A trajectory arc connection method, device, equipment, storage medium and electronic product

Abstract

The application discloses a trajectory arc connection method, device, equipment, storage medium and electronic product. The method comprises the following steps: in response to a trajectory path execution request of a control device, determining the deceleration of a deceleration shaft in a running process; according to the deceleration of the deceleration shaft, determining the first acceleration of the deceleration shaft based on a preset connection radius; according to the connection radius and the deceleration of the deceleration shaft, determining the second acceleration of an acceleration shaft; if the first acceleration is not greater than a preset deceleration shaft acceleration, when the deceleration shaft is decelerated to the connection radius, the first acceleration is used, and when the acceleration shaft is accelerated to the end position of the acceleration shaft, the second acceleration is used, so as to realize smooth connection at the arc position of the trajectory in the running process. The technical scheme of the embodiment of the application simplifies the configuration of the trajectory connection related parameters, forms a smooth and continuous arc trajectory without steps, and solves the problems of mechanical impact, vibration and wear caused by frequent start and stop at the corner in the traditional straight line connection.

Description

Technical Field

[0001] This invention relates to the field of automation control, and in particular to a method, apparatus, device, storage medium, and electronic product for trajectory arc connection. Background Technology

[0002] Path stitching is a path planning and motion control technology used in CNC machine tools, robot motion control, and other automated equipment. It refers to precise speed and position control on two coordinate axes (e.g., the X and Y axes), enabling tools, cutters, or robotic arm endpoints to move along a predetermined geometric path while maintaining specific speed, acceleration, and path accuracy throughout the process. Path stitching technology improves path accuracy and positioning precision, enhances flexibility, optimizes speed planning, adjusts motion parameters in real time, reduces impact and wear, and significantly improves the quality of machining and operation. It also enhances system flexibility and responsiveness, bringing users higher production efficiency and lower maintenance costs.

[0003] In Cartesian coordinate system machinery, generating a straight line between two points is one of the simplest paths. By setting the starting and ending coordinates, the control system calculates a series of intermediate points, causing the tool to move along a straight line. However, this method may require frequent system starts and stops, especially near corners or where the direction changes, significantly reducing the overall processing speed, increasing energy consumption, and causing corresponding wear and impact on the machinery.

[0004] Arc joins are used to generate circular or arc paths at trajectory junctions. They require defining parameters such as the center, radius, start angle, and end angle. Traditionally, analytical geometric formulas are used to calculate the positions of points on the arc and guide the synchronous movement of two axes to form the desired arc trajectory. However, this method leads to cumbersome user parameter settings, complex calculations, long program execution time, difficult debugging, and high implementation costs.

[0005] Therefore, there is an urgent need to propose a trajectory arc connection method that can simplify the configuration of trajectory connection-related parameters, reduce operational complexity, form a smooth, continuous, and stepless arc trajectory, and solve the mechanical impact, vibration, and wear problems caused by frequent starts and stops at corners in traditional straight-line connections. Summary of the Invention

[0006] This invention provides a method, apparatus, device, storage medium, and electronic product for trajectory arc connection, which simplifies the configuration of trajectory connection-related parameters, reduces operational complexity, forms a smooth, continuous, and stepless arc trajectory, and solves the problems of mechanical impact, vibration, and wear caused by frequent starts and stops at corners in traditional straight-line connections.

[0007] According to one aspect of the present invention, a trajectory arc connection method is provided, applied to a mobile device, the method comprising: In response to the trajectory path execution request from the control device, determine the deceleration on the reduction shaft during operation; Based on the deceleration of the reduction shaft and a preset connection radius, the first acceleration of the reduction shaft is determined. The second acceleration of the acceleration shaft is determined based on the connection radius and the deceleration of the deceleration shaft; If the first acceleration is not greater than the preset deceleration shaft acceleration, then when the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration, so as to achieve a smooth connection at the arc position of the trajectory during operation.

[0008] According to another aspect of the present invention, a trajectory arc connection device is provided, configured in a mobile device, the device comprising: The request execution module is used to determine the deceleration on the deceleration shaft during operation in response to the trajectory path execution request of the control device. The first acceleration determination module is used to determine the first acceleration of the deceleration shaft based on the deceleration of the deceleration shaft and a preset connection radius. The second acceleration determination module is used to determine the second acceleration of the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft; The first trajectory arc connection module is used to achieve a smooth connection at the arc position of the trajectory during operation if the first acceleration is not greater than the preset deceleration shaft acceleration. When the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration.

