Method and device for speed look-ahead processing of motion trajectory, and computer device

Abstract

The application relates to a speed look-ahead processing method and device of a motion trajectory and computer equipment, wherein the method comprises the following steps: acquiring a take-off speed allowed by equipment, determining a maximum jump energy allowed by the equipment based on the take-off speed; acquiring a motion trajectory of the equipment, the motion trajectory being composed of a straight line segment and a turning point connected in sequence; determining a turning point angle at the turning point between two adjacent straight line segments based on the motion trajectory; and determining a maximum running speed of the turning point according to the maximum jump energy, the turning point angle and a preset maximum running speed of the straight line segment. Through the application, the problem that the motion trajectory at the turning point is modified in the related art, reducing the accuracy of the motion trajectory, is solved, the running efficiency at the turning point of the straight line segment is improved under the condition that the motion trajectory is unchanged, and the overall motion trajectory running efficiency is further improved.

Description

Technical Field

[0001] The present application relates to the technical field of device motion trajectory control, and in particular to a method, device, and computer device for predicting the speed of a motion trajectory. Background Art

[0002] Equipment with a robotic arm and an end effector is widely used in machining, logistics, and other fields. The robotic arm drives the end effector, and the end effector's trajectory consists of a series of straight line segments (paths), with inflection points between each segment. Speed ​​control is required at these inflection points. Setting the speed at these inflection points to zero reduces the efficiency of the trajectory. If the speed is not reduced at inflection points, large inflection points can cause robot vibration.

[0003] Currently, the velocity look-ahead solution for motion trajectories uses a small arc for transition at inflection points, adjusting the speed based on the radius of the arc. The disadvantage of this solution is that the trajectory at the inflection point is modified, reducing the accuracy of the trajectory.

[0004] In the related art, the motion trajectory at the inflection point is modified, which reduces the accuracy of the motion trajectory. Currently, no effective solution has been proposed. Summary of the Invention

[0005] In this embodiment, a method, apparatus, and computer device for predicting the velocity of a motion trajectory are provided to solve the problem in related arts that the motion trajectory at the inflection point is modified, thereby reducing the accuracy of the motion trajectory.

[0006] In a first aspect, this embodiment provides a method for predicting the velocity of a motion trajectory, including:

[0007] Acquiring a take-off speed allowed by a device, and determining a maximum jump energy allowed by the device based on the take-off speed;

[0008] Acquiring a motion trajectory of the device, the motion trajectory being composed of a straight line segment and an inflection point connected in sequence; and determining an inflection point angle at an inflection point between two adjacent straight line segments based on the motion trajectory;

[0009] The maximum running speed of the inflection point is determined according to the maximum jump energy, the inflection point angle, and a preset maximum running speed of the straight line segment.

[0010] In some embodiments, determining the maximum jump energy allowed by the device based on the take-off speed includes:

[0011] A jump capacity formula is used to determine a maximum jump energy allowed by the device based on the jump speed.

[0012] In some embodiments, determining the inflection point angle at the inflection point between two adjacent straight line segments based on the motion trajectory includes:

[0013] Determine two vectors corresponding to two adjacent straight line segments;

[0014] Determine two lengths corresponding to the two adjacent straight line segments and a vector dot product corresponding to the two vectors according to the two vectors corresponding to the two adjacent straight line segments;

[0015] The inflection point angle at the inflection point between two adjacent straight line segments is determined according to the vector dot product and the two lengths using an inflection point angle formula.

[0016] In some embodiments, determining the maximum operating speed of the inflection point according to the maximum jump energy, the inflection point angle, and a preset maximum operating speed of the straight line segment includes:

[0017] Based on the relationship between the inflection point angle and the preset angle condition, the maximum running speed of the inflection point is determined according to the maximum jump energy and the preset maximum running speed of the straight line segment.

