Asymmetric s-curve transformation method and device, terminal and medium

Abstract

The application discloses an asymmetric S-curve transformation method and device, a terminal and a medium. The method comprises the following steps: acquiring current motion state data corresponding to a current S-curve, and determining an initial target speed based on system limit parameters corresponding to the current S-curve; calculating a key motion distance corresponding to the initial target speed based on the current motion state data and the initial target speed; processing the initial target speed based on the initial target speed and the key motion distance to obtain a target speed, and determining a target S-curve corresponding to the target speed based on the target speed. The application aims to realize real-time transformation of an asymmetric S-curve, and then realize real-time speed transformation at any moment of a motion process.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to an asymmetric S-curve transformation method, apparatus, terminal and medium. Background Technology

[0002] S-curve motion planning is a commonly used acceleration smoothing strategy in motion control systems. Its name comes from the fact that the curve representing velocity over time resembles the letter "S". S-curve planning continuously controls acceleration by limiting jerk, making the motion smoother and reducing shock, vibration, and mechanical stress. A complete S-curve consists of seven segments: acceleration, uniform acceleration, deceleration, uniform velocity, acceleration / deceleration, uniform deceleration, and deceleration / deceleration. Each segment requires independent solving of third-order kinematic equations, placing high demands on the controller's computational power.

[0003] However, in practical applications, to ensure smooth motion, an asymmetric S-curve is typically generated, meaning that acceleration and deceleration are inconsistent, and the corresponding acceleration / deceleration jerks are also inconsistent. This asymmetric S-curve further exacerbates the computational complexity. If changes such as stopping, speed adjustment, or altering the ending position are required during the process of the asymmetric S-curve, the complexity increases even further, becoming theoretically almost unsolvable. Therefore, a real-time transformation method for the S-curve is urgently needed to address these issues. Summary of the Invention

[0004] The main objective of this application is to provide an asymmetric S-curve transformation method, device, terminal, and medium, which aims to realize the real-time transformation of asymmetric S-curves, thereby enabling real-time speed regulation at any moment during the motion process.

[0005] To achieve the above objectives, this application provides an asymmetric S-curve transformation method, the method comprising: Obtain the current motion state data corresponding to the current S-curve, and determine the initial target velocity based on the system constraint parameters corresponding to the current S-curve; Based on the current motion state data and the initial target speed, the key motion distance corresponding to the initial target speed is calculated, wherein the key motion distance is used to characterize the relationship between the current S-curve and the initial target speed; Based on the initial target speed and the key movement distance, the initial target speed is processed to obtain the target speed, and based on the target speed, the target S-curve corresponding to the target speed is determined.

[0006] Specifically, the system limiting parameters include the maximum permissible speed; The determination of the initial target velocity based on the system constraint parameters corresponding to the current S-curve includes: The initial target speed is obtained by multiplying the preset speed percentage by the maximum permissible speed.

[0007] Specifically, the key motion distance includes the speed transition distance, the deceleration and stopping distance, and the constant speed segment distance; the current motion state data includes the current speed and the total distance not yet completed, and the total distance not yet completed is used to characterize the remaining motion distance corresponding to the current speed. The step of calculating the key motion distance corresponding to the initial target speed based on the current motion state data and the initial target speed includes: Based on the current motion state data and the initial target speed, the speed transition distance is calculated, wherein the speed transition distance is used to characterize the motion distance corresponding to the process of the speed changing from the current moment to the initial target speed; Based on the current motion state data and the initial target speed, the deceleration stopping distance is calculated, wherein the deceleration stopping distance is used to characterize the motion distance corresponding to the process of changing from the initial target speed to a speed of 0; The constant speed segment distance is obtained based on the speed transition distance, the deceleration stopping distance, and the uncompleted total distance.

[0008] Specifically, the process of processing the initial target speed based on the initial target speed and the key movement distance to obtain the target speed includes: If the initial target speed is the result corresponding to the first speed determination and the distance of the uniform speed segment is not less than 0, then the initial target speed is determined as the target speed; If the initial target speed is not the result corresponding to the first speed determination or the uniform speed segment distance is less than 0, then the initial target speed is adjusted until the uniform speed segment distance corresponding to the adjusted initial target speed meets the preset adjustment completion condition, and the adjusted initial target speed is determined as the target speed.