[0009] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the trajectory arc connection method according to any embodiment of the present invention.

[0010] 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 trajectory arc connection method according to any embodiment of the present invention.

[0011] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the trajectory arc connection method described in any embodiment of the present invention.

[0012] This invention's technical solution determines the deceleration of the deceleration shaft during operation. Based on this deceleration and a preset connection radius, a first acceleration of the deceleration shaft is determined. Then, based on the connection radius and the deceleration, a second acceleration of the acceleration shaft is determined. While the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to its endpoint based on the second acceleration, achieving a smooth connection at the arc-shaped position of the trajectory during operation. By employing a specific algorithm and decoupling method, corresponding speed planning is performed for each axis, ensuring that each axis can make a corresponding motion trajectory within its range. Furthermore, based on the set connection radius, the position of the deceleration shaft is determined to control the start of the acceleration shaft. One axis decelerates while the other accelerates simultaneously, forming an arc-shaped connection trajectory. This simplifies the configuration of trajectory connection-related parameters, reduces operational complexity, and creates a smooth, continuous, and stepless arc-shaped trajectory, solving the mechanical impact, vibration, and wear problems caused by frequent starts and stops at corners in traditional straight-line connections.

[0013] 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

[0014] 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.

[0015] Figure 1A This is a flowchart of a trajectory arc connection method provided in Embodiment 1 of the present invention; Figure 1B This is a schematic diagram of an arc-shaped connection of a planar rectangular coordinate trajectory according to Embodiment 1 of the present invention; Figure 1C This is a schematic diagram of an arc-shaped connection of a planar rectangular coordinate trajectory according to Embodiment 1 of the present invention; Figure 2 This is a flowchart of a trajectory arc connection method provided in Embodiment 2 of the present invention; Figure 3This is a schematic diagram of the structure of a trajectory arc-shaped connection device provided in Embodiment 3 of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device that implements the trajectory arc connection method of the present invention. Detailed Implementation

[0016] 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.

[0017] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] Example 1 Figure 1 is a flowchart of a trajectory arc connection method provided in Embodiment 1 of the present invention. This embodiment is applicable to the smooth connection of trajectory arc positions during the operation of mechanical equipment. This method can be executed by a flowchart device for trajectory arc connection, which can be implemented in hardware and / or software and can be configured in an electronic device. As shown in Figure 1, this method can be applied to mobile devices and specifically includes: S110, in response to the trajectory path execution request of the control device, determine the deceleration on the deceleration shaft during operation.

[0019] S120. Based on the deceleration of the reduction shaft and the preset connection radius, determine the first acceleration of the reduction shaft.

[0020] S130. Determine the second acceleration of the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft.

[0021] S140. If the first acceleration is not greater than the preset deceleration shaft acceleration, then when the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration, so as to achieve smooth connection at the arc position of the trajectory during operation.

[0022] In this embodiment, the executing entity can be a device with mobility capabilities, such as a robot. The control device can be a device used to control the mobile device; for example, the control device can be a controller, which can send instructions and other data to the servo motor so that the servo motor can control the movement of the mobile device, such as a robotic arm, based on the instructions.

[0023] During the operation or work of the mobile device, the control device can send a trajectory path execution request to the mobile device. After receiving the trajectory path execution request, the mobile device determines its current deceleration on the deceleration axis during operation. This deceleration can be a pre-configured parameter in the mobile device and therefore can be directly obtained.

[0024] The deceleration axis can be the X-axis in a Cartesian coordinate system determined according to trajectory planning requirements, and the acceleration axis can be the Y-axis in a Cartesian coordinate system determined according to trajectory planning requirements. Alternatively, the acceleration and deceleration axes can be determined based on the motion requirements of the axes; that is, the axis that needs to decelerate to 0 is the deceleration axis, and the axis that needs to accelerate from 0 is the acceleration axis.

[0025] Based on the deceleration of the reduction shaft Based on the preset connection radius The first acceleration of the reduction shaft is determined. The connection radius is pre-configured by relevant technicians on the mobile device according to actual needs. First acceleration. The deceleration acceleration of the reduction shaft can be calculated as follows: According to the connection radius and the deceleration of the reduction shaft Determine the second acceleration of the acceleration axis.

