CN108536502A - Orbit generation method and device - Google Patents
Orbit generation method and device Download PDFInfo
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- CN108536502A CN108536502A CN201810180045.XA CN201810180045A CN108536502A CN 108536502 A CN108536502 A CN 108536502A CN 201810180045 A CN201810180045 A CN 201810180045A CN 108536502 A CN108536502 A CN 108536502A
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- track
- targeted graphical
- tracing point
- axis coordinate
- regulation coefficient
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/451—Execution arrangements for user interfaces
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/04—Manufacturing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention discloses a kind of orbit generation method and devices.Wherein, this method includes：Determine the targeted graphical of track to be generated；Obtain the track regulation coefficient of multiple tracing points of targeted graphical；According to track regulation coefficient, trajectory-offset is carried out to each tracing point of targeted graphical, obtains target trajectory translation parameters；According to target trajectory translation parameters, generation corresponding with targeted graphical track is determined.The present invention solve when generating track due to waste time it is more, efficient under, the technical issues of causing user experience to decline.
Description
Technical field
The present invention relates to Track Pick-up technical fields, in particular to a kind of orbit generation method and device.
Background technology
In data in many equipment of currently manufactured industry for describing task, many critical datas all contain " track
Point " and " track ", for example the track of industrial robot end effector motion is described；In the g generations of numerically-controlled machine tool machining path, are described
Code；The bonding machine instruction etc. of welding position and posture is described.To obtaining good work quality, need to track constantly into
Row correct, in the related technology, when generating track, be all often it is disposably that these Track Pick-ups are good, behind if carried out again
Workload all before repeating is needed if modification, or is grasped before having the batch modification tool of some tracks that can not also change
The parameter of work leads to temporal waste, and working efficiency is low, also, in the related technology when generating track, if desired temporarily
Each tracing point is adjusted, needs to re-start Track Pick-up, a large amount of time can be wasted in this way, likewise, if desired
Track is generated using machine, cannot achieve the adjustment to all tracing points, if inputting adjusting parameter one by one to each tracing point,
Can user experience be declined, the interest of product can also be reduced.
When for above-mentioned generation track due to waste time it is more, efficient under, cause user experience decline skill
Art problem, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of orbit generation method and devices, due to waste when at least solving to generate track
Time is more, efficient under, the technical issues of causing user experience to decline.
One side according to the ... of the embodiment of the present invention provides a kind of orbit generation method, including：Determine track to be generated
Targeted graphical；Obtain the track regulation coefficient of multiple tracing points of the targeted graphical；It is right according to the track regulation coefficient
Each tracing point of the targeted graphical carries out trajectory-offset, obtains target trajectory translation parameters；It is flat according to the target trajectory
Shifting parameter determines generation corresponding with targeted graphical track.
Further, the targeted graphical includes at least following one：Round, square, rectangle, the track adjustment
Coefficient includes at least one following：X axis coordinate adjusts range value, Y axis coordinate adjustment range value, Z axis Coordinate Adjusting range value.
Further, when the targeted graphical is circle, and the track regulation coefficient is that Y axis coordinate adjusts range value,
According to the track regulation coefficient, trajectory-offset is carried out to each tracing point of the targeted graphical, obtains target trajectory translation
Parameter includes：In the case where Y axis coordinate adjustment range value is negative, by circular each tracing point to extension
It stretches；In the case where Y axis coordinate adjustment range value is positive number, circular each tracing point is inwardly reduced.
Further, when the track regulation coefficient is Z axis Coordinate Adjusting range value, system is adjusted according to the track
Number carries out trajectory-offset to each tracing point of the targeted graphical, and obtaining target trajectory translation parameters includes：In the Z axis
In the case that Coordinate Adjusting range value is negative, the vertical path length of the targeted graphical is reduced；In the Z axis coordinate tune
In the case that whole picture angle value is positive number, the vertical path length of targeted graphical is increased.
