Speed curve planning method and device, electronic equipment and storage medium

Abstract

A speed curve planning method and device, electronic equipment and storage medium are disclosed. The method comprises: obtaining a triangular speed curve to be smoothed, determining a curve displacement corresponding to the triangular speed curve to be smoothed; adjusting the front and rear time of the triangular speed curve to be smoothed to obtain a time-adjusted speed curve; smoothing and converting the time-adjusted speed curve to obtain at least two smooth speed curves; determining a target speed curve based on the at least two smooth speed curves, wherein the curve displacement corresponding to the target speed curve is the same as the curve displacement corresponding to the triangular speed curve to be smoothed. The above technical solution converts the triangular speed curve into a smooth target speed curve, so that the robot moves based on the trajectory planned by the target speed curve, the movement process is smoother, and the mechanical equipment of the robot and the service life of the motor are reduced.

Description

Technical Field

[0001] This invention relates to the field of robot trajectory planning technology, and in particular to a velocity curve planning method, apparatus, electronic device, and storage medium. Background Technology

[0002] In robot trajectory planning, when planning the velocity of the motion trajectory, a simple first-order velocity planning method is often used, that is, a planning method in which the velocity is continuous but the acceleration is discontinuous, such as the velocity planning method corresponding to the triangular velocity curve.

[0003] The velocity planning method corresponding to the triangular velocity curve produces abrupt acceleration changes due to the discontinuity of acceleration. When the robot moves using this planned trajectory, the robot will produce abnormal noises, which will wear out the mechanical equipment of the robot and reduce the service life of the motor. Summary of the Invention

[0004] This invention provides a speed curve planning method, device, electronic device, and storage medium that transforms a triangular speed curve into a smooth target speed curve. This makes the robot's movement smoother when it moves based on the trajectory planned by the target speed curve, reducing wear and tear on the robot's mechanical equipment and extending the lifespan of the motor.

[0005] According to one aspect of the present invention, a speed curve planning method is provided, comprising:

[0006] Obtain the triangular velocity curve to be smoothed, and determine the curve displacement corresponding to the triangular velocity curve to be smoothed;

[0007] The triangular velocity curve to be smoothed is adjusted by a certain time interval to obtain the time-adjusted velocity curve;

[0008] The time-adjusted velocity curve is smoothed to obtain at least two smooth velocity curves.

[0009] A target velocity curve is determined based on the at least two smooth velocity curves, wherein the curve displacement corresponding to the target velocity curve is the same as the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0010] According to another aspect of the present invention, a velocity curve planning device is provided, comprising:

[0011] The triangular velocity curve acquisition module is used to acquire the triangular velocity curve to be smoothed and determine the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0012] The time adjustment module is used to adjust the triangular velocity curve to be smoothed by a time interval to obtain the time-adjusted velocity curve.

[0013] A curve smoothing conversion module is used to smooth the time-adjusted velocity curve to obtain at least two smooth velocity curves.

[0014] The target velocity curve determination module is used to determine a target velocity curve based on the at least two smoothed velocity curves, wherein the curve displacement corresponding to the target velocity curve is the same as the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor;

[0017] and a memory communicatively connected to the at least one processor;

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the speed curve planning method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the speed curve planning method according to any embodiment of the present invention.

[0020] The technical solution of this invention transforms the triangular velocity curve into a smooth target velocity curve by adjusting the time before and after the target velocity curve and smoothing the transition. This makes the movement of the robot more smooth when it moves on the trajectory planned based on the target velocity curve, reducing the wear and tear on the robot's mechanical equipment and the lifespan of the motor.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a velocity curve planning method provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a velocity curve planning method provided in Embodiment 2 of the present invention;

[0025] Figure 3 This is a flowchart of a velocity curve planning method provided in Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of a rectangular-to-triangular transformation according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of a triangle-to-T shape transformation according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of a T-shaped to ramp type according to an embodiment of the present invention;

[0029] Figure 7 This is a flowchart of a slope-to-flat-bottom slope provided by an embodiment of the present invention;

[0030] Figure 8 This is a comparison chart of the curves before and after processing by a speed curve planning method provided in an embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of the structure of a speed curve planning device according to Embodiment 4 of the present invention;

[0032] Figure 10 This is a schematic diagram of the structure of an electronic device that implements the speed curve planning method of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of data in the technical solution of this application all comply with the relevant regulations of national laws and regulations.

