CN111331600B

CN111331600B - Track adjusting method and related equipment

Info

Publication number: CN111331600B
Application number: CN202010161156.3A
Authority: CN
Inventors: 包祥浩; 刘星; 夏俊超; 张祥坤; 施俊龙; 李彦秀; 张冬林
Original assignee: KUKA Robotics China Co Ltd
Current assignee: KUKA Robotics China Co Ltd
Priority date: 2020-03-10
Filing date: 2020-03-10
Publication date: 2021-04-30
Anticipated expiration: 2040-03-10
Also published as: CN111331600A

Abstract

An embodiment of the present application provides a trajectory adjustment method, including: acquiring coordinate information of a second point location and acquiring first point location information of the first point location, wherein the coordinate information of the second point location is obtained by adjusting the coordinates of the first point location on the initial track; acquiring coordinate information of a first adjacent point position adjacent to the first point position on the initial track and second point position information of a second adjacent point position adjacent to the first point position; and constructing a connection track between the second point location and the first adjacent point location according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location and the connection track between the second point location and the second adjacent point location according to the connection mode indicated by the first point location information. The preset track is finely adjusted.

Description

Track adjusting method and related equipment

Technical Field

The application relates to the technical field of robots, in particular to a track adjusting method and related equipment.

Background

The glue spreading and polishing process is related to the fields of automobiles, electronics, plastics, ceramics, wooden products and other industries. The production process of gluing and polishing belongs to repeated physical labor and has great harm to the health of workers.

In the prior art, in order to realize safe production and improve production efficiency, the robot is widely applied to gluing and polishing production. The gluing and grinding process has higher requirements on the working path. When the industrial robot is used for gluing and polishing, the robot can come in and go out from certain point positions possibly. In this case, if the initial trajectory is not adjusted, it may result in scrapping of the processed parts or damage to the robot.

Therefore, how to adjust the initial trajectory of the robot is an urgent technical problem to be solved in the prior art.

Disclosure of Invention

The embodiment of the application provides a track adjusting method and related equipment, so that the initial track of a robot can be finely adjusted at least to a certain extent.

Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.

According to an aspect of an embodiment of the present application, there is provided a trajectory adjustment method, including:

acquiring coordinate information of a second point location obtained by performing coordinate adjustment on a first point location on an initial track and acquiring first point location information of the first point location, wherein the first point location information indicates a connection mode of the first point location and an adjacent first adjacent point location on the initial track; and

acquiring coordinate information of a first adjacent point location adjacent to the first point location on the initial track and second point location information of a second adjacent point location adjacent to the first point location, wherein the second point location information indicates the coordinate information of the second adjacent point location and a connection mode of the second adjacent point location and the first point location, and the connection mode comprises straight line connection and circular arc connection;

and according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location, constructing a connection track between the second point location and the first adjacent point location according to the connection mode indicated by the first point location information, and constructing a connection track between the second point location and the second adjacent point location according to the connection mode indicated by the second point location information.

According to an aspect of an embodiment of the present application, there is provided a trajectory adjustment device including:

the first obtaining module is used for obtaining coordinate information of a second point location obtained by coordinate adjustment of a first point location on an initial track and obtaining first point location information of the first point location, wherein the first point location information indicates a connection mode of the first point location and an adjacent first adjacent point location on the initial track; and

a second obtaining module, configured to obtain coordinate information of a first adjacent point location adjacent to the first point location on the initial trajectory, and second point location information of a second adjacent point location adjacent to the first point location, where the second point location information indicates coordinate information of the second adjacent point location and a connection manner between the second adjacent point location and the first point location, where the connection manner includes a straight line connection and a circular arc connection;

and the track construction module is used for constructing a connection track between the second point location and the first adjacent point location according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location in a connection mode indicated by the first point location information, and constructing a connection track between the second point location and the second adjacent point location according to the connection mode indicated by the second point location information.

According to an aspect of an embodiment of the present application, there is provided an electronic device including: a processor; and a memory having computer readable instructions stored thereon which, when executed by the processor, implement a method as described above.

According to an aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, implement a method as described above.