[0018] In some embodiments, determining the maximum operating speed of the inflection point based on the relationship between the inflection point angle and the preset angle condition, according to the maximum jump energy and the preset maximum operating speed of the straight line segment, includes:

[0019] When the inflection point angle is equal to 0 degrees, the maximum running speed of the inflection point is the preset maximum running speed of the straight line segment.

[0020] In some embodiments, determining the maximum operating speed of the inflection point based on the relationship between the inflection point angle and the preset angle condition, according to the maximum jump energy and the preset maximum operating speed of the straight line segment, includes:

[0021] When the inflection point angle is greater than 0 and less than half of π degrees;

[0022] Based on a preset maximum running speed of the straight segment, determining a first velocity component and a second velocity component at a corresponding inflection point, and determining an energy jump in a direction of the first velocity component and an energy jump in a direction of the second velocity component;

[0023] Determining, based on the energy jump in the direction of the first velocity component and the energy jump in the direction of the second velocity component, that the maximum running speed of the inflection point passes through a first energy jump at the inflection point;

[0024] The maximum running speed of the inflection point is determined by taking the first energy jump equal to the maximum jump energy; and when the maximum running speed of the inflection point is greater than the preset maximum running speed of the straight line segment, the preset maximum running speed of the straight line segment is used as the maximum running speed of the inflection point.

[0025] In some embodiments, determining the maximum operating speed of the inflection point based on the relationship between the inflection point angle and the preset angle condition, according to the maximum jump energy and the preset maximum operating speed of the straight line segment, includes:

[0026] When the inflection point angle is greater than or equal to half of π degrees;

[0027] The speed at the inflection point suddenly changes from the maximum operating speed of the inflection point to 0, and then suddenly changes from 0 to the maximum operating speed of the inflection point, to determine a second energy jump of the maximum operating speed of the inflection point passing through the inflection point;

[0028] The maximum operating speed of the inflection point is determined by taking the second energy jump equal to the maximum jump energy.

[0029] In a second aspect, a velocity look-ahead processing device for a motion trajectory is provided in this embodiment, comprising: a first calculation module, a second calculation module, and a third calculation module;

[0030] The first calculation module is configured to obtain a take-off speed allowed by the device, and determine a maximum jump energy allowed by the device based on the take-off speed;

[0031] The second calculation module is used to obtain a motion trajectory of the device, wherein the motion trajectory is composed of a straight line segment and an inflection point connected in sequence; and determine an inflection point angle at an inflection point between two adjacent straight line segments based on the motion trajectory;

[0032] The third calculation module is used to determine the maximum running speed of the inflection point according to the maximum jump energy, the inflection point angle and the preset maximum running speed of the straight line segment.

[0033] In a third aspect, a computer device is provided in this embodiment, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for predicting the speed of the motion trajectory described in the first aspect above is implemented.

[0034] In a fourth aspect, a storage medium is provided in this embodiment, on which a computer program is stored. When the program is executed by a processor, the speed preview processing method of the motion trajectory described in the first aspect is implemented.

[0035] Compared with the related art, the speed look-ahead processing method, device and computer equipment of the motion trajectory provided in the embodiment, by acquiring the take-off speed allowed by the device, determining the maximum jump energy allowed by the device based on the take-off speed, acquiring the motion trajectory of the device, the motion trajectory being composed of a straight line segment and a turning point connected in turn, determining the turning point angle at the turning point between the two adjacent straight line segments based on the motion trajectory, and determining the maximum running speed of the turning point according to the maximum jump energy, the turning point angle and the maximum running speed of the straight line segment, the problem that the motion trajectory at the turning point is modified in the related art is solved, the precision of the motion trajectory is improved, the running efficiency at the turning point of the straight line segment is improved under the condition that the motion trajectory is unchanged, and the running efficiency of the overall motion trajectory is improved.