[0035] Embodiment 1

[0036] Figure 1 FIG. is a flowchart of a speed curve planning method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of robot speed planning. This method can be executed by a speed curve planning device, which can be implemented in the form of hardware and / or software, and the speed curve planning device can be configured in electronic devices such as robots and computers. As Figure 1 shown, the method includes:

[0037] S110. Obtain a triangular speed curve to be smoothed, and determine the curve displacement corresponding to the triangular speed curve to be smoothed.

[0038] In the embodiments of the present disclosure, the triangular curve to be smoothed can be an upper triangular speed curve or a lower triangular speed curve. Among them, the acceleration of the front segment of the upper triangular speed curve is greater than zero, and the acceleration of the rear segment is less than zero; the acceleration of the front segment of the lower triangular speed curve is less than zero, and the acceleration of the rear segment is greater than zero.

[0039] Exemplarily, the acceleration expression of the triangular speed curve to be smoothed can be:

[0040]

[0041] where A0 represents the acceleration of the front segment, A1 represents the acceleration of the rear segment, the front time range is T0≤t<T1, and the rear time range is T1≤t<T2. <m

[0042] Specifically, the triangular speed curve to be smoothed can be retrieved from the preset storage path of the robot, and the curve displacement of the triangular speed curve to be smoothed can be calculated according to the relationship between speed, acceleration and distance.

[0043] S120. Adjust the time period before and after the triangular velocity curve to be smoothed to obtain the time-adjusted velocity curve.

[0044] Specifically, based on the algorithm for adjusting the preceding and following time periods of the velocity curve, the triangular velocity curve to be smoothed can be adjusted by the preceding and following time periods to obtain the time-adjusted velocity curve.

[0045] S130. The time-adjusted velocity curve is smoothed to obtain at least two smooth velocity curves.

[0046] Specifically, based on the rectangular to triangular acceleration curve operator, the time-adjusted velocity curve is smoothed to obtain an initial smooth velocity curve. Then, according to the preset smoothing transformation rules, the initial smooth velocity curve is smoothed to obtain at least one target smooth velocity curve.

[0047] S140. Determine a target velocity curve based on the at least two smooth velocity curves, wherein the curve displacement corresponding to the target velocity curve is the same as the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0048] For example, if the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the target smoothed velocity curve, but less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on the T-shaped displacement reduction operator.

[0049] The technical solution of this invention transforms the triangular velocity curve into a smooth target velocity curve by adjusting the time before and after the target velocity curve and smoothing the transition. This makes the movement of the robot more smooth when it moves on the trajectory planned based on the target velocity curve, reducing the wear and tear on the robot's mechanical equipment and the lifespan of the motor.

[0050] Example 2

[0051] Figure 2 This is a flowchart of a speed curve planning method provided in Embodiment 2 of the present invention. The method of this embodiment can be combined with various optional schemes in the speed curve planning methods provided in the above embodiments. The speed curve planning method provided in this embodiment has been further optimized. Optionally, adjusting the time segment before and after the triangular speed curve to be smoothed to obtain a time-adjusted speed curve includes: determining the first segment change time and the second segment change time of the triangular speed curve to be smoothed; if the first segment change time and / or the second segment change time of the triangular speed curve to be smoothed satisfies any preset adjustment time condition among multiple adjustment time conditions, then based on the adjustment method corresponding to the preset adjustment time condition, adjusting the time segment before and after the triangular speed curve to be smoothed to obtain a time-adjusted speed curve.

[0052] As Figure 2 shown, the method includes:

[0053] S210. Obtain a triangular velocity curve to be smoothed, and determine the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0054] S220. Determine the front-segment change time and the rear-segment change time of the triangular velocity curve to be smoothed.