In the technical solutions provided in some embodiments of the present application, the second point location is connected to the first adjacent point location adjacent to the first point location according to the connection manner indicated by the first point location information, and the second point location is connected to the second adjacent point location adjacent to the first point location according to the connection manner indicated by the second point location information, so that the initial trajectory is finely adjusted. Thus, in practice, the working track of the robot is convenient to adjust.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a flow diagram illustrating a trajectory adjustment method according to one embodiment;

FIG. 2 illustrates a point bit list diagram according to one embodiment;

FIG. 3 is a schematic diagram illustrating adjustment of point location coordinates according to one embodiment;

FIG. 4 is a display diagram illustrating an initial trajectory and a discriminating trajectory according to one embodiment;

FIG. 5 is a flow diagram of step 150 of the corresponding embodiment of FIG. 1 in one embodiment;

fig. 6 is a flowchart of step 150 in the corresponding embodiment of fig. 1, in another embodiment, of constructing a connection track between a second point location and a first adjacent point location according to a connection manner indicated by first point location information;

fig. 7 is a flowchart of step 150 in the corresponding embodiment in fig. 1, where a connection track between a second point location and a second neighboring point location is constructed according to a connection manner indicated by second point location information, in another embodiment;

FIG. 8 is a flow diagram illustrating calculation of a circular arc direction indicating parameter according to one embodiment;

FIG. 9 is a schematic diagram of a central angle in accordance with an embodiment;

FIG. 10 is a flow diagram of major and minor arc indicator parameter calculations, implemented according to an embodiment;

FIG. 11 is a flow diagram illustrating steps in one embodiment before step 110, in accordance with one embodiment;

FIG. 12 is a flow diagram illustrating a trajectory adjustment method according to one particular embodiment;

FIG. 13 is a block diagram illustrating a trajectory adjustment device according to one embodiment;

FIG. 14 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

The implementation details of the technical solution of the embodiment of the present application are set forth in detail below:

fig. 1 shows a flowchart of a trajectory adjustment method according to an embodiment of the present application, which is performed by a computer device with processing capabilities, such as a desktop computer, a notebook computer, etc. Referring to fig. 1, the trajectory adjustment method at least includes steps 110 to 150, which are described in detail as follows:

step 110, obtaining coordinate information of a second point location obtained by performing coordinate adjustment on a first point location on the initial trajectory and obtaining first point location information of the first point location, where the first point location information indicates a connection manner between the first point location and an adjacent first adjacent point location on the initial trajectory.

The initial trajectory is the trajectory before adjustment. The initial trajectory may be a working trajectory preset for the robot, and the initial trajectory may be a trajectory generated for the robot through software simulation according to an actual working environment of the robot. In other embodiments, the initial trajectory may also be the trajectory saved from the last adjustment.

The robot is controlled to move according to the point positions connected in sequence on the working track in actual work by generating the working track for the robot or adjusting the working track.

In practice, due to the change of the actual working environment of the robot, some points in the initial trajectory may not meet the construction requirements of the robot, and therefore, the initial trajectory needs to be finely adjusted, so that the adjusted working trajectory meets the working requirements of the robot.

In a specific embodiment, the initial trajectory may be a working trajectory set for a robot for a production process such as gluing, polishing, etc. in the fields of automobiles, electronics, plastics, ceramics, wood products, etc. Therefore, in the actual working process, the robot moves along the initial track to realize processing.

It will be appreciated that the initial trajectory is formed by a plurality of points interconnected. That is, the initial trajectory includes a plurality of point locations. The point location on the initial trajectory to be subjected to position adjustment is referred to as a first point location.

The point indicated by the coordinates after the coordinate adjustment of the first point is referred to as a second point. It is understood that the coordinate information of the second point location is used to indicate the coordinates of the second point location. The first point location information refers to point location information of the first point location.

In an embodiment, in order to facilitate point location adjustment for a user, an interactive interface for adjusting coordinate information is correspondingly provided for the user. In the interactive interface, the user modifies the coordinates of any point position on the initial track.

In an embodiment, coordinate values corresponding to each point location are displayed on the initial trajectory in the interactive interface at the same time. FIG. 2 is a diagram illustrating a point location list including coordinate values for each point location on an initial trajectory, according to one embodiment. Thus, when the user selects the first point location, the modification is performed based on the initial coordinate value of the first point location. Fig. 3 is a schematic diagram illustrating adjustment of point location coordinates according to an embodiment. As shown in fig. 3, the user may increase and/or decrease the coordinate value corresponding to the point location for the adjustment button configured for each coordinate, so as to adjust the first point location. And the coordinate value of the point location is changed, so that the coordinate information corresponding to the point location is adjusted.

The initial trajectory is constructed according to trajectory data, and it is understood that the trajectory data at least includes coordinate information of each point location in the initial trajectory, and further, in the solution of the present disclosure, the trajectory data further includes information indicating a connection manner between the point location and an adjacent point location (for example, an adjacent previous point location, or an adjacent next point location). Therefore, in the case where the connection relationship between the coordinates of the point location and the point location is determined, the initial trajectory is determined correspondingly.

Therefore, the first point location information of the first point location may be correspondingly obtained from the track data for constructing the initial track, and further, the first point location information indicates the coordinate information of the first point location in addition to the connection manner between the first point location and the adjacent first adjacent point location on the initial track.