Further, after obtaining the track regulation coefficient of multiple tracing points of the targeted graphical, the method is also
Including：Obtain the changing coordinates coefficient of each tracing point of the targeted graphical；According to the changing coordinates coefficient of each tracing point
With the track regulation coefficient of each tracing point, determine that the track adjustment direction of each tracing point and track adjust the angle.
Further, before obtaining the track regulation coefficient of multiple tracing points of the targeted graphical, the method is also
Including：It obtains track and adjusts type, wherein the track adjustment type includes at least：Translate type of gesture；In the track tune
When whole type is the translation type of gesture, determines and coordinate translation is carried out to each tracing point of the targeted graphical.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of Track Pick-up device, including：First determines list
Member, the targeted graphical for determining track to be generated；Acquiring unit, the rail of multiple tracing points for obtaining the targeted graphical
Mark regulation coefficient；Translation unit, for according to the track regulation coefficient, rail to be carried out to each tracing point of the targeted graphical
Mark translates, and obtains target trajectory translation parameters；Second determination unit, for according to the target trajectory translation parameters, determine with
The corresponding generation track of the targeted graphical.
Further, the targeted graphical includes at least following one：Round, square, rectangle, the track adjustment
Coefficient includes at least one following：X axis coordinate adjusts range value, Y axis coordinate adjustment range value, Z axis Coordinate Adjusting range value.
Further, when the targeted graphical is circle, and the track regulation coefficient is that Y axis coordinate adjusts range value,
The translation unit includes：Extension of module is used in the case where Y axis coordinate adjustment range value is negative, by the circle
Each tracing point of shape extends outwardly；Module is reduced, is used in the case where Y axis coordinate adjustment range value is positive number, it will
Circular each tracing point inwardly reduces.
Further, when the track regulation coefficient is Z axis Coordinate Adjusting range value, the translation unit further includes：
Module is reduced, is used in the case where the Z axis Coordinate Adjusting range value is negative, the vertical track of the targeted graphical is long
Degree reduces；Module is increased, is used in the case where the Z axis Coordinate Adjusting range value is positive number, by the vertical rail of targeted graphical
Mark length increases.
Further, described device further includes：First acquisition module, in the multiple tracks for obtaining the targeted graphical
After the track regulation coefficient of point, the changing coordinates coefficient of each tracing point of the targeted graphical is obtained；First determining module,
For according to the changing coordinates coefficient of each tracing point and the track regulation coefficient of each tracing point, determining the rail of each tracing point
Mark adjustment direction and track adjust the angle.
Further, described device further includes：Second acquisition module, in the multiple tracks for obtaining the targeted graphical
It before the track regulation coefficient of point, obtains track and adjusts type, wherein the track adjustment type includes at least：Translate track
Type；Second determining module, for when track adjustment type is the translation type of gesture, determining to the target figure
Each tracing point of shape carries out coordinate translation.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of storage medium, and the storage medium is for storing
Program, wherein equipment where described program controls the storage medium when being executed by processor executes above-mentioned any one institute
The orbit generation method stated.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of processor, and the processor is used to run program,
Wherein, the orbit generation method described in above-mentioned any one is executed when described program is run.