[0009] Specifically, the preset adjustment completion conditions include the uniform speed segment distance corresponding to the adjusted initial target speed being less than 0 and the uniform speed time corresponding to the uniform speed segment distance being within a preset reasonable time interval, wherein the uniform speed time is the ratio of the uniform speed segment distance to the adjusted initial target speed.

[0010] Specifically, obtaining the constant speed segment distance based on the speed transition distance, the deceleration stop distance, and the uncompleted total distance includes: The distance of the uniform speed segment is calculated using the following formula: dis_uniform=dis-Dis_1-Dis_2 Wherein, dis_uniform is used to represent the uniform speed segment distance, dis is used to represent the total distance not yet completed, Dis_1 is used to represent the speed transition distance, and Dis_2 is used to represent the deceleration stopping distance.

[0011] Specifically, adjusting the initial target speed until the distance of the uniform speed segment corresponding to the adjusted initial target speed meets the preset adjustment completion condition includes: Based on the initial target speed, determine the initial adjustment range corresponding to the initial target speed; Based on the initial adjustment interval, a candidate target speed is determined, wherein the candidate target speed is the average of the upper bound and the lower bound of the initial adjustment interval; Based on the candidate target velocity, the distance of the uniform velocity segment corresponding to the candidate target velocity is calculated; Determine whether the distance of the uniform speed segment corresponding to the candidate target speed meets the preset adjustment completion condition. If the distance of the uniform speed segment corresponding to the candidate target speed meets the preset adjustment completion condition, then the candidate target speed is determined as the adjusted initial target speed. If the distance of the uniform speed segment corresponding to the candidate target speed does not meet the preset adjustment completion condition, then the initial adjustment interval corresponding to the initial target speed is re-determined until the distance of the uniform speed segment corresponding to the candidate target speed meets the preset adjustment completion condition.

[0012] To achieve the above objectives, this application also provides an asymmetric S-curve transformation device, the device comprising: The first unit is used to obtain the current motion state data corresponding to the current S-curve based on the current S-curve, and to determine the initial target velocity based on the system constraint parameters corresponding to the current S-curve. The second unit is used to calculate the key motion distance corresponding to the initial target speed based on the current motion state data and the initial target speed, wherein the key motion distance is used to characterize the relationship between the current S-curve and the initial target speed; The third unit is used to process the initial target speed based on the initial target speed and the key movement distance to obtain the target speed, and to determine the target S-curve corresponding to the target speed based on the target speed.

[0013] To achieve the above objectives, this application also provides a terminal, including a processor and a memory, the memory storing multiple instructions; the processor loads instructions from the memory to execute the steps in any of the methods provided in this application.

[0014] To achieve the above objectives, this application also provides a medium storing a plurality of instructions adapted for loading by a processor to execute the steps in any of the methods provided in this application.

[0015] This application provides an asymmetric S-curve transformation method, apparatus, terminal, and medium. It first acquires the current motion state data corresponding to the current S-curve, and determines the initial target speed based on the system constraint parameters corresponding to the current S-curve. Based on the current motion state data and the initial target speed, it calculates the key motion distance corresponding to the initial target speed. Based on the initial target speed and the key motion distance, it processes the initial target speed to obtain the target speed, and determines the target S-curve corresponding to the target speed, thereby achieving real-time transformation of the asymmetric S-curve and enabling real-time speed adjustment at any moment during the motion process. Attached Figure Description

[0016] Figure 1 A flowchart illustrating the method provided in the embodiments of this application; Figure 2 A schematic diagram of an asymmetric S-curve provided in an embodiment of this application; Figure 3 A schematic diagram of asymmetric S-curves corresponding to different target velocities provided in the embodiments of this application; Figure 4 This is a schematic diagram of the device provided in the embodiments of this application; Figure 5 This is a schematic diagram of the terminal structure provided in an embodiment of this application. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] In practical applications, to ensure smooth motion, asymmetric S-curves are typically observed, meaning acceleration and deceleration are inconsistent, and the corresponding acceleration / deceleration jerks are also inconsistent. Asymmetric S-curves further exacerbate the computational complexity of the solution. If changes such as stopping, speed adjustment, or altering the ending position are required during the process of solving an asymmetric S-curve, the complexity increases even further, theoretically making it almost impossible to solve.