In the scheme of the disclosure, the connection mode between the point locations may be a straight line connection or an arc connection. In a specific embodiment, the point location information corresponding to each intermediate point location on the initial trajectory, except for the initial point location and the end point location, includes a connection mode with an adjacent point location. And the initial track is uniquely determined through point location information of each point location.

For example, if the initial trajectory includes four

point locations

1, 2, 3, and 4, and if the point location information of the set point location indicates the connection mode between the point location and the next adjacent point location, the point location information corresponding to the point location 1 indicates the connection mode between the point location 1 and the point location 2, the point location information corresponding to the point location 2 indicates the connection mode between the point location 2 and the point location 3, and the point location information corresponding to the point location 3 indicates the connection mode between the point location 3 and the point location 4, and since the point location 4 is the termination point location, the designation of the connection relationship is not required in the point location information of the point location 4.

Similarly, the point location information of the point location may also be set to indicate the connection mode between the point location and the next point location, so that the point location information of 2 points indicates the connection mode between 1 point location and 2 points, the point location information of 3 points indicates the connection mode between 2 points location and 3 points location, and the point location information of 4 points indicates the connection mode between 3 points location and 4 points location.

If the connection mode between two adjacent point positions is a straight line connection, the two adjacent point positions are connected through the straight line. If the connection mode between two adjacent point positions is circular arc connection, the two adjacent point positions are connected through a circular arc.

The first adjacent point location is an adjacent point location associated with a connection manner of the point location indicated by the point location information of the point location. For example, if the point location information of the point location a indicates a connection manner between the point location a and the adjacent previous point location, the previous point location adjacent to the point location a is the first adjacent point location of the point location a. It should be noted that, for the point locations on the initial trajectory, the intermediate point locations other than the start location and the end point location include two adjacent point locations of each intermediate point location, and the first adjacent point location of each intermediate point location is one of the two corresponding adjacent point locations.

And step 130, obtaining coordinate information of a first adjacent point location adjacent to the first point location on the initial track and second point location information of a second adjacent point location adjacent to the first point location, wherein the second point location information indicates the coordinate information of the second adjacent point location and a connection mode of the second adjacent point location and the first point location, and the connection mode comprises straight line connection and circular arc connection.

The coordinate information of the first adjacent point location is used to indicate the coordinates of the first adjacent point location.

As described above, the intermediate point location on the initial trace includes two adjacent point locations, and for the intermediate point location on the initial trace, another adjacent point location different from the first adjacent point location among the two adjacent point locations of the point location is referred to as a second adjacent point location adjacent to the point location.

The second point location information refers in particular to point location information of a second adjacent point location, and it can be understood that the second point location information indicates coordinate information of the second adjacent point location and a connection manner between the second adjacent point location and the first point location.

Step 150, according to the coordinate information of the second point location, the coordinate information of the first adjacent point location, and the coordinate information of the second adjacent point location, constructing a connection trajectory between the second point location and the first adjacent point location according to the connection manner indicated by the first point location information, and constructing a connection trajectory between the second point location and the second adjacent point location according to the connection manner indicated by the second point location information.

It can be understood that, after the middle point location on the initial trace is adjusted, the middle point location needs to be reconnected with the two adjacent point locations (i.e., the first adjacent point location and the second adjacent point location), and the other point locations on the initial trace remain unchanged. Thereby, a trajectory-adjusted trajectory is performed, which is different from the initial trajectory in the connection trajectory of the second point location and the first adjacent point location adjacent to the first point location, and the connection trajectory of the second point location and the second adjacent point location adjacent to the first point location.

For determining the connection trajectory of the second point location and the first adjacent point location adjacent to the first point location, the second point location and the first adjacent point location are connected according to the connection mode indicated by the point location information of the first point location by means of the coordinate information of the second point location and the coordinate information of the first adjacent point location. That is, the connection between the second point location and the first adjacent point location is performed according to the connection manner between the first point location and the first adjacent point location on the initial trajectory.

Similarly, for the determination of the connection trajectory of the second point location and the second adjacent point location adjacent to the first point location, the second point location and the second adjacent point location are connected according to the connection mode indicated by the second adjacent point location (i.e., the connection mode of the first point location and the second adjacent point location) by means of the coordinate information of the second point location and the coordinate information of the second adjacent point location.

So far, the construction of the distinguishing track which is distinguished from the initial track after the track is adjusted is realized, and the distinguishing track at least comprises: the first adjacent point position, the second point position and the second adjacent point position are sequentially connected to form a connecting track.

It is understood that the second point location and the first adjacent point location may be connected by a straight line or a circular arc, and the second point location and the second adjacent point location may be connected by a straight line or a circular arc. That is, the connection between the second point location and the first adjacent point location and the connection between the second point location and the second adjacent point location may be both straight line connections and both circular arc connections, or one of the straight line connections and the other circular arc connections, which is not particularly limited herein.