[0026] In an optional embodiment, determining a second acceleration of the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft includes: Step a: Determine the connection time between the deceleration shaft and the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft.

[0027] Optionally, the connection time between the deceleration shaft and the acceleration shaft is determined based on the connection radius and the deceleration of the deceleration shaft, including: determining the ideal acceleration of the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft; and determining the connection time between the deceleration shaft and the acceleration shaft based on the ideal acceleration of the acceleration shaft and the deceleration of the deceleration shaft.

[0028] Specifically, based on the connection radius and the deceleration of the reduction shaft Determine the ideal acceleration of the acceleration axis The specific implementation method is as follows: Based on the ideal acceleration of the acceleration axis and the deceleration of the reduction shaft Determine the engagement time between the deceleration shaft and the acceleration shaft. : Step b: Determine the second acceleration of the acceleration axis based on the connection time.

[0029] Optionally, the second acceleration of the acceleration axis is determined based on the connection time, including: determining the critical acceleration of the acceleration axis based on the connection time, a preset acceleration axis endpoint position, and a preset acceleration / deceleration; and determining the second acceleration of the acceleration axis based on the critical acceleration.

[0030] The acceleration axis endpoint position and preset acceleration / deceleration are both predetermined by relevant technical personnel based on actual needs and pre-configured in the mobile device.

[0031] According to the connection time Based on the preset acceleration axis end position and preset acceleration and deceleration Determine the critical acceleration of the acceleration axis. : By combining the two formulas above, we can obtain the following result. and The specific value.

[0032] Optionally, determining the second acceleration of the acceleration axis based on the critical acceleration includes: determining a reference acceleration based on a preset acceleration axis acceleration and a first acceleration of the deceleration axis; if the critical acceleration is greater than the reference acceleration, then determining the reference acceleration as the second acceleration of the acceleration axis; or, if the critical acceleration is not greater than the reference acceleration, then determining the critical acceleration as the second acceleration of the acceleration axis.

[0033] According to the preset acceleration axis acceleration and the first acceleration of the deceleration shaft Determine the reference acceleration : .

[0034] If the critical acceleration Then the second acceleration If the critical acceleration Then the second acceleration If the critical acceleration This means that if the acceleration axes are connected according to acceleration, the deceleration point may appear within the connection radius due to insufficient distance between the endpoints. This would cause the motion of the acceleration axes to end prematurely during the connection process, thus failing to form a curved connection of Cartesian coordinate trajectories. Figure 1B As shown; to ensure that the arc connection can be formed, the acceleration of the acceleration shaft is required, such as... Figure 1C As shown.

[0035] If the first acceleration Not greater than the preset deceleration shaft acceleration Then it can be directly based on the first acceleration. The deceleration shaft decelerates to the connection radius and continues to decelerate until its speed reaches zero. Simultaneously, the acceleration shaft decelerates to the connection radius, based on the second acceleration... The vehicle accelerates to the end of the acceleration axis to achieve a smooth transition at the arc-shaped position of the trajectory during operation.

[0036] If the first acceleration greater than the preset deceleration shaft acceleration Then, based on the preset deceleration shaft acceleration and the deceleration of the reduction shaft Determine the starting deceleration distance : because Greater than the user setting Therefore, the reduction shaft needs to decelerate before reaching the connection radius, using the user-defined reduction shaft acceleration until the reduction shaft speed reaches 0. Specifically, based on the first acceleration... The vehicle decelerates to the starting deceleration distance via the reduction shaft. At that time, with a preset deceleration shaft acceleration The deceleration shaft decelerates to the connection radius and continues to decelerate until the speed is 0. At the same time, when the deceleration shaft reaches the connection radius, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration, so as to achieve a smooth connection at the arc position of the trajectory during operation.

[0037] The deceleration axis continuously decelerates within the connection radius, while the acceleration axis continuously accelerates at the same time. The combined velocity of the two vertical axes forms a smooth arc trajectory in a Cartesian plane. Since the acceleration of both axes is not abrupt, the trajectory is smooth and aesthetically pleasing.