[0055] In the embodiments of the present disclosure, the calculation formula for the front-segment change time is:

[0056]

[0057] where dt 02 , 02 , 02 , 02 , ′ , ′ represents the front-segment change time, A0 represents the front-segment acceleration, A1 represents the rear-segment acceleration, t1 represents the front-segment time, and t2 represents the rear-segment time.

[0058] The calculation formula for the rear-segment change time is:

[0059]

[0060] where dt 02 represents the rear-segment change time.

[0061] S230. If the front-segment change time and / or the rear-segment change time of the triangular velocity curve to be smoothed meet any preset adjustment time condition among multiple adjustment time conditions, then perform front-rear segment time adjustment on the triangular velocity curve to be smoothed based on the adjustment method corresponding to the preset adjustment time condition, and obtain a velocity curve after time adjustment.

[0062] In the embodiments of the present disclosure, if dt 01 > 0 and dt 01 < t1, then perform front-rear segment time adjustment on the triangular velocity curve to be smoothed based on the first adjustment method, that is, the adjusted time for the front segment is t1 ′ = t1 + dt 01 , and the adjusted time for the rear segment is t2 ′ = t2 - dt 01 . If dt 02 > 0 and dt 02 < t2, then perform front-rear segment time adjustment on the triangular velocity curve to be smoothed based on the second adjustment method, that is, the adjusted time for the front segment is t1 ′ = t1 - dt 02 , and the adjusted time for the rear segment is t2 ′ = t2 + dt 02 . After the front-rear segment time adjustment, the velocity also changes accordingly, thereby obtaining a velocity curve after time adjustment.

[0063] S240. The time-adjusted velocity curve is smoothed to obtain at least two smooth velocity curves.

[0064] S250. Determine a target velocity curve based on the at least two smooth velocity curves, wherein the curve displacement corresponding to the target velocity curve is the same as the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0065] The technical solution of this invention achieves automatic adjustment of the triangular velocity curve by adjusting the time intervals before and after the curve.

[0066] Example 3

[0067] Figure 3 This is a flowchart of a velocity curve planning method provided in Embodiment 3 of the present invention. The method of this embodiment can be combined with various optional schemes in the velocity curve planning methods provided in the above embodiments. The velocity curve planning method provided in this embodiment has been further optimized. Optionally, the smoothed velocity curve includes an initial smoothed velocity curve and a target smoothed velocity curve; correspondingly, the smoothing transformation of the time-adjusted velocity curve to obtain at least two smoothed velocity curves includes: smoothing the time-adjusted velocity curve based on a rectangular-to-triangular acceleration curve operator to obtain an initial smoothed velocity curve; and smoothing the initial smoothed velocity curve based on a preset smoothing transformation rule to obtain at least one target smoothed velocity curve.

[0068] like Figure 3 As shown, the method includes:

[0069] S310. Obtain the triangular velocity curve to be smoothed, and determine the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0070] S320. Adjust the time period before and after the triangular velocity curve to be smoothed to obtain the time-adjusted velocity curve.

[0071] S330. Based on the rectangular-to-triangular acceleration curve operator, the time-adjusted velocity curve is smoothed to obtain an initial smooth velocity curve.

[0072] Among them, the rectangular-to-triangular acceleration curve operator can smoothly transform the first and second segments of the velocity curve, respectively. Figure 4 This is a schematic diagram of a rectangular-to-triangular transformation according to an embodiment of the present invention.

[0073] For example, the rectangular-to-triangular acceleration curve operator can transform the initial segment of the velocity curve from a rectangle to a triangular acceleration curve, thus obtaining the initial smooth velocity curve. The expression for rectangular acceleration is:

[0074] A(t) = A0, T0 ≤ t <T1;

[0075] Where A0 represents the initial acceleration, t1 = T1 - T0, and t1 represents the initial time.