Further, on the basis that the first point location and the first adjacent point location are connected by an arc and the first point location and the second adjacent point location are connected by an arc, the first point location, the first adjacent point location and the second adjacent point location may be located on the same arc, or the arc where the first point location and the first adjacent point location are located may be different from the arc where the first point location and the second adjacent point location are located. Correspondingly, after the point location adjustment is performed, the second point location, the first adjacent point location and the second adjacent point location may be in the same circular arc, or the second point location and the first adjacent point location may be in a circular arc different from the circular arc in which the second point location and the second adjacent point location are located.

It can be understood that the initial trajectory includes a plurality of straight trajectories and circular arc trajectories, and after the coordinates of the point locations are adjusted, the second point location and the first adjacent point location are connected and the second point location and the second adjacent point location are connected according to the corresponding connection manner, which is equivalent to reconstructing the straight trajectory and/or the circular arc trajectory where the original first point location is located.

In a specific embodiment, since the initial trajectory is used for controlling the robot to move according to the point locations in the initial trajectory, in order to ensure the accuracy of robot control, the same straight trajectory only includes two point locations, and the same circular arc trajectory only includes three point locations.

According to the method, the second point location obtained by adjusting the first point location is connected with the adjacent point location of the first point location on the initial track according to the connection mode indicated by the point location type of the first point location, so that the initial track is finely adjusted. Therefore, the working track of the robot can be conveniently adjusted in practice.

In an embodiment, after step 150, the method further comprises: the initial trajectory and the differentiated trajectory obtained after the adjustment are simultaneously displayed on the selected projection plane.

The selected projection plane may be an XY plane, a YZ plane, a ZX plane in the coordinate system of the initial trajectory, or may be another plane selected in the coordinate system, and is not limited herein.

The distinguishing track is a connecting track formed by sequentially connecting a first adjacent point position, a second point position and a second adjacent point position.

The initial track and the distinguishing track are displayed in the selected projection plane at the same time, so that the initial track and the distinguishing track are visualized, and a user can visually compare the initial track and the distinguishing track to determine whether the first point or other points on the initial track need to be adjusted continuously.

FIG. 4 is a display diagram illustrating an initial trajectory and a discriminating trajectory according to one embodiment. In fig. 4, the initial trajectory is shown in a solid line and the discriminating trajectory is shown in a dotted line, thereby facilitating discrimination between the initial trajectory and the discriminating trajectory by the user. In other embodiments, the initial trajectory and the distinct trajectory may be distinguished by different line types, for example, the initial trajectory is a solid line, and the distinct trajectory is a dot-dash line. In other embodiments, the initial track and the distinguishing track may be distinguished by different colors, and are not limited in detail.

In an embodiment, the connection manner includes a straight line connection, and the step 150 of constructing a connection track between the second point location and the first adjacent point location according to the connection manner indicated by the first point location information includes:

and constructing a straight line track between the second point location and the first adjacent point location according to the coordinate information of the second point location and the coordinate information of the first adjacent point location.

In step 150, a connection trajectory between the second point location and the second adjacent point location is constructed according to the connection manner indicated by the second point location information, including:

and constructing a straight line track between the second point location and the second adjacent point location according to the coordinate information of the second point location and the coordinate information of the second adjacent point location.

That is, if the connection mode indicated by the first point location information is a straight line connection and/or the connection mode indicated by the second point location information is a straight line connection, the second point location and the first adjacent point location are connected in a straight line correspondingly according to the principle that two points determine a straight line, so as to form a straight line track between the second point location and the first adjacent point location; and/or the second point location and the second adjacent point location are connected in a straight line to form a straight line track between the second point location and the second adjacent point location.

In an embodiment, the connection manner includes circular arc connection, and the first point location, the first adjacent point location and the second adjacent point location on the same circular arc track on the initial track, as shown in fig. 5, step 150 includes:

and 510, calculating to obtain arc parameters for limiting arcs where the second point location, the first adjacent point location and the second adjacent point location are located according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location.

According to the principle of the three-point circle, correspondingly, according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location, the arc parameters corresponding to the arc connecting the second point location, the first adjacent point location and the second adjacent point location can be determined. In a specific embodiment, the arc parameters include: the central angle, the radius, the direction indication parameter and the major arc and minor arc indication parameters of the arc formed by the first adjacent point position, the second adjacent point position and the second point position. The arc direction indicating parameter is used for indicating whether the arc is a counterclockwise arc or a clockwise arc; and the indication parameters of the major arc and the minor arc are used for indicating whether the arc is the major arc or the minor arc.

And step 530, according to the circular arc indicated by the circular arc parameter, performing circular arc connection on the second point location, the first adjacent point location and the second adjacent point location.