[0019] Therefore, this application provides an asymmetric S-curve transformation method, apparatus, terminal, and medium to solve practical technical problems.

[0020] In some embodiments, the device may be integrated into an electronic device, such as a terminal or server.

[0021] In some embodiments, the server may also be implemented as a terminal.

[0022] The server can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0023] The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, etc., but is not limited to these. The terminal and the server can be connected directly or indirectly through wired or wireless communication, which is not limited herein.

[0024] The following sections provide detailed descriptions of each example. It should be noted that the sequence numbers of the following embodiments are not intended to limit the preferred order of the embodiments.

[0025] like Figure 1 The specific process of the method can be as follows: S110. Based on the current S-curve, obtain the current motion state data corresponding to the current S-curve, and determine the initial target velocity based on the system constraint parameters corresponding to the current S-curve.

[0026] In some embodiments, the system limiting parameters include the maximum permissible speed.

[0027] In some embodiments, the system limiting parameters may further include: Maximum permissible acceleration Acc_max, maximum permissible deceleration Dec_max, acceleration Jerk_acc, deceleration Jerk_dec, and total position Pos.

[0028] Specifically, determining the initial target velocity based on the system constraint parameters corresponding to the current S-curve includes the following specific implementation process: The initial target speed is obtained by multiplying the preset speed percentage by the maximum permissible speed.

[0029] In some embodiments, the initial target speed V_target is determined based on the required speed percentage, such as V_target = V_max × 50%, V_max × 75%, etc.

[0030] S120. Based on the current motion state data and the initial target speed, calculate the key motion distance corresponding to the initial target speed, wherein the key motion distance is used to characterize the relationship between the current S-curve and the initial target speed.

[0031] In some embodiments, the current motion state data may include: the position Pos_t, velocity Vel_t, and acceleration Acc_t at the current time t.

[0032] In some embodiments, the key motion distance includes speed transition distance, deceleration stopping distance, and constant speed segment distance, and the current motion state data includes the current speed and the total distance not yet completed, wherein the total distance not yet completed is used to characterize the remaining motion distance corresponding to the current speed.

[0033] Specifically, the step of calculating the key motion distance corresponding to the initial target speed based on the current motion state data and the initial target speed includes the following steps S121 to S123: S121. The speed transition distance is calculated, wherein the speed transition distance is used to characterize the motion distance corresponding to the process of the speed changing from the current moment to the initial target speed.

[0034] In some embodiments, the distance traveled by the velocity Vel_t at the current time t is calculated to transform into the target velocity V_target.

[0035] S122. The deceleration stopping distance is calculated, wherein the deceleration stopping distance is used to characterize the movement distance corresponding to the process of changing from the initial target speed to the speed of 0.

[0036] In some embodiments, the distance traveled by the target velocity V_target when it decelerates to 0 is calculated.

[0037] S123. Based on the speed transition distance, the deceleration stopping distance, and the uncompleted total distance, the constant speed segment distance is obtained.

[0038] In some embodiments, obtaining the constant speed segment distance based on the speed transition distance, the deceleration stopping distance, and the uncompleted total distance includes the following specific implementation process: The distance of the uniform speed segment is calculated using the following formula: dis_uniform=dis-Dis_1-Dis_2 Wherein, dis_uniform is used to represent the uniform speed segment distance, dis is used to represent the total distance not yet completed, Dis_1 is used to represent the speed transition distance, and Dis_2 is used to represent the deceleration stopping distance.

[0039] S130. Based on the initial target speed and the key motion distance, process the initial target speed to obtain the target speed, and determine the target S-curve corresponding to the target speed based on the target speed.

[0040] In some embodiments, the process of processing the initial target speed based on the initial target speed and the key motion distance to obtain the target speed includes the following specific implementation steps: If the initial target speed is the result corresponding to the first speed determination and the distance of the uniform speed segment is not less than 0, then the initial target speed is determined as the target speed; If the initial target speed is not the result corresponding to the first speed determination or the uniform speed segment distance is less than 0, then the initial target speed is adjusted until the uniform speed segment distance corresponding to the adjusted initial target speed meets the preset adjustment completion condition, and the adjusted initial target speed is determined as the target speed.