In embodiments of the present invention, it determines the targeted graphical of track to be generated, then can get targeted graphical
The track adjusting parameter of multiple tracing points, and according to track adjusting parameter, it is flat that track is carried out to each tracing point of targeted graphical
It moves, obtains target trajectory translation parameters, can finally be determined corresponding with the targeted graphical according to target trajectory translation parameters
Generate track.In this embodiment it is possible to trajectory-offset is carried out to each tracing point of targeted graphical using track adjusting parameter,
Each tracing point can be disposably adjusted by adjusting trajectory-offset, the speed of adjustment is accelerated, the time of adjustment can contract
It is short, after getting adjusting parameter input by user, so that it may adjusted to user's displaying track as a result, in this way, user can
With quickly obtain it is desired as a result, solve generate track when due to waste time it is more, efficient under, cause under user experience
The technical issues of drop, has achieved the effect that the track for quickly generating equipment.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of orbit generation method according to the ... of the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of optional track outer shroud according to the ... of the embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of optional track adjustment frame according to the ... of the embodiment of the present invention；
Fig. 4 is a kind of Track Pick-up schematic diagram according to the ... of the embodiment of the present invention；
Fig. 5 is the schematic diagram of Track Pick-up device according to the ... of the embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
It includes to be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment to cover non-exclusive
Those of clearly list step or unit, but may include not listing clearly or for these processes, method, product
Or the other steps or unit that equipment is intrinsic.
For ease of user understand the present invention, below to involved in various embodiments of the present invention part term or noun make solution
It releases：
Tracing point：Include the data packet of three dimensional space coordinate and orientation.
It can be applied to various Track Pick-up fields, use in many equipment of currently manufactured industry in the following embodiments of the present invention
In the data of description task, many critical datas all contain " tracing point " and " track ", for example describe industrial robot end
Hold the track of actuator action；The g codes of numerically-controlled machine tool machining path are described；The bonding machine instruction of welding position and posture is described
Etc., all tracing points all include position and the posture in most basic data three-dimensional space, and the matter of these positions and posture
The work quality that amount directly affects equipment needs constantly to be modified track if expecting good work quality.And phase
Close generation technique in, be all it is disposably that these Track Pick-ups are good, behind needed if modifying again repeat before institute
Some workloads, or have the batch modification tool of some tracks that can not also change the parameter operated before, cause temporal
Waste, working efficiency are low.The following embodiments of the present invention can be when generating track, using different Track Pick-up modes, such as
After generating initial trace image, if user is dissatisfied, the position of tracing point can be changed according to reference axis and generates rail
The posture of mark point, for example, indicating that plane, Z axis indicate that the height or posture of robotic arm, the posture can refer to using X-axis and Y-axis
Show the angle and direction of robotic arm.In this way, user can be by changing X-axis, the parameter of Y-axis and Z axis, to adjust tracing point
It generates.For example, when generating a circular trace, if user needs to adjust circular size, so that it may with by adjusting Y-axis
Mobile numerical value, for example, by the numerical value input -3mm of " being moved along Y-axis ", then each tracing point can extend outwardly 3mm.Below
Examples illustrate the present invention in conjunction with each.
Embodiment one
According to embodiments of the present invention, a kind of embodiment of the method for Track Pick-up is provided, it should be noted that in attached drawing
The step of flow illustrates can execute in the computer system of such as a group of computer-executable instructions, although also,
Logical order is shown in flow chart, but in some cases, it can be to execute shown different from sequence herein or retouch
The step of stating.
With reference to preferred implementation steps, the present invention will be described, and Fig. 1 is track life according to the ... of the embodiment of the present invention
At the flow chart of method, as shown in Figure 1, this method comprises the following steps：
Step S102 determines the targeted graphical of track to be generated.
Wherein, above-mentioned targeted graphical can be each figure of the track to be generated extracted, for example, it is desired to generate circle
The track of column, cylinder can be corresponding with circular figure, can extract the outer shroud of cylinder, obtain multiple tracing points；For another example target
Figure is the burr that the edge of removal round piece is needed in machine, is at this moment also required to extract the figure at round piece edge,
Determine each tracing point.Certainly, the shape that targeted graphical is not limited in the present invention can be the figure of rule (as just
Rectangular, round, rectangle), irregular shape is can also be, targeted graphical includes at least following one：It is round, square, rectangular
Shape, after determining targeted graphical, so that it may to generate track corresponding with the targeted graphical.
Step S104 obtains the track regulation coefficient of multiple tracing points of targeted graphical.