On the basis of determining the arc parameters, the second point location, the first adjacent point location and the second adjacent point location are correspondingly connected according to the determined arc, and a distinguishing track different from the initial track is formed.

According to the scheme of the embodiment, when the first point location, the first adjacent point location and the second adjacent point location are in the same circular arc track on the initial track, the circular arc track is constructed according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location, so that a distinguishing track which is different from the circular arc tracks where the first point location, the first adjacent point location and the second adjacent point location are located is formed.

In an embodiment, in an embodiment that the first point location, the first neighboring point location, and the second neighboring point location on the initial trajectory are not on the same circular arc trajectory, and the first point location and the first neighboring point location are connected by a circular arc, and/or the first point location and the second neighboring point location are connected by a circular arc, as shown in fig. 6, the constructing a connection trajectory between the second point location and the first neighboring point location according to the connection manner indicated by the first point location information in step 150 includes:

and step 610, acquiring coordinate information of a third point location on the arc track where the first point location and the first adjacent point location are located on the initial track, wherein the third point location is different from the first point location and the first adjacent point location.

Step 630, calculating to obtain arc parameters for limiting arcs where the second point location, the first adjacent point location, and the third point location are located according to the coordinate information of the second point location, the coordinate information of the first adjacent point location, and the coordinate information of the third point location.

And 650, according to the arc indicated by the calculated arc parameter, performing arc connection on the second point location, the first adjacent point location and the third point location. Further, as shown in fig. 7, the step 150 of constructing a connection track between the second point location and the second neighboring point location according to the connection manner indicated by the second point location information includes:

and step 710, obtaining coordinate information of a fourth point location on the circular arc track where the first point location and the second adjacent point location are located on the initial track, wherein the fourth point location is different from the first point location and the second adjacent point location.

And 730, calculating to obtain arc parameters for limiting arcs where the second point location, the second adjacent point location and the fourth point location are located according to the coordinate information of the second point location, the coordinate information of the second adjacent point location and the coordinate information of the fourth point location.

And 750, performing arc connection on the second point location, the second adjacent point location and the fourth point location according to the arc indicated by the calculated arc parameter.

In this embodiment, the first adjacent point location, the first point location and the second adjacent point location may be connected in the following manners: the first adjacent point is connected with the first point circular arc, and the first point is connected with the second adjacent point circular arc; the first adjacent point location is connected with the first point location in an arc way, and the first point location is connected with the second adjacent point location in a straight line way; the first adjacent point position is linearly connected with the first point position, and the first point position is connected with the second adjacent point position in a circular arc manner; the first adjacent point location is linearly connected with the first point location, and the first point location is linearly connected with the second adjacent point location.

In this embodiment, since the first point location, the first adjacent point location and the second adjacent point location are not located on the same circular arc trajectory on the initial trajectory, on this basis, if the first point location and the first adjacent point location are connected by a circular arc and/or the first point location and the second adjacent point location are connected by a circular arc on the initial trajectory, it is necessary to determine circular arc trajectories of the second point location and the first adjacent point location and the second adjacent point location, respectively.

In either case, the step 610 and 650 are referred to determine the circular arc trajectory of the second point and the first adjacent point; the step of referring to the step 710 and the step 750 determines the circular arc connection between the second point location and the second adjacent point location.

Based on the principle of a three-point circle, if the arc where the second point location and the first adjacent point location are located is to be determined, the arc needs to be determined by means of another point location. In this embodiment, the determination is made by means of a third point on the arc of the initial trajectory on which the first point location and the first neighboring point location lie. And correspondingly calculating the arc parameters through the coordinate information of the third point location, the second point location and the first adjacent point location, thereby correspondingly determining the arc track where the third point location, the second point location and the first adjacent point location are located.

Similarly, in order to determine the arc where the second point location and the second adjacent point location are located, the fourth point location on the arc where the first point location and the second adjacent point location are located in the initial trajectory is used for determining. And correspondingly calculating the arc parameters through the coordinate information of the fourth point location, the second point location and the second adjacent point location, thereby correspondingly determining the arc tracks of the second point location, the second adjacent point location and the fourth point location.

If each circular arc trajectory defined on the initial trajectory only includes three point locations, in this embodiment, the third point location is another point location on the circular arc where the first point location and the first adjacent point location are located, which is different from the first point location and the first adjacent point location; similarly, the fourth point location is another point location on the arc where the first point location and the second adjacent point location are located, which is different from the first point location and the second adjacent point location.

As described above, the initial trajectory is constructed from trajectory data including coordinate information of each point location on the initial trajectory, and therefore, coordinate information of the third location and coordinate information of the fourth point location can be correspondingly obtained from the trajectory data of the initial trajectory.