[0036] The details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more apparent. BRIEF DESCRIPTION OF DRAWINGS

[0037] The drawings described herein are intended to provide further understanding of the present application, and constitute a part of the present application. The illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0038] Figure 1 is a hardware structure block diagram of a terminal device of the speed look-ahead processing method of the motion trajectory provided by an embodiment of the present application;

[0039] Figure 2 is a flowchart of the speed look-ahead processing method of the motion trajectory provided by an embodiment of the present application;

[0040] Figure 3 is a schematic diagram of the speed and the corresponding speed component provided by an embodiment of the present application;

[0041] Figure 4 is a schematic diagram of the maximum running speed of the turning point and the corresponding speed component provided by an embodiment of the present application;

[0042] Figure 5 is a schematic diagram of the relationship between the turning point angle and the turning point speed provided by an embodiment of the present application;

[0043] Figure 6 is a schematic diagram of the motion trajectory provided by an embodiment of the present application;

[0044] Figure 7 is a schematic diagram of the straight line segment motion speed provided by an embodiment of the present application;

[0045] Figure 8 is a structure block diagram of the speed look-ahead processing device of the motion trajectory provided by an embodiment of the present application.

[0046] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input and output device; 210, first computing module; 220, second computing module; 230, third computing module. DETAILED DESCRIPTION

[0047] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0048] Unless otherwise defined, the technical terms or scientific terms involved in this application should have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "an", "a", "the", "these" and the like in this application do not indicate quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Generally, the character " / " indicates that the related objects are in an "or" relationship. The terms "first," "second," "third," etc. used in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0049] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 1 is a block diagram of the hardware structure of the terminal of the method for predicting the speed of the motion trajectory of this embodiment. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown) a processor 102 and a memory 104 for storing data, wherein the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0050] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the velocity look-ahead processing method of the motion trajectory in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implementing the above-mentioned method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0051] The transmission device 106 is used to receive or send data via a network. The network may include a wireless network provided by the terminal's telecommunications provider. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0052] In this embodiment, a method for predicting the speed of a motion trajectory is provided. Figure 2 Flowchart of the method for predicting the speed of the motion trajectory of this embodiment is as follows: Figure 2 As shown, the process includes the following steps:

[0053] Step S210, obtaining a take-off speed allowed by the device, and determining a maximum jump energy allowed by the device based on the take-off speed;

[0054] Step S220: Acquire a motion trajectory of the device, where the motion trajectory is composed of a straight line segment and an inflection point connected in sequence; determine an inflection point angle at an inflection point between two adjacent straight line segments based on the motion trajectory;

[0055] Step S230 , determining the maximum running speed of the inflection point according to the maximum jump energy, the inflection point angle, and the preset maximum running speed of the straight line segment.

[0056] Specifically, the device refers to a device with a mechanical arm and an execution end; wherein the mechanical arm drives the execution end to move; the movement trajectory of the execution end needs to be processed in advance, and the movement trajectory can be pre-planned, and the movement trajectory is composed of a straight line segment and a turning point connected in turn, that is, it includes a straight line segment (path) and a turning point between the straight line segments. The allowable take-off speed of the device refers to the change of the speed from 0 to the take-off speed, which is not enough to make the device vibrate. The maximum jump energy allowed by the device refers to the energy mutation of the device, which is not enough to make the device vibrate; which is calculated based on the take-off speed.

[0057] Wherein, there is a turning point between the two adjacent straight line segments, and the turning point angle at each turning point can be determined by the movement trajectory. For example: two straight line segments are connected into a horizontal line, and the turning point angle is 0 degrees.

[0058] Wherein, the maximum running speed of the turning point refers to the running speed of the device through the turning point without vibration; then in the movement trajectory, the maximum running speed of each turning point can be calculated according to the maximum jump energy, the turning point angle and the preset maximum running speed of the straight line segment, so as to ensure the movement efficiency and not affect the accuracy of the movement trajectory.