[0041] In some embodiments, each determination of V_target (including the initially set V_target and the new V_target obtained through subsequent adjustments) and completion of the corresponding validity verification constitutes a speed determination, which is also an iteration, rather than "one iteration is a real-time transformation of the asymmetric S-curve". The aforementioned "first speed determination" is the first iteration.

[0042] In some embodiments, the preset adjustment completion condition includes the uniform speed segment distance corresponding to the adjusted initial target speed being less than 0 and the uniform speed time corresponding to the uniform speed segment distance being within a preset reasonable time interval, wherein the uniform speed time is the ratio of the uniform speed segment distance to the adjusted initial target speed.

[0043] Specifically, if dis_uniform < 0 and the uniform motion time t = dis_uniform / V_target is within the range of 0 to 10 ms, then the preset adjustment completion condition is considered to be met.

[0044] In some embodiments, adjusting the initial target speed until the uniform speed segment distance corresponding to the adjusted initial target speed meets the preset adjustment completion condition includes the steps A1 to A4 as shown below: A1. Based on the initial target speed, determine the initial adjustment range corresponding to the initial target speed.

[0045] In some embodiments, the upper and lower bounds of the speed adjustment are set based on the problem type of the currently invalid V_target: If the current V_target causes dis_uniform<0 (target speed is too high), then set the upper bound U of the initial adjustment interval to the current invalid V_target, and the lower bound L=0 (speed non-negative constraint). If the current V_target causes the uniform speed time to exceed the 0~10ms range (target speed is too low), then set the lower bound L of the initial adjustment range to the current invalid V_target, and the upper bound U to V_max (the system's maximum allowable speed constraint).

[0046] A2. Based on the initial adjustment interval, determine the candidate target speed, wherein the candidate target speed is the average of the upper limit value and the lower limit value of the initial adjustment interval.

[0047] In some embodiments, the midpoint of the current adjustment interval is calculated according to the binary search strategy and used as a new candidate target velocity: candidate V_target_candidate = (upper bound U + lower bound L) / 2.

[0048] A3. Based on the candidate target velocity, calculate the distance of the uniform speed segment corresponding to the candidate target velocity.

[0049] In some embodiments, the candidate V_target_candidate is substituted into the original parameter solving logic to complete the following verification: Calculate Dis_1 (the distance traveled from the current velocity Vel_t to V_target_candidate) corresponding to the candidate target's velocity. Calculate Dis_2 (the distance V_target_candidate moves to decelerate to 0) corresponding to the candidate target's velocity. Calculate the dis_uniform corresponding to the velocity of the candidate target = dis - Dis_1 - Dis_2. If it is not the first iteration, the uniform velocity time t = dis_uniform / V_target_candidate needs to be calculated separately. Determine if the valid conditions are met: If it is the first iteration verification, dis_uniform ≥ 0 must be satisfied; if it is not the first iteration verification, the uniform time t ∈ [0, 10ms] must be satisfied.

[0050] A4. Determine whether the uniform speed segment distance corresponding to the candidate target speed meets the preset adjustment completion condition. If the uniform speed segment distance corresponding to the candidate target speed meets the preset adjustment completion condition, then the candidate target speed is determined as the adjusted initial target speed. If the uniform speed segment distance corresponding to the candidate target speed does not meet the preset adjustment completion condition, then the initial adjustment interval corresponding to the initial target speed is re-determined until the uniform speed segment distance corresponding to the candidate target speed meets the preset adjustment completion condition.

[0051] In some embodiments, if a candidate V_target_candidate meets the validity conditions, it is determined as the final new V_target, and the binary search iteration adjustment ends; If candidate V_target_candidate is invalid: If dis_uniform < 0 (candidate speed is too high), then update the upper bound of the adjustment interval U = V_target_candidate; If the uniform velocity time exceeds the 0~10ms range (candidate velocity is too low), then update and adjust the lower bound of the range L=V_target_candidate.

[0052] The method will be illustrated below through another specific embodiment: like Figure 2 As shown, this is an asymmetric S-curve. The real-time speed regulation steps at any moment during the motion process are as follows: First, obtain the system limitation parameters: The maximum permissible velocity is denoted as V_max, the maximum permissible acceleration is Acc_max, the maximum permissible deceleration is Dec_max, the acceleration Jerk is Jerk_acc, the deceleration Jerk is Jerk_dec, and the total position size is Pos.