Optionally, track regulation coefficient includes at least one following：X axis coordinate adjusts range value, Y axis coordinate adjusts amplitude
Value, Z axis Coordinate Adjusting range value.Track regulation coefficient in the present invention can adjust rail for the coordinate of each tracing point
Mark generates, wherein each reference axis can indicate different adjustment directions, it is, for example, possible to use X-axis and Y-axis adjust track
The plane of point adjusts height by Z axis, and certainly, the mode of each coordinate axial adjustment does not limit, for example, Z axis may be used also
Posture when track is generated with adjustment, and X-axis can adjust direction, Y-axis adjustment extension or shortening direction etc..True in the present invention
Set the goal figure multiple tracing points when, can be by extract targeted graphical outer shroud, then according to predetermined interval distance point
Multiple tracing points are separated out, the spacing distance between each tracing point can be identical, right in the present invention in order to generate track
Spacing distance between each tracing point is not specifically limited, such as sets spacing distance as 2mm mono-.
Step S106 carries out trajectory-offset to each tracing point of targeted graphical, obtains target according to track regulation coefficient
Trajectory-offset parameter.
Optionally, when targeted graphical is circle, and track regulation coefficient is that Y axis coordinate adjusts range value, according to track tune
Integral coefficient carries out trajectory-offset to each tracing point of targeted graphical, and obtaining target trajectory translation parameters includes：In Y axis coordinate
In the case of range value is adjusted as negative, circular each tracing point is extended outwardly；It is positive number in Y axis coordinate adjustment range value
In the case of, circular each tracing point is inwardly reduced.
The above embodiment is the adjustment mode for each tracing point in circular targeted graphical, can be in adjustment
It is elastic to adjust to set Y-axis, naturally it is also possible to which left and right extending direction and length are adjusted by X-axis.
Another optional embodiment adjusts when in track, regulation coefficient is Z axis Coordinate Adjusting range value according to track
Coefficient carries out trajectory-offset to each tracing point of targeted graphical, and obtaining target trajectory translation parameters includes：In Z axis coordinate tune
In the case that whole picture angle value is negative, the vertical path length of targeted graphical is reduced；It is positive number in Z axis Coordinate Adjusting range value
In the case of, the vertical path length of targeted graphical is increased.
It is the generation height that tracing point is adjusted by each tracing point Z axis in the above embodiment.
Optionally, frame can be adjusted by terminal display in the embodiment of the present invention, can be set in adjusting frame " along
X-axis moves ", " being moved along Y-axis ", the Option Boxes such as " being moved along Z axis " thus can be by adjusting X-axis, Y-axis and Z axis etc.
Numerical value, to adjust the moving direction and movable length of tracing point.
Step S108 determines generation corresponding with targeted graphical track according to target trajectory translation parameters.
Through the above steps, the targeted graphical that can first determine track to be generated, then can get targeted graphical
Multiple tracing points track adjusting parameter, and according to track adjusting parameter, track is carried out to each tracing point of targeted graphical
Translation, obtains target trajectory translation parameters, can finally be determined corresponding with the targeted graphical according to target trajectory translation parameters
Generation track.In this embodiment it is possible to which it is flat to carry out track to each tracing point of targeted graphical using track adjusting parameter
It moves, you can disposably to adjust each tracing point by adjusting trajectory-offset, the speed of adjustment accelerates, and time of adjustment can be with
Shorten, after getting adjusting parameter input by user, so that it may with to user show track adjust as a result, in this way, user just
Can quickly obtain it is desired as a result, solve generate track when due to waste time it is more, efficient under, lead to user experience
The technical issues of decline, has achieved the effect that the track for quickly generating equipment.
For the above embodiment of the present invention, can also the track regulation coefficient for obtaining multiple tracing points of targeted graphical it
Afterwards, the changing coordinates coefficient of each tracing point of targeted graphical is obtained；According to the changing coordinates coefficient of each tracing point and each
The track regulation coefficient of tracing point determines that the track adjustment direction of each tracing point and track adjust the angle.