[0059] Through the above steps, the allowable take-off speed of the device is obtained first, and the maximum jump energy allowed by the device is determined based on the take-off speed; then the movement trajectory of the device is obtained, and the movement trajectory is composed of a straight line segment and a turning point connected in turn; the turning point angle at the turning point between the two adjacent straight line segments is determined based on the movement trajectory; because the maximum jump energy is not enough to make the device vibrate. Then according to the maximum jump energy, the turning point angle and the preset maximum running speed of the straight line segment, the maximum running speed of the turning point is determined, which also will not cause the device to vibrate; and the above process will not affect the original movement trajectory, so as to realize the improvement of the running efficiency of the straight line segment at the turning point under the condition of ensuring the invariability of the movement trajectory, and further improve the running efficiency of the whole movement trajectory; to solve the problem that the movement trajectory at the turning point is modified in the related technology, which reduces the accuracy of the movement trajectory.

[0060] The above steps are described in detail as follows:

[0061] In some embodiments, step S210 includes the following steps:

[0062] The maximum jump energy allowed by the device is determined based on the take-off speed by using the jump ability formula.

[0063] Specifically, the expression of the jump ability formula is:

[0064]

[0065] In the formula, E skipIt represents the maximum jump energy allowed by the device. The energy mutation of the device is not enough to make the device vibrate; m represents the mass of the device; v skip Indicates the allowed take-off speed of the device. The speed jump from 0 to the take-off speed is not enough to make the device vibrate.

[0066] The above jump capacity formula only requires two parameters: the take-off speed and the mass of the device. The maximum jump energy allowed by the device can be quickly and accurately calculated. Under this maximum jump energy, the device will not vibrate.

[0067] In some embodiments, step S220 includes the following steps:

[0068] Determine the two vectors corresponding to two adjacent straight line segments;

[0069] According to the two vectors corresponding to the two adjacent straight line segments, the two lengths corresponding to the two adjacent straight line segments are determined, and the vector dot product corresponding to the two vectors is determined;

[0070] Use the inflection angle formula to determine the inflection angle at the inflection point between two adjacent straight line segments based on the vector dot product and two lengths.

[0071] Specifically, we can first construct a motion trajectory coordinate system based on the motion trajectory; for example, we select the starting point of the first straight line segment of the motion trajectory as the origin of the coordinate system, the direction of the straight line segment is the X-axis direction, and the Y-axis direction can be set arbitrarily. Using the motion trajectory coordinate system and the parameters of the straight line segments and inflection points in the motion trajectory, we can determine the vector of each straight line segment. For example: the Nth straight line segment Path N and the N+1th adjacent straight line segment Path N+1 .

[0072] The Nth straight line segment Path N The vector can be expressed as:

[0073] Path N =[x1,y1,z1];

[0074] Where x1 = X N+1 -X N ;y1=Y N+1 -Y N ; z1 = Z N+1 -Z N ; where x N ,y N ,z N is the coordinate of the starting point of the Nth straight line segment; x N+1 ,y N+1 ,z N+1 is the coordinate of the end point of the Nth straight line segment (i.e., the inflection point), and is also the coordinate of the starting point of the N+1th straight line segment;

[0075] The N+1th straight line segment Path N+1 The vector can be expressed as:

[0076] Path N+1 =[x2,y2,z2];

[0077] Where x² = X N+2 -X N+1 ;y2=Y N+2 -Y N+1 ; z2=Z N+2 -Z N+1 ; where x N+2 ,y N+2 ,z N+2 It is the coordinate of the end point of the N+1th line segment (i.e., the inflection point), and also the coordinate of the starting point of the N+2th line segment.

[0078] According to the Nth straight line segment Path N The length of the Nth straight line segment can be determined by using the length formula:

[0079] According to the above N+1th straight line segment Path N+1 The length formula of the vector can be used to determine the length of the N+1th straight line segment:

[0080] According to the Nth straight line segment Path N The vector and the N+1th line segment Path N+1 The dot product of the two vectors can be obtained by taking the dot product of the vectors; vector dot product A_B = x1*x2+y1*y2+z1*z2.

[0081] The inflection point angle formula is used to determine the inflection point angle at the inflection point between two adjacent straight line segments based on the vector dot product and the two lengths.