[0076] The expression for triangular acceleration is:

[0077]

[0078] Among them, A m J1 represents the maximum acceleration, and J2 represents the jerk. When T 01 =T 02 At this point, the acceleration curve is triangular. To ensure that the change in velocity remains constant, a relationship can be established based on the fact that the areas of the rectangle and the triangle are the same before and after the transformation:

[0079]

[0080] Among them, t 01 =T 01 -T0,t 02 =T1-T 02 .

[0081] Based on the relationship between acceleration and jerk, the following equation can be derived:

[0082] t 01 =(A m -A0) / J1;

[0083] A m =J1×t 02 ;

[0084] t 02 = (t1+A0 / J1) / 2;

[0085] Using the above relationship, we can solve for J1 and A when the curve's initial segment transforms into a triangular shape. m t 01 and t 02 This yields the relevant parameters for the first segment of the initial smooth velocity curve. The smoothing transformation of the latter segment of the velocity curve follows the same principle as the first segment and will not be described further here.

[0086] S340. Based on a preset smoothing transformation rule, the initial smoothing speed curve is smoothed to obtain at least one target smoothing speed curve.

[0087] Specifically, the initial smooth speed curve can be smoothed using one or more pre-set smoothing transformation rules to obtain the target smooth speed curve.

[0088] Optionally, based on a preset smoothing transformation rule, the initial smoothed speed curve is smoothed to obtain at least one target smoothed speed curve, including: smoothing the initial smoothed speed curve based on a triangle-to-T-shape transformation rule to obtain a first target smoothed speed curve; if the curve displacement of the first target smoothed speed curve is greater than the curve displacement corresponding to the triangle speed curve to be smoothed, smoothing the first target smoothed speed curve based on a T-shape-to-ramp transformation rule to obtain a second target smoothed speed curve; if the curve displacement of the second target smoothed speed curve is greater than the curve displacement corresponding to the triangle speed curve to be smoothed, smoothing the second target smoothed speed curve based on a ramp-to-flat-bottom ramp transformation rule to obtain a third target smoothed speed curve.

[0089] The expression for the T-shaped acceleration in the triangular-to-T-shaped transition rule is as follows:

[0090]

[0091] Figure 5 This is a schematic diagram of a triangle-to-T shape transformation according to an embodiment of the present invention.

[0092] The expression for the ramp acceleration in the T-shaped to ramp transition rule is:

[0093]

[0094] Figure 6 This is a schematic diagram of a T-shaped to ramp type according to an embodiment of the present invention.

[0095] The expression for the acceleration of the flat-bottomed slope type in the transition rule from a slope type to a flat-bottomed slope type is:

[0096]

[0097] Figure 7 This is a flowchart of a slope-to-flat-bottom slope provided according to an embodiment of the present invention.

[0098] In some alternative embodiments, if the curve displacement of the third target smoothed velocity curve is greater than the curve displacement corresponding to the triangular velocity curve to be smoothed, the smoothing transformation fails and the velocity curve planning ends.

[0099] In some optional embodiments, when smoothing the initial smooth speed curve based on a preset smoothing transformation rule, one or more segments of the speed curve before and after the curve can be transformed, which is not limited here.

[0100] For example, the triangular-to-T-shaped transformation rule is used as an example. Specifically, based on the triangular-to-T-shaped transformation rule, the process of smoothing the initial smooth velocity curve includes: assuming the acceleration of the T-shaped section of the velocity curve is J1, with time intervals t1, t2, and t3, and the acceleration of the latter section is J2, with time intervals t4, t5, and t7, the transformation to a T-shape is performed while keeping the total time interval unchanged. The maximum velocity change in the first section is:

[0101] dV1=J1×t1 2 ;

[0102] The maximum speed change in the latter part is:

[0103] dV2=J2×t7 2 ;

[0104] After obtaining dV1 and dV2, determine dV. min =Min(dV1,dV2), and set dV min Substituting into the above equation, we get t1 ′ and T7 ′ Then take the time period dt of change. 01 =t1 ′ dt 02 =t7 ′ After smoothing transformation, the parameters of the first target smoothed velocity curve are obtained. The parameters of the first target smoothed velocity curve include the changed time period t. 1- dt 01 ,t2+2×dt 01 ,t3-dt 01 ,t4-dt 02 ,t5+2×dt 02 ,t7-dt 02 And the unchanged J1 and J2.