[0038] This invention's technical solution determines the deceleration of the deceleration shaft during operation. Based on this deceleration and a preset connection radius, a first acceleration of the deceleration shaft is determined. Then, based on the connection radius and the deceleration, a second acceleration of the acceleration shaft is determined. While the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to its endpoint based on the second acceleration, achieving a smooth connection at the arc-shaped position of the trajectory during operation. By employing a specific algorithm and decoupling method, corresponding speed planning is performed for each axis, ensuring that each axis can make a corresponding motion trajectory within its range. Furthermore, based on the set connection radius, the position of the deceleration shaft is determined to control the start of the acceleration shaft. One axis decelerates while the other accelerates simultaneously, forming an arc-shaped connection trajectory. This simplifies the configuration of trajectory connection-related parameters, reduces operational complexity, and creates a smooth, continuous, and stepless arc-shaped trajectory, solving the mechanical impact, vibration, and wear problems caused by frequent starts and stops at corners in traditional straight-line connections.

[0039] Example 2 Figure 2 This is a flowchart of a trajectory arc connection method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment provides a preferred example. In this embodiment, the trajectory connection problem is decoupled into a speed planning problem for the deceleration axis and the acceleration axis. The determination of the deceleration point refers to the continuous calculation performed by the program during the movement of the robotic arm.

[0040] like Figure 2 As shown, the method includes the following steps: S21. In response to the trajectory path execution request of the control device, determine the deceleration on the deceleration shaft during operation.

[0041] S22. Based on the deceleration of the reduction shaft and the preset connection radius, determine the first acceleration of the reduction shaft.

[0042] Based on the deceleration of the reduction shaft Based on the preset connection radius The first acceleration of the reduction shaft is determined. The connection radius is pre-configured by relevant technicians on the mobile device according to actual needs. First acceleration. The deceleration acceleration of the reduction shaft can be calculated as follows: S23. Determine the ideal acceleration of the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft.

[0043] According to the connection radius and the deceleration of the reduction shaft Determine the ideal acceleration of the acceleration axis The specific implementation method is as follows: S24. Determine the connection time between the deceleration shaft and the acceleration shaft based on the ideal acceleration of the acceleration shaft and the deceleration of the deceleration shaft.

[0044] Based on the ideal acceleration of the acceleration axis and the deceleration of the reduction shaft Determine the engagement time between the deceleration shaft and the acceleration shaft. : S25. Based on the connection time, and using the preset acceleration axis endpoint position and preset acceleration / deceleration, determine the critical acceleration of the acceleration axis.

[0045] The acceleration axis endpoint position and preset acceleration / deceleration are both predetermined by relevant technical personnel based on actual needs and pre-configured in the mobile device.

[0046] According to the connection time Based on the preset acceleration axis end position and preset acceleration and deceleration Determine the critical acceleration of the acceleration axis. : By combining the two formulas above, we can obtain the following result. and The specific value.

[0047] S26. Determine the reference acceleration based on the preset acceleration of the acceleration axis and the first acceleration of the deceleration axis.

[0048] According to the preset acceleration axis acceleration and the first acceleration of the deceleration shaft Determine the reference acceleration : .

[0049] S27. Determine whether the critical acceleration is greater than the reference acceleration. If yes, execute S28A; otherwise, execute S28B.

[0050] S28A, The reference acceleration is determined as the second acceleration of the acceleration axis.

[0051] S28B.

[0052] If the critical acceleration Then the second acceleration If the critical acceleration Then the second acceleration If the critical acceleration .

[0053] S29. Determine whether the first acceleration is not greater than the preset deceleration shaft acceleration. If yes, execute S30A; otherwise, execute S30B.

[0054] S30A: When the vehicle decelerates on the deceleration shaft to the connection radius based on the first acceleration, it accelerates on the acceleration shaft to the end position of the acceleration shaft based on the second acceleration, so as to achieve a smooth connection at the arc position of the trajectory during operation.

[0055] If the first acceleration Not greater than the preset deceleration shaft acceleration Then it can be directly based on the first acceleration. The deceleration shaft decelerates to the connection radius and continues to decelerate until its speed reaches zero. Simultaneously, the acceleration shaft decelerates to the connection radius, based on the second acceleration... The vehicle accelerates to the end of the acceleration axis to achieve a smooth transition at the arc-shaped position of the trajectory during operation.

[0056] S30B: Based on the preset deceleration of the deceleration shaft and the deceleration of the deceleration shaft, determine the starting deceleration distance, and based on the first acceleration, decelerate the deceleration shaft to the starting deceleration distance, and then decelerate the deceleration shaft to the connection radius with the preset deceleration shaft acceleration. At the same time, based on the second acceleration, accelerate the deceleration shaft to the end position of the acceleration shaft, so as to achieve smooth connection at the arc position of the trajectory during operation.