In one embodiment, as shown in fig. 8, the circular arc direction indicating parameter is calculated by the following process:

step 810, determining a starting point position, a middle point position and an ending point position of the three point positions to be subjected to the circular arc connection according to the moving direction on the initial track.

Step 830, according to the coordinate information of the starting point location, the coordinate information of the middle point location, and the coordinate information of the ending point location, a first vector formed by the starting point location pointing to the middle point location and a second vector formed by the middle point location pointing to the ending point location are calculated.

Step 850, calculating the cross product of the first vector and the second vector, using the cross product as an arc direction indicating parameter, and if the cross product is less than zero, indicating that the arc is in the counterclockwise direction; otherwise, the arc is indicated to be clockwise. It should be noted that the method for calculating the arc direction indicating parameter in the embodiment of fig. 8 is applicable to the calculation of the arc direction indicating parameter in the

above steps

510, 630 and 730.

The moving direction on the initial trajectory means a moving direction in which the robot is set to move along the initial trajectory.

For description, it is assumed that the starting point of three points in the circular arc connection to be performed is a, the middle point is B, and the ending point is C.

Then in this embodiment, the first vector is the vector AB and the second vector is the vector BC.

For example, assuming a predetermined arc constructed on the XY projection plane, the coordinates of the starting point a are (x)₁,y₁) The coordinate of the middle point B is (x)₂,y₂) The coordinate of the end point position C is (x)₃,y₃) And then:

vector AB ═ x₂-x₁,y₂-y₁)；

Vector BC ═ x₃-x₂,y₃-y₂)；

Of the first and second vectorsCross product (x)₂-x₁)·(y₃-y₂)-(x₃-x₂)·(y₂-y₁)。

Through the above process, the cross product of the first vector and the second vector is obtained through corresponding calculation, and the cross product is used as the circular arc direction indicating parameter.

Further, for the calculation of the radius of the circular arc, the following process can be used for calculation:

according to the formula of the circle: (x-a)²+(y-b)²＝r²Starting point location A (x)₁,y₁) Middle point B (x)₂,y₂) And a termination point C (x)₃,y₃) Substituting the equation into the circle can be calculated as:

further, for the calculation of the central angles of the arcs where the start point location, the middle point location and the end point location are located, as shown in fig. 9, assuming that the central angle is α, the sine of the angle D is calculated according to the formula of the sine function

Wherein d is the height of the hypotenuse corresponding to the central angle alpha in a triangle formed by the circle center of the circular arc, the second point position and the adjacent point position of the first point position.

Wherein,

the calculation can obtain:

in one embodiment, as shown in fig. 10, the indication parameters of the major arc and the minor arc are calculated by the following process:

step 1010, determining a starting point position, a middle point position and an ending point position of three point positions to be subjected to circular arc connection according to the moving direction on the initial track.

And step 1030, calculating to obtain a third vector formed by the middle point pointing to the start point and a second vector formed by the middle point pointing to the end point according to the coordinate information of the start point, the coordinate information of the middle point and the coordinate information of the end point.

Step 1050, calculating a point multiplication of the second vector and the third vector, taking the point multiplication as an indication parameter of a major arc and a minor arc, and if the point multiplication is larger than zero, indicating that the arc is the major arc; otherwise, the arc is indicated as a minor arc.

Continuing with the assumption in the corresponding embodiment of fig. 8, if the third vector is vector BA: vector BA ═ x₁-x₂,y₁-y₂) The dot product of the second vector and the third vector is (x)₁-x₂)·(x₃-x₂)-(y₁-y₂)·(y₃-y₂)。

In the above example, the arc parameters corresponding to the arc are calculated on the XY projection plane, and the calculation of the arc parameters is similar on other projection planes, which is not described herein again.

By calculating the arc parameters as described above, the arc parameters corresponding to the arcs connecting the start point location, the intermediate point location, and the end point location may be further determined based on the calculated arc parameters, thereby realizing the arc connection between the second point location and the adjacent point location of the first point location.

In one embodiment, as shown in fig. 11, before step 110, the method further comprises:

step 1110, acquiring trajectory data for describing an initial trajectory; and

at step 1130, an instruction for specifying a projection plane is obtained.

And step 1150, constructing a track according to the track data and displaying the initial track on the projection plane indicated by the indication instruction.

In one embodiment, the track data includes three files: for an initial track, the src file contains positioning motion characteristic information, the xml file contains the name of a point location and point location type information, the point location type information is used for indicating the connection mode of the point location and an adjacent first connection point location, and the dat file contains three-dimensional coordinates and angle information of the point location. For the motion of the robot along the initial trajectory, the speed and the acceleration of the robot are different at different points of the initial trajectory, and the src file is used for describing the motion characteristics of the robot at the corresponding points.

In the solution of the present disclosure, the data used for the initial trajectory adjustment includes data in an xml file and a dat file. In practice, the three files are stored in association to facilitate control of the robot movement based on the three files.

