation formula according to the current planned motion speed and the current target motion speed. The second acceleration calculation formula is: Wherein, a is the acceleration, K1 is the acceleration coefficient, V t is the current target motion speed, V p is the current planned motion speed, and K2 is the curve softness coefficient.

2. The motion speed curve planning method according to claim 1, characterized in that: The determining the acceleration state of the moving object based on the difference between the current planned movement speed, the current target movement speed and the last target movement speed includes: If the first difference is not less than the second difference, determining that the acceleration state of the moving object is a jerk state; If the first difference is smaller than the second difference, it is determined that the acceleration state of the moving object is a deceleration state.

3. The method for planning a motion speed curve according to claim 1, characterized in that: The preset acceleration range includes a preset maximum acceleration value and a preset minimum acceleration value. After comparing the acceleration value with the preset acceleration range, the method further includes: If the acceleration is less than the preset minimum acceleration value, determining that the preset minimum acceleration value is the target acceleration; If the acceleration is greater than the preset maximum acceleration value, the preset maximum acceleration value is determined to be the target acceleration.

4. The method for planning a motion speed curve according to claim 1, characterized in that: The step of generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed includes: If the current planned motion speed is greater than the current target motion speed, generating a first motion speed curve of the moving object according to the target acceleration and the current planned motion speed; If the current planned motion speed is not greater than the current target motion speed, a second motion speed curve of the moving object is generated according to the target acceleration and the current planned motion speed.

5. A motion speed curve planning device, characterized in that: include: An acquisition module is used to acquire the current planned motion speed, the current target motion speed and the last target motion speed of the moving object; A determination module, configured to determine an acceleration state of the moving object based on a difference between the current planned motion speed, the current target motion speed and the last target motion speed, wherein the acceleration state is an accelerated state or a decelerated state; a correction module, configured to use an acceleration correction strategy corresponding to the acceleration state to perform acceleration correction on the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed, so as to obtain a target acceleration of the moving object, wherein the acceleration correction strategy includes an acceleration coefficient and a curve softness coefficient; A generating module, used for generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed; The method based on the difference between the current planned motion speed, the current target motion speed and the last target motion speed includes: Calculating a first difference between the current planned motion speed and the current target motion speed; Calculating a second difference between the current planned motion speed and the last target motion speed; The method of using the acceleration correction strategy corresponding to the acceleration state to correct the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed to obtain the target acceleration of the moving object includes: Calculating the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed using an acceleration calculation formula corresponding to the acceleration state, wherein the acceleration calculation formula includes the acceleration coefficient and the curve softness coefficient; Comparing the acceleration with a preset acceleration range; If the acceleration is within a preset acceleration range, determining that the acceleration is the target acceleration; The using of the acceleration calculation formula corresponding to the acceleration state to calculate the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed includes: If the acceleration state is the accelerated state, the acceleration of the moving object is calculated using a first acceleration calculation formula according to the current planned motion speed and the last target motion speed. The first acceleration calculation formula is: Wherein, a is the acceleration, K1 is the acceleration coefficient, V t-1 is the last target motion speed, V p is the current planned motion speed, K2 is the curve softness coefficient; The using of the acceleration calculation formula corresponding to the acceleration state to calculate the acceleration of the moving object according to the current planned motion speed and the current target motion speed or the last target motion speed includes: If the acceleration state is a deceleration state, the acceleration of the moving object is calculated using a second acceleration calculation formula according to the current planned motion speed and the current target motion speed. The second acceleration calculation formula is: Wherein, a is the acceleration, K1 is the acceleration coefficient, V t is the current target motion speed, V p is the current planned motion speed, and K2 is the curve softness coefficient.

6. A computer device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the method for planning a motion speed curve as claimed in any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium, characterized in that: It stores a computer program, which, when executed by a processor, implements the motion speed curve planning method as described in any one of claims 1 to 4.

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