[0057] If the first acceleration greater than the preset deceleration shaft acceleration Then, based on the preset deceleration shaft acceleration and the deceleration of the reduction shaft Determine the starting deceleration distance : because Greater than the user setting Therefore, the reduction shaft needs to decelerate before reaching the connection radius, using the user-defined reduction shaft acceleration until the reduction shaft speed reaches 0. Specifically, based on the first acceleration... The vehicle decelerates to the starting deceleration distance via the reduction shaft. At that time, with a preset deceleration shaft acceleration The deceleration shaft decelerates to the connection radius and continues to decelerate until the speed is 0. At the same time, when the deceleration shaft reaches the connection radius, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration, so as to achieve a smooth connection at the arc position of the trajectory during operation.

[0058] Example 3 Figure 3 This is a schematic diagram of a trajectory arc-shaped connection device provided in Embodiment 3 of the present invention. The trajectory arc-shaped connection device provided in this embodiment of the present invention is suitable for smoothly connecting the trajectory arc-shaped positions during the operation of mechanical equipment. This trajectory arc-shaped connection device can be implemented in hardware and / or software, such as... Figure 3 As shown, the device includes: a request execution module 301, a first acceleration determination module 302, a second acceleration determination module 303, and a first trajectory arc connection module 304. Among them, The request execution module 301 is used to determine the deceleration on the deceleration shaft during operation in response to the trajectory path execution request of the control device. The first acceleration determination module 302 is used to determine the first acceleration of the deceleration shaft based on the deceleration of the deceleration shaft and a preset connection radius. The second acceleration determination module 303 is used to determine the second acceleration of the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft; The first trajectory arc connection module 304 is used to achieve a smooth connection at the arc position of the trajectory during operation if the first acceleration is not greater than the preset deceleration shaft acceleration. When the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration.

[0059] This invention's technical solution determines the deceleration of the deceleration shaft during operation. Based on this deceleration and a preset connection radius, a first acceleration of the deceleration shaft is determined. Then, based on the connection radius and the deceleration, a second acceleration of the acceleration shaft is determined. While the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to its endpoint based on the second acceleration, achieving a smooth connection at the arc-shaped position of the trajectory during operation. By employing a specific algorithm and decoupling method, corresponding speed planning is performed for each axis, ensuring that each axis can make a corresponding motion trajectory within its range. Furthermore, based on the set connection radius, the position of the deceleration shaft is determined to control the start of the acceleration shaft. One axis decelerates while the other accelerates simultaneously, forming an arc-shaped connection trajectory. This simplifies the configuration of trajectory connection-related parameters, reduces operational complexity, and creates a smooth, continuous, and stepless arc-shaped trajectory, solving the mechanical impact, vibration, and wear problems caused by frequent starts and stops at corners in traditional straight-line connections.

[0060] Optionally, the second acceleration determination module 303 includes: The connection time determination unit is used to determine the connection time between the deceleration shaft and the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft; The second acceleration determination unit is used to determine the second acceleration of the acceleration axis based on the connection time.

[0061] Optional, the connection time determination unit is specifically used for: Based on the connection radius and the deceleration of the deceleration shaft, determine the ideal acceleration of the acceleration shaft; The connection time between the acceleration shaft and the deceleration shaft is determined based on the ideal acceleration of the acceleration shaft and the deceleration of the deceleration shaft.

[0062] Optionally, the second acceleration determining unit includes: The critical acceleration determination subunit is used to determine the critical acceleration of the acceleration axis based on the connection time, a preset acceleration axis end position, and a preset acceleration deceleration. The second acceleration determination subunit is used to determine the second acceleration of the acceleration axis based on the critical acceleration.

[0063] Optionally, a second acceleration determination sub-unit is used specifically for: A reference acceleration is determined based on the preset acceleration of the acceleration axis and the first acceleration of the deceleration axis; If the critical acceleration is greater than the reference acceleration, then the reference acceleration is determined as the second acceleration of the acceleration axis; or, If the critical acceleration is not greater than the reference acceleration, then the critical acceleration is determined as the second acceleration of the acceleration axis.