Wherein, in the above embodiment, the changing coordinates coefficient of tracing point and the track adjustment system of tracing point can be utilized
Number determines that track adjustment direction and track adjust the angle, and certainly, the application can also pass through changing coordinates coefficient and tracing point
Track regulation coefficient determine that track adjusts length, can basis after obtaining track adjustment direction and track and adjusting the angle
The length of track adjustment always adjusts come the target side adjusted towards track.
It should be noted that before obtaining the track regulation coefficient of multiple tracing points of targeted graphical, the implementation
Further include：It obtains track and adjusts type, wherein track adjustment type includes at least：Translate type of gesture；Type is adjusted in track
When to translate type of gesture, determining and coordinate translation is carried out to each tracing point of targeted graphical.
Track adjustment type in the embodiment of the present invention is not limited to translation type of gesture, can also include outer shroud track class
Type or fixation locus type, the outer shroud type of gesture can be the outer shroud and each initial track point that user extracts targeted graphical
, and fixation locus type can be to determine the posture for generating track.And the translation features for track of giving prominence to the key points in the present invention,
Coordinate Adjusting parameter is being obtained, trajectory-offset can be carried out along reference axis, thus can disposably adjust all tracks
Point improves the Experience Degree of user.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of storage medium, and storage medium is used to store program,
Wherein, equipment where program controls storage medium when being executed by processor executes the orbit generation method of above-mentioned any one.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of processor, and processor is used to run program,
In, program executes the orbit generation method of above-mentioned any one when running.
Embodiment two
Fig. 2 is a kind of optional track outer shroud schematic diagram according to the ... of the embodiment of the present invention, as shown in Fig. 2, the figure is circle
Circle corresponding to column extracts each tracing point of outer shroud and outer shroud, and each tracing point is corresponding, and there are three the lines in direction
Road, wherein the application is arranged inward direction and indicates that each line in the center of circle is Y-axis, and each line on vertical direction instruction ground is Z
Axis, and (be in fig. 2 slanting lines) vertical with Y-axis and Z axis indicates X-axis, and Y-axis instruction tracing point is used in the present invention
It is inwardly compressed or expands outwardly, and use Z axis indicated altitude, and fixed using Z axis.
Fig. 3 is a kind of schematic diagram of optional track adjustment frame according to the ... of the embodiment of the present invention, as shown in figure 3, the adjustment
Frame is using the adjustment frame of trajectory-offset, including " being moved along Z axis ", " being moved along Y-axis ", " being moved along X-axis " three kinds of tune
Perfect square to.
Fig. 4 is a kind of Track Pick-up schematic diagram according to the ... of the embodiment of the present invention, suitable for Fig. 2 and content shown in Fig. 3,
The parameter that inputs in frame is adjusted according to fig. 3, obtains track adjustment as a result, to generate track corresponding with circle, it can from Fig. 4
To find out that each tracing point translates outward, and trajectory height shortens.
Embodiment three
Fig. 5 is the schematic diagram of Track Pick-up device according to the ... of the embodiment of the present invention, as shown in figure 5, the device may include：
First determination unit 51, the targeted graphical for determining track to be generated；Acquiring unit 53, for obtaining the multiple of targeted graphical
The track regulation coefficient of tracing point；Translation unit 55, for according to track regulation coefficient, being clicked through to each track of targeted graphical
Row trajectory-offset obtains target trajectory translation parameters；Second determination unit 57, for according to target trajectory translation parameters, determining
Generation corresponding with targeted graphical track.