[0053] like Figure 2 The figure shows the initial S-curve with a velocity of 100%. The position, velocity, and acceleration at any time t are denoted as Pos_t, Vel_t, and Acc_t, respectively. The remaining total distance to be covered from the current time is dis. Starting from time t, the velocity percentage is switched to 50%, and the target velocity is V_target = V_max * 50%. The parameter calculation method is shown below: (1) Calculate the distance Dis_1 that the velocity Vel_t changes from the current velocity t to the target velocity V_target.

[0054] (2) Calculate the distance that the target velocity V_target will travel when it decelerates to 0 as Dis_2.

[0055] (3) Of the remaining unmoved distance, after removing Dis_1 and Dis_2, the calculated distance dis_uniform=dis-Dis_1-Dis_2 is the uniform segment distance at the target speed.

[0056] (4) If V_target is the first iteration and dis_uniform is greater than or equal to 0, it means that the target speed transformation can be achieved, the current calculation is valid, and the process ends; otherwise, start step (6) to iterate the target speed V_target.

[0057] (5) When V_target is not in the first iteration, dis_uniform is less than 0, proceed to step (6) to start a new round of iteration calculation. The uniform speed time t = dis_uniform / V_target. When t is in the range of 0~10ms, the calculation is considered valid and the process ends. Otherwise, continue to step (6) to iterate the target speed.

[0058] (6) If dis_uniform is less than 0, it indicates that the target speed is too high, so the target speed should be reduced. If the uniform speed time is greater than the reasonable range, the target speed is considered too low, so the target speed should be increased. The iterative method for adjusting the target speed is the binary iterative method. After calculating the new V_target, the loop in step (1) is restarted.

[0059] Once a suitable V_target is obtained, based on V_target = 50% * V_max or V_target = 75% * V_max, the following can be obtained: Figure 3 The new asymmetric S-curve is shown, which is a comparison of changing the speed to 50% and 75% at 0.8 seconds.

[0060] In summary, this application provides an asymmetric S-curve transformation method to realize real-time transformation of asymmetric S-curves, thereby enabling real-time speed regulation at any moment during the motion process.

[0061] To better implement the above methods, this application also provides an asymmetric S-curve transformation device, which can be integrated into an electronic device, such as a terminal or server. The terminal can be a mobile phone, tablet computer, smart Bluetooth device, laptop computer, or personal computer; the server can be a single server or a server cluster composed of multiple servers.

[0062] For example, in this embodiment, the method of this application embodiment will be described in detail by taking the asymmetric S-curve transformation device specifically integrated into the terminal as an example.

[0063] For example, such as Figure 4As shown, the asymmetric S-curve transformation device 400 may include a first unit 401, a second unit 402, and a third unit 403. The asymmetric S-curve transformation device 400 includes: The first unit 401 is used to obtain the current motion state data corresponding to the current S-curve based on the current S-curve, and to determine the initial target velocity based on the system limit parameters corresponding to the current S-curve. The second unit 402 is used to calculate the key motion distance corresponding to the initial target speed based on the current motion state data and the initial target speed, wherein the key motion distance is used to characterize the relationship between the current S-curve and the initial target speed; The third unit 403 is used to process the initial target speed based on the initial target speed and the key movement distance to obtain the target speed, and to determine the target S-curve corresponding to the target speed based on the target speed.

[0064] In practice, each of the above units can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units, please refer to the previous method embodiments, which will not be repeated here.

[0065] As can be seen from the above, the embodiments of this application can realize the real-time transformation of the asymmetric S-curve, thereby realizing real-time speed adjustment at any moment in the motion process.

[0066] This application also provides an electronic device, which can be a terminal, a server, or other similar device. The terminal can be a mobile phone, tablet computer, smart Bluetooth device, laptop computer, personal computer, etc.; the server can be a single server or a server cluster composed of multiple servers, etc.

[0067] In some embodiments, the product processing device may also be integrated into multiple electronic devices, such as multiple servers, with the multiple servers implementing the asymmetric S-curve transformation method of this application.