[0082] The inflection point angle formula is: Finally, the calculated absolute value is taken as the final inflection point angle, Ang N =abs(ng N ).

[0083] By following the above steps and using the calculation formula, we can quickly and accurately calculate the inflection point angle at each inflection point in the motion trajectory. The above is just an example, and the calculation process for other inflection point angles is the same, so I will not elaborate on it here.

[0084] In some embodiments, step S230 includes the following steps:

[0085] Step S231 : determining the maximum running speed of the inflection point based on the relationship between the inflection point angle and the preset angle condition, according to the maximum jump energy and the preset maximum running speed of the straight line segment.

[0086] Specifically, based on the relationship between the inflection point angle and the preset angle condition, there are also multiple corresponding situations for the maximum operating speed of the inflection point. The preset angle condition can be 0 degrees and π degrees half. The relationship between the inflection point angle and 0 degrees and π degrees half can be divided into multiple situations. For example: the inflection point angle is equal to 0 degrees; the inflection point angle is greater than 0 and less than π degrees half; or the inflection point angle is greater than or equal to π degrees half. In other embodiments, the preset angle condition can be other angles, which will not be elaborated on.

[0087] It is important to know that the energy of motion is equal to the sum of the energies of the velocity components, such as Figure 3 Shown: velocity v and its two velocity components, velocity component v x and the velocity component v y ;

[0088] v x =*cos(θ);

[0089] v y =*sin(θ);

[0090] So

[0091] The following are detailed descriptions of the above three relationships:

[0092] The first relationship: when the inflection point angle is equal to 0 degrees;

[0093] The maximum running speed of the inflection point is the preset maximum running speed of the straight line segment.

[0094] Specifically, the inflection point angle is equal to 0 degrees, and it can be considered that the two adjacent straight line segments are connected into a straight line, so there is no need to reduce the speed. The maximum running speed of the inflection point is vang N Equal to the maximum running speed v preset for the straight segment max .

[0095] The second relationship: when the inflection point angle is greater than 0 and less than half of π degrees;

[0096] Based on a preset maximum running speed of the straight line segment, determining a first velocity component and a second velocity component at a corresponding inflection point, and determining an energy jump in the direction of the first velocity component and an energy jump in the direction of the second velocity component;

[0097] Determine, based on the energy jump in the direction of the first velocity component and the energy jump in the direction of the second velocity component, that the maximum running speed of the inflection point passes through the first energy jump of the inflection point;

[0098] The maximum running speed of the inflection point is determined by taking the first energy jump equal to the maximum jump energy; and when the maximum running speed of the inflection point is greater than the preset maximum running speed of the straight segment, the preset maximum running speed of the straight segment is used as the maximum running speed of the inflection point.

[0099] like Figure 4 As shown, the maximum running speed vang is taken at the inflection point of the Nth straight line segment. N ; Maximum operating speed vang N Two velocity components, the first velocity component v1 and the second velocity component v2;

[0100] Then, the energy jump in the direction of the first velocity component is

[0101] Energy jump in the direction of the second velocity component

[0102] The first energy jump is the sum of the energy jump in the direction of the first velocity component and the energy jump in the direction of the second velocity component. Then the first energy jump Ex=E1+E2=m*vang N 2 *sin(ng N ) 2 ;

[0103] The first energy jump Ex is equal to the maximum jump energy E skip ;

[0104] The maximum running speed of the inflection point of the Nth straight line segment can be obtained And the maximum running speed at the inflection point of the Nth straight line segment is vang N Greater than the maximum running speed v preset for the straight segment max When the maximum running speed v of the straight line segment is preset max The maximum running speed of the inflection point of the Nth straight line segment.

[0105] The third relationship: when the inflection point angle is greater than or equal to half of π degrees;

[0106] The maximum running speed of the inflection point suddenly changes to 0 at the speed of the inflection point, and then suddenly changes to the maximum running speed of the inflection point from 0, to determine the maximum running speed of the inflection point passing through the second energy jump of the inflection point;

[0107] The maximum operating speed of the inflection point is determined by taking the second energy jump equal to the maximum jump energy.