[0064] Optionally, the device further includes: The second trajectory arc connection module is used to determine the starting deceleration distance based on the preset deceleration shaft deceleration and the deceleration shaft if the first acceleration is greater than the preset deceleration shaft acceleration. When the deceleration shaft decelerates to the starting deceleration distance based on the first acceleration, the module decelerates to the connection radius based on the preset deceleration shaft acceleration. At the same time, the module accelerates to the end position of the acceleration shaft based on the second acceleration, so as to achieve a smooth connection at the arc position of the trajectory during operation.

[0065] The trajectory arc connection device provided in the embodiments of the present invention can execute the trajectory arc connection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0066] Example 4 Figure 4A schematic diagram of an electronic device 40 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 processors, 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.

[0067] like Figure 4 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded from storage unit 48 into the RAM 43. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0068] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0069] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 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 41 performs the various methods and processes described above, such as the trajectory arc connection method.

[0070] In some embodiments, the trajectory arcing method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the trajectory arcing method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the trajectory arcing method by any other suitable means (e.g., by means of firmware).

[0071] 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), systems-on-a-chip (SoCs), payload-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.

[0072] 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.

[0073] 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.

[0074] 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).

[0075] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or 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.

[0076] 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.

[0077] 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.

[0078] 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 method for connecting arc-shaped trajectories, characterized in that, Applied to mobile devices, including: In response to the trajectory path execution request from the control device, determine the deceleration on the reduction shaft during operation; Based on the deceleration of the reduction shaft and a preset connection radius, the first acceleration of the reduction shaft is determined. The second acceleration of the acceleration shaft is determined based on the connection radius and the deceleration of the deceleration shaft; If the first acceleration is not greater than the preset deceleration shaft acceleration, then when the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration, so as to achieve a smooth connection at the arc position of the trajectory during operation.

2. The method according to claim 1, characterized in that, Determining the second acceleration of the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft includes: The connection time between the deceleration shaft and the acceleration shaft is determined based on the connection radius and the deceleration of the deceleration shaft. The second acceleration of the acceleration axis is determined based on the connection time.

3. The method according to claim 2, characterized in that, Determining the connection time between the deceleration shaft and the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft includes: Based on the connection radius and the deceleration of the deceleration shaft, determine the ideal acceleration of the acceleration shaft; The connection time between the acceleration shaft and the deceleration shaft is determined based on the ideal acceleration of the acceleration shaft and the deceleration of the deceleration shaft.

4. The method according to claim 2, characterized in that, Determining the second acceleration of the acceleration axis based on the connection time includes: Based on the connection time, and using a preset acceleration axis endpoint position and a preset acceleration / deceleration rate, the critical acceleration of the acceleration axis is determined. The second acceleration of the acceleration axis is determined based on the critical acceleration.

5. The method according to claim 4, characterized in that, Determining the second acceleration of the acceleration axis based on the critical acceleration includes: A reference acceleration is determined based on the preset acceleration of the acceleration axis and the first acceleration of the deceleration axis; If the critical acceleration is greater than the reference acceleration, then the reference acceleration is determined as the second acceleration of the acceleration axis; or, If the critical acceleration is not greater than the reference acceleration, then the critical acceleration is determined as the second acceleration of the acceleration axis.

6. The method according to claim 1, characterized in that, The method further includes: If the first acceleration is greater than the preset deceleration shaft acceleration, then the starting deceleration distance is determined based on the preset deceleration shaft deceleration and the deceleration shaft itself. When the deceleration shaft decelerates to the starting deceleration distance based on the first acceleration, the deceleration shaft decelerates to the connection radius based on the preset deceleration shaft acceleration. At the same time, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration, so as to achieve a smooth connection at the arc position of the trajectory during operation.

7. A trajectory arc-shaped connection device, characterized in that, Configured on mobile devices, including: The request execution module is used to determine the deceleration on the deceleration shaft during operation in response to the trajectory path execution request of the control device. The first acceleration determination module is used to determine the first acceleration of the deceleration shaft based on the deceleration of the deceleration shaft and a preset connection radius. The second acceleration determination module is used to determine the second acceleration of the acceleration shaft based on the connection radius and the deceleration of the deceleration shaft; The first trajectory arc connection module is used to achieve a smooth connection at the arc position of the trajectory during operation if the first acceleration is not greater than the preset deceleration shaft acceleration. When the deceleration shaft decelerates to the connection radius based on the first acceleration, the acceleration shaft accelerates to the end position of the acceleration shaft based on the second acceleration.

8. 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; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the trajectory arc connection method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the trajectory arc connection method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the trajectory arc connection method according to any one of claims 1-6.

Images