[0068] In this embodiment, the electronic device will be described in detail as a terminal, for example, such as... Figure 5 As shown, it illustrates a structural schematic diagram of the terminal 500 involved in an embodiment of this application. Specifically: The terminal 500 may include components such as a processor 501 with one or more processing cores, a memory 502 with one or more media, a power supply 503, an input module 504, and a communication module 505. Those skilled in the art will understand that... Figure 5The terminal 500 structure shown does not constitute a limitation on the terminal 500, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein: The processor 501 is the control center of the terminal 500. It connects various parts of the terminal 500 via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 502, and by calling data stored in the memory 502, it performs various functions of the terminal 500 and processes data, thereby providing overall monitoring of the terminal 500. In some embodiments, the processor 501 may include one or more processing cores; in some embodiments, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 501.

[0069] The memory 502 can be used to store software programs and modules. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502. The memory 502 mainly includes a program storage area and a data storage area. The program storage area can store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area can store data created according to the use of the terminal 500, etc. In addition, the memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.

[0070] The terminal 500 also includes a power supply 503 that supplies power to the various components. In some embodiments, the power supply 503 can be logically connected to the processor 501 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 503 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0071] The terminal 500 may also include an input module 504, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0072] The terminal 500 may also include a communication module 505. In some embodiments, the communication module 505 may include a wireless module. The terminal 500 can perform short-range wireless transmission through the wireless module of the communication module 505, thereby providing users with wireless broadband Internet access. For example, the communication module 505 can be used to help users send and receive emails, browse web pages, and access streaming media.

[0073] Although not shown, terminal 500 may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, processor 501 in terminal 500 loads the executable files corresponding to the processes of one or more applications into memory 502 according to the following instructions, and processor 501 runs the applications stored in memory 502 to realize various functions, as follows: Based on the current S-curve, obtain the current motion state data corresponding to the current S-curve, and determine the initial target velocity based on the system constraint parameters corresponding to the current S-curve; Based on the current motion state data and the initial target speed, the key motion distance corresponding to the initial target speed is calculated, wherein the key motion distance is used to characterize the relationship between the current S-curve and the initial target speed; Based on the initial target speed and the key movement distance, the initial target speed is processed to obtain the target speed, and based on the target speed, the target S-curve corresponding to the target speed is determined.

[0074] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0075] As can be seen from the above, the embodiments of this application can realize the real-time transformation of the asymmetric S-curve, thereby realizing real-time speed adjustment at any moment in the motion process.

[0076] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be accomplished by instructions, or by instructions controlling related hardware. These instructions can be stored in a medium and loaded and executed by a processor.

[0077] Therefore, embodiments of this application provide a medium storing a plurality of instructions that can be loaded by a processor to execute steps in any of the asymmetric S-curve transformation methods provided in embodiments of this application. For example, the instructions can execute the following steps: Based on the current S-curve, obtain the current motion state data corresponding to the current S-curve, and determine the initial target velocity based on the system constraint parameters corresponding to the current S-curve; Based on the current motion state data and the initial target speed, the key motion distance corresponding to the initial target speed is calculated, wherein the key motion distance is used to characterize the relationship between the current S-curve and the initial target speed; Based on the initial target speed and the key movement distance, the initial target speed is processed to obtain the target speed, and based on the target speed, the target S-curve corresponding to the target speed is determined.

[0078] The medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0079] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a medium. A processor of a computer device reads the computer instructions from the medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations of the above embodiments.

[0080] Since the instructions stored in the medium can execute the steps of any of the asymmetric S-curve transformation methods provided in the embodiments of this application, the beneficial effects that any of the asymmetric S-curve transformation methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0081] The foregoing has provided a detailed description of an asymmetric S-curve transformation method, apparatus, terminal, and medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An asymmetric S-curve transformation method, characterized in that, The method includes: Obtain the current motion state data corresponding to the current S-curve, and determine the initial target velocity based on the system constraint parameters corresponding to the current S-curve; Based on the current motion state data and the initial target speed, the key motion distance corresponding to the initial target speed is calculated, wherein the key motion distance is used to characterize the relationship between the current S-curve and the initial target speed; Based on the initial target speed and the key movement distance, the initial target speed is processed to obtain the target speed, and based on the target speed, the target S-curve corresponding to the target speed is determined.

2. The method as described in claim 1, characterized in that, The system limiting parameters include the maximum permissible speed; The determination of the initial target velocity based on the system constraint parameters corresponding to the current S-curve includes: The initial target speed is obtained by multiplying the preset speed percentage by the maximum permissible speed.