Furthermore, in order to adjust the initial trajectory, an interactive interface for selecting trajectory data is correspondingly provided, so that a user can select trajectory data based on the interactive interface, construct and display the corresponding initial trajectory based on the trajectory data, and further adjust the point position in the initial trajectory.

In a specific embodiment, a user triggers a trigger operation of projection plane selection in an interactive interface, and when the trigger operation is detected, that is, the trigger operation is regarded as an instruction for generating a specified projection plane, the computer device may correspondingly acquire the instruction. The trigger operation may be a touch operation, a mouse click operation, or the like, and is not particularly limited herein. The projection plane selected by the triggering operation is the projection plane indicated by the indication instruction.

And further, carrying out initial track loading on the projection plane indicated by the indication instruction according to the track data of the initial track.

In the embodiment of the disclosure, before the track adjustment is performed, the initial track is displayed in the interactive interface, so that the user can select the point location to be adjusted to perform the adjustment based on the displayed initial track.

FIG. 12 is a flow chart illustrating a trajectory adjustment method according to one embodiment. As shown in fig. 11, includes:

step 1210, selecting a track data file.

At step 1220, an initial trajectory is constructed and displayed.

And step 1230, adjusting the positioning coordinates and updating the initial track.

After the initial trajectory is updated, storing trajectory data, that is, replacing the connection trajectory among the first adjacent point location, the first point location, and the second adjacent point location in the initial trajectory with a connection trajectory formed by the first adjacent point location, the second point location, and the third adjacent point location, where the replaced trajectory is the updated trajectory. The saved track data may be used as initial data for next initial track adjustment, that is, track data corresponding to the initial track.

Embodiments of the apparatus of the present application are described below, which may be used to perform the methods of the above-described embodiments of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method described above in the present application.

The present disclosure provides a trajectory adjustment device 1300, as shown in fig. 13, the device including:

the first obtaining module 1310 is configured to obtain coordinate information of a second point location obtained by performing coordinate adjustment on a first point location on an initial trajectory and obtain first point location information of the first point location, where the first point location information indicates a connection manner between the first point location and an adjacent first adjacent point location on the initial trajectory.

A second obtaining module 1330, configured to obtain coordinate information of a first adjacent point location adjacent to the first point location on the initial trajectory, and second point location information of a second adjacent point location adjacent to the first point location, where the second point location information indicates the coordinate information of the second adjacent point location and a connection manner between the second adjacent point location and the first point location, where the connection manner includes a straight line connection and an arc connection;

the track building module 1350 is configured to build, according to the coordinate information of the second point location, the coordinate information of the first adjacent point location, and the coordinate information of the second adjacent point location, a connection track between the second point location and the first adjacent point location according to the connection manner indicated by the first point location information, and build, according to the connection manner indicated by the second point location information, a connection track between the second point location and the second adjacent point location.

In an embodiment, the connection mode is a straight connection, and the trajectory building module 1350 includes:

and the first construction unit is used for constructing a straight line track between the second point location and the first adjacent point location according to the coordinate information of the second point location and the coordinate information of the first adjacent point location.

The trajectory construction module 1350 further includes:

and the second construction unit is used for constructing a linear track between the second point location and the second adjacent point location according to the coordinate information of the second point location and the coordinate information of the second adjacent point location.

In an embodiment, the connection manner includes circular arc connection, where the first point location, the first neighboring point location, and the second neighboring point location on the same circular arc trajectory on the initial trajectory, and the trajectory construction module 1350 includes:

and the first arc parameter calculation unit is used for calculating and obtaining the arc parameters for limiting the arcs where the second point location, the first adjacent point location and the second adjacent point location according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location.

And the first arc connecting unit is used for performing arc connection on the second point location, the first adjacent point location and the second adjacent point location according to the arc indicated by the arc parameter.

In another embodiment, the first point location, the first adjacent point location and the second adjacent point location on the initial trajectory are not on the same circular arc trajectory, the first point location and the first adjacent point location are connected by a circular arc, and/or the first point location and the second adjacent point location are connected by a circular arc;

the trajectory construction module 1350 includes:

the first obtaining unit is configured to obtain coordinate information of a third point location on the circular arc trajectory where the first point location and the first adjacent point location are located on the initial trajectory, where the third point location is different from the first point location and the first adjacent point location.

And the second arc parameter calculation unit is used for calculating and obtaining the arc parameters for limiting the arcs where the second point location, the first adjacent point location and the third point location are located according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the third point location.

And the second arc connecting unit is used for performing arc connection on the second point location, the first adjacent point location and the third point location according to the arc indicated by the calculated arc parameter.