[0105] S350. Determine a target speed curve based on the initial smoothed speed curve and at least one target smoothed speed curve, wherein the curve displacement corresponding to the target speed curve is the same as the curve displacement corresponding to the triangular speed curve to be smoothed.

[0106] Optionally, determining the target velocity curve based on the at least two smoothed velocity curves includes: if the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the first target smoothed velocity curve and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on a T-shaped displacement reduction operator.

[0107] The displacement reduction operator for the T-shape is:

[0108]

[0109] Optionally, determining the target velocity curve based on the at least two smoothed velocity curves includes: if the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the second target smoothed velocity curve and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on a ramp-type displacement reduction operator.

[0110] The displacement reduction operator for the slope type is:

[0111]

[0112] Optionally, determining the target velocity curve based on the at least two smoothed velocity curves includes: if the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the third target smoothed velocity curve, and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on a flat-bottomed slope-type displacement reduction operator.

[0113] The displacement reduction operator for the flat-bottomed, sloping type is:

[0114]

[0115] For example, taking the T-shaped displacement reduction operator as an example, assuming the jerk in the first T-shaped segment of the velocity curve is J1, and the time period includes t1, t2, and t3, and the jerk in the second T-shaped segment is J2, and the time period includes t4, t5, and t7, the displacement reduction operator for the first T-shaped segment is:

[0116]

[0117] The displacement reduction operator for the T-section is:

[0118]

[0119] To ensure that the velocity change is the same in both the preceding and following segments, we take dV1 = dV2, and reduce the target distance as known. dist Given that dS1 + dS2, dt can be obtained using the above conditions. 01 and dt 02 Therefore, based on dt 01 and dt 02 Determine the changed time period, which is t1-dt. 01 t2+2*dt 01 t3-dt 01 t4-dt 02 t5+2*dt 02 t7-dt02 This yields the target velocity curve. Figure 8 This is a comparison chart of the velocity curves before and after processing by a velocity curve planning method provided in an embodiment of the present invention. Figure 8 As can be seen, the velocity curve planning method in this embodiment can transform the triangular velocity curve into a smooth target velocity curve while ensuring that the initial and final velocities, initial and final accelerations, curve displacement, or total time remain unchanged. This makes the robot's motion smoother when it moves based on the trajectory planned by the target velocity curve, reducing wear and tear on the robot's mechanical equipment and extending the lifespan of the motor.

[0120] Example 4

[0121] Figure 9 This is a schematic diagram of a velocity curve planning device provided in Embodiment 4 of the present invention. Figure 9 As shown, the device includes:

[0122] The triangular velocity curve acquisition module 410 is used to acquire the triangular velocity curve to be smoothed and determine the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0123] The preceding and following time adjustment module 420 is used to adjust the preceding and following time periods of the triangular velocity curve to be smoothed, so as to obtain the time-adjusted velocity curve.

[0124] The curve smoothing conversion module 430 is used to smooth the time-adjusted velocity curve to obtain at least two smooth velocity curves.

[0125] The target velocity curve determination module 440 is used to determine a target velocity curve based on the at least two smooth velocity curves, wherein the curve displacement corresponding to the target velocity curve is the same as the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0126] The technical solution of this invention transforms the triangular velocity curve into a smooth target velocity curve by adjusting the time before and after the target velocity curve and smoothing the transition. This makes the movement of the robot more smooth when it moves on the trajectory planned based on the target velocity curve, reducing the wear and tear on the robot's mechanical equipment and the lifespan of the motor.

[0127] In some optional implementations, the time adjustment module 420 includes:

[0128] The time change determination unit is used to determine the first and second segments of the triangular velocity curve to be smoothed.