3. The method as described in claim 1, characterized in that, The key motion distance includes the speed transition distance, deceleration and stopping distance, and constant speed segment distance. The current motion state data includes the current speed and the total distance not yet completed. The total distance not yet completed is used to represent the remaining motion distance corresponding to the current speed. The step of calculating the key motion distance corresponding to the initial target speed based on the current motion state data and the initial target speed includes: Based on the current motion state data and the initial target speed, the speed transition distance is calculated, wherein the speed transition distance is used to characterize the motion distance corresponding to the process of the speed changing from the current moment to the initial target speed; Based on the current motion state data and the initial target speed, the deceleration stopping distance is calculated, wherein the deceleration stopping distance is used to characterize the motion distance corresponding to the process of changing from the initial target speed to a speed of 0; The constant speed segment distance is obtained based on the speed transition distance, the deceleration stopping distance, and the uncompleted total distance.

4. The method as described in claim 3, characterized in that, The process of processing the initial target speed based on the initial target speed and the key movement distance to obtain the target speed includes: If the initial target speed is the result corresponding to the first speed determination and the distance of the uniform speed segment is not less than 0, then the initial target speed is determined as the target speed; If the initial target speed is not the result corresponding to the first speed determination or the uniform speed segment distance is less than 0, then the initial target speed is adjusted until the uniform speed segment distance corresponding to the adjusted initial target speed meets the preset adjustment completion condition, and the adjusted initial target speed is determined as the target speed.

5. The method as described in claim 4, characterized in that, The preset adjustment completion conditions include that the uniform speed segment distance corresponding to the adjusted initial target speed is less than 0 and the uniform speed time corresponding to the uniform speed segment distance is within a preset reasonable time interval, wherein the uniform speed time is the ratio of the uniform speed segment distance to the adjusted initial target speed.

6. The method as described in claim 3, characterized in that, The process of obtaining the constant speed segment distance based on the speed transition distance, the deceleration stopping distance, and the uncompleted total distance includes: The distance of the uniform speed segment is calculated using the following formula: dis_uniform=dis-Dis_1-Dis_2 Wherein, dis_uniform is used to represent the uniform speed segment distance, dis is used to represent the total distance not yet completed, Dis_1 is used to represent the speed transition distance, and Dis_2 is used to represent the deceleration stopping distance.

7. The method as described in claim 4, characterized in that, The process of adjusting the initial target speed until the distance of the uniform speed segment corresponding to the adjusted initial target speed meets the preset adjustment completion condition includes: Based on the initial target speed, determine the initial adjustment range corresponding to the initial target speed; Based on the initial adjustment interval, a candidate target speed is determined, wherein the candidate target speed is the average of the upper bound and the lower bound of the initial adjustment interval; Based on the candidate target velocity, the distance of the uniform velocity segment corresponding to the candidate target velocity is calculated; Determine whether the distance of the uniform speed segment corresponding to the candidate target speed meets the preset adjustment completion condition. If the distance of the uniform speed segment corresponding to the candidate target speed meets the preset adjustment completion condition, then the candidate target speed is determined as the adjusted initial target speed. If the distance of the uniform speed segment corresponding to the candidate target speed does not meet the preset adjustment completion condition, then the initial adjustment interval corresponding to the initial target speed is re-determined until the distance of the uniform speed segment corresponding to the candidate target speed meets the preset adjustment completion condition.

8. An asymmetric S-curve transformation device, characterized in that, The device includes: The first unit is used to acquire the current motion state data corresponding to the current S-curve and determine the initial target velocity based on the system constraint parameters corresponding to the current S-curve. The second unit is used to calculate the key motion distance corresponding to the initial target speed based on the current motion state data and the initial target speed, wherein the key motion distance is used to characterize the relationship between the current S-curve and the initial target speed; The third unit is used to process the initial target speed based on the initial target speed and the key movement distance to obtain the target speed, and to determine the target S-curve corresponding to the target speed based on the target speed.

9. A terminal, characterized in that, The method includes a processor and a memory, the memory storing multiple instructions; the processor loads instructions from the memory to perform the steps of the method as described in any one of claims 1 to 7.

10. A medium, characterized in that, The medium stores a plurality of instructions adapted for loading by a processor to execute the steps of the method according to any one of claims 1 to 7.

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