[0108] Specifically, since the speed of the inflection point suddenly changes from the maximum operating speed of the inflection point to 0, and then suddenly changes from 0 to the maximum operating speed of the inflection point, the second energy jump Ey=m*vang N 2 ;

[0109] The second energy jump Ey is equal to the maximum jump energy E skip ;

[0110] The maximum running speed of the inflection point of the Nth straight line segment can be obtained

[0111] Through the above steps, the maximum operating speed of each inflection point can be determined. Furthermore, based on the relationship between the inflection point angle and the preset angle condition, three situations are divided to determine the maximum operating speed of the inflection point. Based on the size of the inflection point, the operating speed of the corresponding inflection point is reduced to an appropriate speed for each situation, thereby improving the operating efficiency of the straight line segment without causing equipment vibration at the inflection point.

[0112] The present embodiment is described and illustrated below through preferred embodiments.

[0113] The maximum running speed v of the straight line segment is preset max Equal to 1; the take-off speed v allowed by the device skip Equal to 0.1.

[0114] Then the relationship between the inflection point angle and the inflection point speed is as follows Figure 5 shown.

[0115] Let the length of the straight line segment be equal to 2; the acceleration be equal to 1; the motion trajectory be like Figure 6 As shown;

[0116] Then the schematic diagram of the straight line segment motion speed after using the speed forward processing method in this embodiment is as follows Figure 7 As shown. Figure 7 As can be seen, when the corner is very small, there is no need to reduce the speed. When the corner is small, there is no need to reduce the speed to the minimum. When the corner is large, the speed needs to be reduced to the minimum. Without changing the motion trajectory, the operating efficiency at the inflection point of the straight segment is maximized, thereby improving the operating efficiency of the entire motion trajectory. The accuracy of the motion trajectory is not affected. Only the additional take-off speed is required to automatically calculate the maximum allowable operating speed at each inflection point, realizing intelligent speed foresight.

[0117] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0118] This embodiment also provides a motion trajectory velocity look-ahead processing device, which is used to implement the above-mentioned embodiments and preferred embodiments. Details already described are omitted. The terms "module," "unit," "subunit," etc. used below refer to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0119] Figure 8 : is a structural block diagram of the speed forward processing device for the motion trajectory of this embodiment, as shown in FIG. Figure 8 As shown, the device includes: a first calculation module 210, a second calculation module 220 and a third calculation module 230;

[0120] A first calculation module 210 is configured to obtain a take-off speed allowed by the device and determine a maximum jump energy allowed by the device based on the take-off speed;

[0121] The second calculation module 220 is used to obtain a motion trajectory of the device, where the motion trajectory is composed of a straight line segment and an inflection point connected in sequence; and determine an inflection point angle at an inflection point between two adjacent straight line segments based on the motion trajectory;

[0122] The third calculation module 230 is configured to determine the maximum running speed of the inflection point according to the maximum jump energy, the inflection point angle, and the preset maximum running speed of the straight line segment.

[0123] Through the above-mentioned device, it is possible to improve the operating efficiency at the inflection point of the straight line segment while ensuring that the motion trajectory remains unchanged, thereby improving the operating efficiency of the entire motion trajectory; thereby solving the problem in related technologies that the motion trajectory at the inflection point is modified, thereby reducing the accuracy of the motion trajectory.

[0124] In some embodiments, the first calculation module 210 is further configured to determine the maximum jump energy allowed by the device based on the jump speed using a jump capability formula.

[0125] In some of the embodiments, the second calculation module 220 is further configured to determine two vectors corresponding to two adjacent straight line segments;

[0126] According to the two vectors corresponding to the two adjacent straight line segments, the two lengths corresponding to the two adjacent straight line segments are determined, and the vector dot product corresponding to the two vectors is determined;

[0127] Use the inflection angle formula to determine the inflection angle at the inflection point between two adjacent straight line segments based on the vector dot product and two lengths.