[0129] The speed curve adjustment unit is used to adjust the time of the first segment and / or the second segment of the triangular speed curve to be smoothed according to the adjustment method corresponding to the preset adjustment time condition if the change time of the first segment and / or the change time of the second segment of the triangular speed curve to be smoothed meets any preset adjustment time condition among multiple adjustment time conditions, so as to obtain the time-adjusted speed curve.

[0130] In some optional implementations, the smoothing speed curve includes an initial smoothing speed curve and a target smoothing speed curve; the curve smoothing conversion module 430 includes:

[0131] The initial smooth velocity curve determination unit is used to perform a smooth transformation on the time-adjusted velocity curve based on the rectangular-to-triangular acceleration curve operator to obtain the initial smooth velocity curve.

[0132] The target smooth speed curve determination unit is used to perform a smooth transformation on the initial smooth speed curve based on a preset smooth transformation rule to obtain at least one target smooth speed curve.

[0133] In some optional implementations, the target smooth velocity curve determination unit includes:

[0134] The first smoothing conversion unit is used to perform a smoothing conversion on the initial smoothing speed curve based on the triangle to T-shaped conversion rule to obtain the first target smoothing speed curve;

[0135] The second smoothing conversion unit is used to smooth the first target smoothing speed curve based on the T-shaped to ramp conversion rule when the curve displacement of the first target smoothing speed curve is greater than the curve displacement corresponding to the triangular speed curve to be smoothed, so as to obtain the second target smoothing speed curve.

[0136] The third smoothing conversion unit is used to smooth the second target smoothing speed curve based on the slope-to-flat-bottom slope conversion rule when the curve displacement of the second target smoothing speed curve is greater than the curve displacement corresponding to the triangular speed curve to be smoothed, so as to obtain the third target smoothing speed curve.

[0137] In some alternative implementations, the target velocity curve determination module 440 may also be used for:

[0138] If the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the first target smoothed velocity curve, and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on the T-shaped displacement reduction operator.

[0139] In some alternative implementations, the target velocity curve determination module 440 may also be used for:

[0140] If the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the second target smoothed velocity curve, and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on the ramp-type displacement reduction operator.

[0141] In some alternative implementations, the target velocity curve determination module 440 may also be used for:

[0142] If the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the third target smoothed velocity curve, and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on the flat-bottomed slope type displacement reduction operator.

[0143] The speed curve planning device provided in the embodiments of the present invention can execute the speed curve planning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0144] Example 5

[0145] Figure 10 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0146] like Figure 10 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An I / O interface 15 is also connected to the bus 14.

[0147] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0148] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the speed curve planning method, which includes:

[0149] Obtain the triangular velocity curve to be smoothed, and determine the curve displacement corresponding to the triangular velocity curve to be smoothed;

[0150] The triangular velocity curve to be smoothed is adjusted by a certain time interval to obtain the time-adjusted velocity curve;

[0151] The time-adjusted velocity curve is smoothed to obtain at least two smooth velocity curves.

[0152] A target velocity curve is determined based on the at least two smooth velocity curves, wherein the curve displacement corresponding to the target velocity curve is the same as the curve displacement corresponding to the triangular velocity curve to be smoothed.

[0153] In some embodiments, the speed curve planning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the speed curve planning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the speed curve planning method by any other suitable means (e.g., by means of firmware).