By above-mentioned apparatus, the first determination unit 51 can be utilized to determine the targeted graphical of track to be generated, then may be used
To get the track adjusting parameter of multiple tracing points of targeted graphical by acquiring unit 53, and pass through 55 basis of translation unit
Track adjusting parameter carries out trajectory-offset to each tracing point of targeted graphical, obtains target trajectory translation parameters, finally can be with
By the second determination unit 57 according to target trajectory translation parameters, generation corresponding with targeted graphical track is determined.At this
In embodiment, trajectory-offset can be carried out to each tracing point of targeted graphical using track adjusting parameter, you can adjust to pass through
Whole trajectory-offset disposably adjusts each tracing point, and the speed of adjustment is accelerated, the time of adjustment can shorten, and get use
After the adjusting parameter of family input, so that it may adjusted to user's displaying track as a result, in this way, user can quickly be wanted
As a result, when solving to generate track due to waste time it is more, efficient under, the technical issues of causing user experience to decline,
The track for quickly generating equipment is achieved the effect that.
Optionally, targeted graphical includes at least following one：Round, square, rectangle, under track regulation coefficient includes
At least one state：X axis coordinate adjusts range value, Y axis coordinate adjustment range value, Z axis Coordinate Adjusting range value.
Optionally, targeted graphical includes not only above-mentioned each figure, other figures is can also be, for example, irregularly
Circle etc..
In addition, targeted graphical is circle, when track regulation coefficient is that Y axis coordinate adjusts range value, translation unit 55 is wrapped
It includes：Extension of module, in the case where Y axis coordinate adjustment range value is negative, circular each tracing point to be extended outwardly；
Module is reduced, in the case where Y axis coordinate adjustment range value is positive number, circular each tracing point inwardly to be reduced.
For above-mentioned apparatus, when in track, regulation coefficient is Z axis Coordinate Adjusting range value, translation unit 55 further includes：Drop
Low module, in the case where Z axis Coordinate Adjusting range value is negative, the vertical path length of targeted graphical to be reduced；It rises
High module, in the case where Z axis Coordinate Adjusting range value is positive number, the vertical path length of targeted graphical to be increased.
It should be noted that above-mentioned device further includes：First acquisition module, in the multiple rails for obtaining targeted graphical
After the track regulation coefficient of mark point, the changing coordinates coefficient of each tracing point of targeted graphical is obtained；First determining module is used
According to the changing coordinates coefficient of each tracing point and the track regulation coefficient of each tracing point, the track of each tracing point is determined
Adjustment direction and track adjust the angle.
Optionally, above-mentioned device further includes：Second acquisition module, for obtaining multiple tracing points of targeted graphical
It before the regulation coefficient of track, obtains track and adjusts type, wherein track adjustment type includes at least：Translate type of gesture；Second
Determining module, for when track adjustment type is translation type of gesture, each tracing point of targeted graphical to be sat in determination
Mark translation.
Above-mentioned Track Pick-up device can also include processor and memory, above-mentioned first determination unit 51, acquiring unit
53, translation unit 55 and the second determination unit 57 etc. are used as program unit storage in memory, are deposited by processor execution
Above procedure unit in memory is stored up to realize corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be arranged one
Or more, come, according to target trajectory translation parameters, to determine generation corresponding with targeted graphical track by adjusting kernel parameter.
Above-mentioned memory may include the volatile memory in computer-readable medium, random access memory
(RAM) and/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes extremely
A few storage chip.
An embodiment of the present invention provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor realize following steps when executing program：Determine the targeted graphical of track to be generated；It obtains
Take the track regulation coefficient of multiple tracing points of targeted graphical；According to track regulation coefficient, to each tracing point of targeted graphical
Trajectory-offset is carried out, target trajectory translation parameters is obtained；According to target trajectory translation parameters, life corresponding with targeted graphical is determined
At track.
Optionally, targeted graphical includes at least following one：Round, square, rectangle, under track regulation coefficient includes
At least one state：X axis coordinate adjusts range value, Y axis coordinate adjustment range value, Z axis Coordinate Adjusting range value.