[0128] In some embodiments, the third calculation module 230 is further configured to determine the maximum running speed of the inflection point based on the relationship between the inflection point angle and the preset angle condition, according to the maximum jump energy and the preset maximum running speed of the straight line segment.

[0129] In some embodiments, the third calculation module 230 is further configured to calculate that when the inflection point angle is equal to 0 degrees, the maximum running speed of the inflection point is a preset maximum running speed of the straight line segment.

[0130] In some embodiments, the third calculation module 230 is further configured to: when the inflection point angle is greater than 0 and less than half of π degrees;

[0131] Based on a preset maximum running speed of the straight line segment, determining a first velocity component and a second velocity component at a corresponding inflection point, and determining an energy jump in the direction of the first velocity component and an energy jump in the direction of the second velocity component;

[0132] Determine, based on the energy jump in the direction of the first velocity component and the energy jump in the direction of the second velocity component, that the maximum running speed of the inflection point passes through the first energy jump of the inflection point;

[0133] The maximum running speed of the inflection point is determined by taking the first energy jump equal to the maximum jump energy; and when the maximum running speed of the inflection point is greater than the preset maximum running speed of the straight segment, the preset maximum running speed of the straight segment is used as the maximum running speed of the inflection point.

[0134] In some of the embodiments, the third calculation module 230 is further configured to: when the inflection point angle is greater than or equal to half of π degrees;

[0135] The maximum running speed of the inflection point suddenly changes to 0 at the speed of the inflection point, and then suddenly changes to the maximum running speed of the inflection point from 0, to determine the maximum running speed of the inflection point passing through the second energy jump of the inflection point;

[0136] The maximum operating speed of the inflection point is determined by taking the second energy jump equal to the maximum jump energy.

[0137] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0138] This embodiment further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0139] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0140] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0141] S1, obtaining the take-off speed allowed by the device, and determining the maximum jump energy allowed by the device based on the take-off speed;

[0142] S2, obtaining a motion trajectory of the device, where the motion trajectory is composed of a straight line segment and an inflection point connected in sequence; and determining an inflection point angle at an inflection point between two adjacent straight line segments based on the motion trajectory;

[0143] S3, determining the maximum running speed of the inflection point according to the maximum jump energy, the inflection point angle, and the preset maximum running speed of the straight line segment.

[0144] It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0145] In addition, in conjunction with the velocity preview processing method for a motion trajectory provided in the above embodiments, a storage medium may also be provided in this embodiment to implement the method. The storage medium stores a computer program; when the computer program is executed by a processor, the method for velocity preview processing of a motion trajectory provided in any of the above embodiments is implemented.

[0146] It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0147] Obviously, the accompanying drawings are merely examples or embodiments of the present application. A person skilled in the art can also apply the present application to other similar situations based on these drawings without inventive effort. Furthermore, it is understandable that, although the work involved in this development process may be complex and lengthy, certain design, manufacturing, or production changes based on the technical content disclosed in this application are merely routine technical means for a person skilled in the art and should not be considered to constitute a deficiency in the disclosure of the present application.

[0148] The term "embodiment" as used in this application refers to specific features, structures, or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily mean that the embodiment is the same, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is understood, either explicitly or implicitly, by those skilled in the art that the embodiments described in this application can be combined with other embodiments when there is no conflict.

[0149] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for predicting the velocity of a motion trajectory, characterized in that: include: Acquiring a take-off speed allowed by a device, and determining a maximum jump energy allowed by the device based on the take-off speed; Acquiring a motion trajectory of the device, the motion trajectory being composed of a straight line segment and an inflection point connected in sequence; and determining an inflection point angle at an inflection point between two adjacent straight line segments based on the motion trajectory; Determining the maximum running speed of the inflection point according to the maximum jump energy, the inflection point angle, and a preset maximum running speed of the straight line segment includes: Based on the relationship between the inflection point angle and the preset angle condition, the maximum running speed of the inflection point is determined according to the maximum jump energy and the preset maximum running speed of the straight line segment.