[0154] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0157] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0158] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0159] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0160] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0161] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A velocity curve planning method, characterized in that, include: Obtain the triangular velocity curve to be smoothed, and determine the curve displacement corresponding to the triangular velocity curve to be smoothed; The triangular velocity curve to be smoothed is adjusted by a certain time interval to obtain the time-adjusted velocity curve; The time-adjusted velocity curve is smoothed to obtain at least two smooth velocity curves. A target velocity curve is determined based on the at least two smooth velocity curves, wherein the curve displacement corresponding to the target velocity curve is the same as the curve displacement corresponding to the triangular velocity curve to be smoothed. The smoothing speed curve includes an initial smoothing speed curve and a target smoothing speed curve; Accordingly, the smoothing transformation of the time-adjusted velocity curve to obtain at least two smooth velocity curves includes: Based on the rectangular-to-triangular acceleration curve operator, the time-adjusted velocity curve is smoothed to obtain an initial smooth velocity curve; Based on the triangle-to-T transformation rule, the initial smoothed velocity curve is smoothed to obtain the first target smoothed velocity curve; When the curve displacement of the first target smooth speed curve is greater than the curve displacement corresponding to the triangular speed curve to be smoothed, the first target smooth speed curve is smoothed based on the T-shaped to ramp conversion rule to obtain the second target smooth speed curve. When the curve displacement of the second target smooth speed curve is greater than the curve displacement corresponding to the triangular speed curve to be smoothed, the second target smooth speed curve is smoothed based on the slope-to-flat-bottom slope conversion rule to obtain the third target smooth speed curve.

2. The method according to claim 1, characterized in that, The step of adjusting the triangular velocity curve to be smoothed by a certain time interval to obtain a time-adjusted velocity curve includes: Determine the first and second segments of the triangular velocity curve to be smoothed; If the change time of the first segment and / or the change time of the second segment of the triangular velocity curve to be smoothed satisfies any of the preset adjustment time conditions among multiple adjustment time conditions, then the time of the first and second segments of the triangular velocity curve to be smoothed is adjusted based on the adjustment method corresponding to the preset adjustment time condition to obtain the time-adjusted velocity curve.

3. The method according to claim 1, characterized in that, Determining the target velocity curve based on the at least two smooth velocity curves includes: If the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the first target smoothed velocity curve, and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on the T-shaped displacement reduction operator.

4. The method according to claim 1, characterized in that, Determining the target velocity curve based on the at least two smooth velocity curves includes: If the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the second target smoothed velocity curve, and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on the ramp-type displacement reduction operator.

5. The method according to claim 1, characterized in that, Determining the target velocity curve based on the at least two smooth velocity curves includes: If the curve displacement corresponding to the triangular velocity curve to be smoothed is greater than or equal to the curve displacement of the third target smoothed velocity curve, and less than the curve displacement of the initial smoothed velocity curve, then the target velocity curve is determined based on the flat-bottomed slope type displacement reduction operator.

6. A velocity curve planning device, characterized in that, include: The triangular velocity curve acquisition module is used to acquire the triangular velocity curve to be smoothed and determine the curve displacement corresponding to the triangular velocity curve to be smoothed. The time adjustment module is used to adjust the triangular velocity curve to be smoothed by a time interval to obtain the time-adjusted velocity curve. A curve smoothing conversion module is used to smooth the time-adjusted velocity curve to obtain at least two smooth velocity curves. The target velocity curve determination module is used to determine a target velocity curve based on the at least two smoothed velocity curves, wherein the curve displacement corresponding to the target velocity curve is the same as the curve displacement corresponding to the triangular velocity curve to be smoothed. The smoothing speed curve includes an initial smoothing speed curve and a target smoothing speed curve; The curve smoothing conversion module includes: The initial smooth velocity curve determination unit is used to perform a smooth transformation on the time-adjusted velocity curve based on the rectangular-to-triangular acceleration curve operator to obtain the initial smooth velocity curve. The first smoothing conversion unit is used to perform a smoothing conversion on the initial smoothing speed curve based on the triangle to T-shaped conversion rule to obtain the first target smoothing speed curve; The second smoothing conversion unit is used to smooth the first target smoothing speed curve based on the T-shaped to ramp conversion rule when the curve displacement of the first target smoothing speed curve is greater than the curve displacement corresponding to the triangular speed curve to be smoothed, so as to obtain the second target smoothing speed curve. The third smoothing conversion unit is used to smooth the second target smoothing speed curve based on the slope-to-flat-bottom slope conversion rule when the curve displacement of the second target smoothing speed curve is greater than the curve displacement corresponding to the triangular speed curve to be smoothed, so as to obtain the third target smoothing speed curve.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the speed curve planning method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the speed curve planning method according to any one of claims 1-5.

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