Optionally, above-mentioned processor can also be circle in targeted graphical, track regulation coefficient is when executing program
When Y axis coordinate adjusts range value, according to track regulation coefficient, trajectory-offset is carried out to each tracing point of targeted graphical, is obtained
Target trajectory translation parameters includes：It is in the case where Y axis coordinate adjustment range value is negative, circular each tracing point is outside
Extend；In the case where Y axis coordinate adjustment range value is positive number, circular each tracing point is inwardly reduced.
Optionally, above-mentioned processor can also be Z axis Coordinate Adjusting amplitude in track regulation coefficient when executing program
When value, according to track regulation coefficient, trajectory-offset is carried out to each tracing point of targeted graphical, obtains target trajectory translation parameters
Including：In the case where Z axis Coordinate Adjusting range value is negative, the vertical path length of targeted graphical is reduced；In Z axis coordinate
In the case of range value is adjusted as positive number, the vertical path length of targeted graphical is increased.
Optionally, above-mentioned processor can also obtain the current of each tracing point of targeted graphical when executing program
Coordinate coefficient；According to the track regulation coefficient of the changing coordinates coefficient of each tracing point and each tracing point, each track is determined
The track adjustment direction of point and track adjust the angle.
Optionally, above-mentioned processor can also obtain track adjustment type, wherein track adjusts when executing program
Type includes at least：Translate type of gesture；When in track, adjustment type is translation type of gesture, determine to each of targeted graphical
Tracing point carries out coordinate translation.
Present invention also provides a kind of computer program products, when being executed on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step：Determine the targeted graphical of track to be generated；Obtain multiple tracing points of targeted graphical
Track regulation coefficient；According to track regulation coefficient, trajectory-offset is carried out to each tracing point of targeted graphical, obtains target trajectory
Translation parameters；According to target trajectory translation parameters, generation corresponding with targeted graphical track is determined.
Optionally, targeted graphical includes at least following one：Round, square, rectangle, under track regulation coefficient includes
At least one state：X axis coordinate adjusts range value, Y axis coordinate adjustment range value, Z axis Coordinate Adjusting range value.
Optionally, above-mentioned data processing equipment can also be circle, track adjustment in targeted graphical when executing program
When coefficient is that Y axis coordinate adjusts range value, according to track regulation coefficient, it is flat that track is carried out to each tracing point of targeted graphical
It moves, obtaining target trajectory translation parameters includes：In the case where Y axis coordinate adjustment range value is negative, by circular each rail
Mark point extends outwardly；In the case where Y axis coordinate adjustment range value is positive number, circular each tracing point is inwardly reduced.
Optionally, above-mentioned data processing equipment can also be Z axis coordinate tune in track regulation coefficient when executing program
When whole picture angle value, according to track regulation coefficient, trajectory-offset is carried out to each tracing point of targeted graphical, it is flat to obtain target trajectory
Shifting parameter includes：In the case where Z axis Coordinate Adjusting range value is negative, the vertical path length of targeted graphical is reduced；In Z
In the case that axial coordinate adjusts range value as positive number, the vertical path length of targeted graphical is increased.
Optionally, above-mentioned data processing equipment can also obtain each tracing point of targeted graphical when executing program
Changing coordinates coefficient；According to the track regulation coefficient of the changing coordinates coefficient of each tracing point and each tracing point, determine every
The track adjustment direction of a tracing point and track adjust the angle.
Optionally, above-mentioned data processing equipment can also obtain track adjustment type, wherein rail when executing program
Mark adjustment type includes at least：Translate type of gesture；When in track, adjustment type is translation type of gesture, determine to targeted graphical
Each tracing point carry out coordinate translation.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
In the above embodiment of the present invention, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, for example, the unit division, Ke Yiwei
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
On unit.Some or all of unit therein can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can to store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of orbit generation method, which is characterized in that including：
Determine the targeted graphical of track to be generated；
Obtain the track regulation coefficient of multiple tracing points of the targeted graphical；
According to the track regulation coefficient, trajectory-offset is carried out to each tracing point of the targeted graphical, obtains target trajectory
Translation parameters；
According to the target trajectory translation parameters, generation corresponding with targeted graphical track is determined.