2. The method for predicting the velocity of a motion trajectory according to claim 1, wherein: The determining, based on the take-off speed, a maximum jump energy allowed by the device includes: A jump capacity formula is used to determine a maximum jump energy allowed by the device based on the jump speed.

3. The method for predicting the velocity of a motion trajectory according to claim 1, wherein: The determining of the inflection point angle at the inflection point between two adjacent straight line segments based on the motion trajectory includes: Determine two vectors corresponding to two adjacent straight line segments; Determine two lengths corresponding to the two adjacent straight line segments and a vector dot product corresponding to the two vectors according to the two vectors corresponding to the two adjacent straight line segments; The inflection point angle at the inflection point between two adjacent straight line segments is determined according to the vector dot product and the two lengths using an inflection point angle formula.

4. The method for predicting the velocity of a motion trajectory according to claim 1, wherein: The determining of the maximum operating speed of the inflection point based on the relationship between the inflection point angle and the preset angle condition and according to the maximum jump energy and the preset maximum operating speed of the straight line segment includes: When the inflection point angle is equal to 0 degrees, the maximum running speed of the inflection point is the preset maximum running speed of the straight line segment.

5. The method for predicting the velocity of a motion trajectory according to claim 1, wherein: The determining of the maximum operating speed of the inflection point based on the relationship between the inflection point angle and the preset angle condition and according to the maximum jump energy and the preset maximum operating speed of the straight line segment includes: When the inflection point angle is greater than 0 and less than half of π degrees; Based on a preset maximum running speed of the straight segment, determining a first velocity component and a second velocity component at a corresponding inflection point, and determining an energy jump in a direction of the first velocity component and an energy jump in a direction of the second velocity component; Determining, based on the energy jump in the direction of the first velocity component and the energy jump in the direction of the second velocity component, that the maximum running speed of the inflection point passes through a first energy jump at the inflection point; The maximum running speed of the inflection point is determined by taking the first energy jump equal to the maximum jump energy; and when the maximum running speed of the inflection point is greater than the preset maximum running speed of the straight line segment, the preset maximum running speed of the straight line segment is used as the maximum running speed of the inflection point.

6. The method for predicting the velocity of a motion trajectory according to claim 1, wherein: The determining of the maximum operating speed of the inflection point based on the relationship between the inflection point angle and the preset angle condition and according to the maximum jump energy and the preset maximum operating speed of the straight line segment includes: When the inflection point angle is greater than or equal to half of π degrees; The speed at the inflection point suddenly changes from the maximum operating speed of the inflection point to 0, and then suddenly changes from 0 to the maximum operating speed of the inflection point, to determine a second energy jump of the maximum operating speed of the inflection point passing through the inflection point; The maximum operating speed of the inflection point is determined by taking the second energy jump equal to the maximum jump energy.

7. A speed forward processing device for a motion trajectory, characterized in that: include: a first computing module, a second computing module, and a third computing module; The first calculation module is configured to obtain a take-off speed allowed by the device, and determine a maximum jump energy allowed by the device based on the take-off speed; The second calculation module is used to obtain a motion trajectory of the device, wherein the motion trajectory is composed of a straight line segment and an inflection point connected in sequence; and determine an inflection point angle at an inflection point between two adjacent straight line segments based on the motion trajectory; The third calculation module is configured to determine the maximum running speed of the inflection point according to the maximum jump energy, the inflection point angle, and the preset maximum running speed of the straight line segment, and includes: Based on the relationship between the inflection point angle and the preset angle condition, the maximum running speed of the inflection point is determined according to the maximum jump energy and the preset maximum running speed of the straight line segment.

8. A computer device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps of the method for predicting the speed of a motion trajectory according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for predicting the speed of a motion trajectory according to any one of claims 1 to 6 are implemented.

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