2. according to the method described in claim 1, it is characterized in that, the targeted graphical includes at least following one：It is round, just
Rectangular, rectangle, the track regulation coefficient includes at least one following：X axis coordinate adjusts range value, Y axis coordinate adjusts width
Angle value, Z axis Coordinate Adjusting range value.
3. according to the method described in claim 2, it is characterized in that, being circle in the targeted graphical, the track adjustment is
When number is that Y axis coordinate adjusts range value, according to the track regulation coefficient, rail is carried out to each tracing point of the targeted graphical
Mark translates, and obtaining target trajectory translation parameters includes：
In the case where Y axis coordinate adjustment range value is negative, circular each tracing point is extended outwardly；
In the case where Y axis coordinate adjustment range value is positive number, circular each tracing point is inwardly reduced.
4. according to the method described in claim 2, it is characterized in that, being Z axis Coordinate Adjusting amplitude in the track regulation coefficient
When value, according to the track regulation coefficient, trajectory-offset is carried out to each tracing point of the targeted graphical, obtains target trajectory
Translation parameters includes：
In the case where the Z axis Coordinate Adjusting range value is negative, the vertical path length of the targeted graphical is reduced；
In the case where the Z axis Coordinate Adjusting range value is positive number, the vertical path length of targeted graphical is increased.
5. according to the method described in claim 1, it is characterized in that, in the track for the multiple tracing points for obtaining the targeted graphical
After regulation coefficient, the method further includes：
Obtain the changing coordinates coefficient of each tracing point of the targeted graphical；
According to the track regulation coefficient of the changing coordinates coefficient of each tracing point and each tracing point, the rail of each tracing point is determined
Mark adjustment direction and track adjust the angle.
6. according to the method described in claim 1, it is characterized in that, in the track for the multiple tracing points for obtaining the targeted graphical
Before regulation coefficient, the method further includes：
It obtains track and adjusts type, wherein the track adjustment type includes at least：Translate type of gesture；
When adjustment type is the translation type of gesture in the track, determines and each tracing point of the targeted graphical is carried out
Coordinate translation.
7. a kind of Track Pick-up device, which is characterized in that including：
First determination unit, the targeted graphical for determining track to be generated；
Acquiring unit, the track regulation coefficient of multiple tracing points for obtaining the targeted graphical；
Translation unit, for according to the track regulation coefficient, trajectory-offset to be carried out to each tracing point of the targeted graphical,
Obtain target trajectory translation parameters；
Second determination unit, for according to the target trajectory translation parameters, determining generation rail corresponding with the targeted graphical
Mark.
8. device according to claim 7, which is characterized in that the targeted graphical includes at least following one：It is round, just
Rectangular, rectangle, the track regulation coefficient includes at least one following：X axis coordinate adjusts range value, Y axis coordinate adjusts width
Angle value, Z axis Coordinate Adjusting range value.
9. a kind of storage medium, which is characterized in that the storage medium is for storing program, wherein described program is being handled
Equipment perform claim requires the orbit generation method described in any one of 1 to 6 device controls the storage medium when executing where.
10. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Profit requires the orbit generation method described in any one of 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810180045.XA CN108536502A (en) | 2018-03-05 | 2018-03-05 | Orbit generation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810180045.XA CN108536502A (en) | 2018-03-05 | 2018-03-05 | Orbit generation method and device |
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| CN108536502A true CN108536502A (en) | 2018-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810180045.XA Pending CN108536502A (en) | 2018-03-05 | 2018-03-05 | Orbit generation method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109773791A (en) * | 2019-01-31 | 2019-05-21 | 北京华航唯实机器人科技股份有限公司 | Path generating method and device |
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