The trajectory construction module 1350 includes:

and the second obtaining unit is used for obtaining the coordinate information of a fourth point location on the circular arc track where the first point location and the second adjacent point location are located on the initial track, and the fourth point location is different from the first point location and the second adjacent point location.

And the third arc parameter calculation unit is used for calculating and obtaining the arc parameters for limiting the arcs where the second point location, the second adjacent point location and the fourth point location are located according to the coordinate information of the second point location, the coordinate information of the second adjacent point location and the coordinate information of the fourth point location.

And the third arc connecting unit is used for performing arc connection on the second point location, the second adjacent point location and the fourth point location according to the arc indicated by the calculated arc parameter.

In one embodiment, the arc parameters include arc radius, center angle, arc direction indicating parameters, and major and minor arc indicating parameters.

In an embodiment, the first arc parameter calculating unit, the second arc parameter calculating unit and the third arc parameter calculating unit are configured to calculate the arc direction indicating parameter by the following process:

determining a starting point position, a middle point position and an ending point position in three point positions to be subjected to circular arc connection according to the moving direction on the initial track;

calculating to obtain a first vector formed by the starting point pointing to the middle point and a second vector formed by the middle point pointing to the end point according to the coordinate information of the starting point, the coordinate information of the middle point and the coordinate information of the end point;

calculating cross multiplication of the first vector and the second vector, taking the cross multiplication as an arc direction indicating parameter, and if the cross multiplication is smaller than zero, indicating that the arc is in a counterclockwise direction; otherwise, the arc is indicated to be clockwise.

In an embodiment, the first arc parameter calculating unit, the second arc parameter calculating unit and the third arc parameter calculating unit are configured to calculate the indication parameters of the major arc and the minor arc by the following processes:

calculating to obtain a third vector formed by pointing the middle point to the start point and a second vector formed by pointing the middle point to the end point according to the coordinate information of the start point, the coordinate information of the middle point and the coordinate information of the end point;

calculating the point multiplication of the second vector and the third vector, taking the point multiplication as an indication parameter of a major arc and a minor arc, and if the point multiplication is greater than zero, indicating that the arc is a major arc; otherwise, the arc is indicated as a minor arc.

In one embodiment, the apparatus further comprises:

and the track data acquisition module is used for acquiring track data for describing the initial track.

And the instruction acquisition module is used for acquiring an instruction for specifying the projection plane.

And the track construction and display module is used for constructing and displaying an initial track according to the track data on the projection plane indicated by the indication instruction.

In one embodiment, the apparatus further comprises:

and the display module is used for simultaneously displaying the initial track and the second track on the selected projection plane.

The implementation processes of the functions and actions of each module in the device are specifically described in the implementation processes of the corresponding steps in the trajectory adjustment method, and are not described herein again.

It is understood that these modules may be implemented in hardware, software, or a combination of both. When implemented in hardware, these modules may be implemented as one or more hardware modules, such as one or more application specific integrated circuits. When implemented in software, the modules may be implemented as one or more computer programs executing on one or more processors.

It should be noted that the computer system 1400 of the electronic device shown in fig. 14 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 14, the computer system 1400 includes a Central Processing Unit (CPU)1401, which can perform various appropriate actions and processes, such as executing the methods in the above-described embodiments, according to a program stored in a Read-Only Memory (ROM) 1402 or a program loaded from a storage portion 1408 into a Random Access Memory (RAM) 1403. In the RAM 1403, various programs and data necessary for system operation are also stored. The CPU 1401, ROM 1402, and RAM 1403 are connected to each other via a bus 1404. An Input/Output (I/O) interface 1405 is also connected to the bus 1404.

The following components are connected to the I/O interface 1405: an input portion 1406 including a keyboard, a mouse, and the like; an output portion 1407 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage portion 1408 including a hard disk and the like; and a communication section 1409 including a Network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication section 1409 performs communication processing via a network such as the internet. The driver 1410 is also connected to the I/O interface 1405 as necessary. A removable medium 1411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1410 as necessary, so that a computer program read out therefrom is installed into the storage section 1408 as necessary.

In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 1409 and/or installed from the removable medium 1411. When the computer program is executed by a Central Processing Unit (CPU)1401, various functions defined in the system of the present application are executed.

It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer-readable medium carries computer-readable instructions that, when executed by a processor, implement the method in the above-described embodiments.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.

Reference herein to "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A trajectory adjustment method, comprising:

according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location, constructing a connection track between the second point location and the first adjacent point location according to the connection mode indicated by the first point location information, and constructing a connection track between the second point location and the second adjacent point location according to the connection mode indicated by the second point location information;

if the first point location, the first adjacent point location and the second adjacent point location on the initial trajectory are not on the same circular arc trajectory, the first point location and the first adjacent point location are connected in a circular arc manner, and/or the first point location and the second adjacent point location are connected in a circular arc manner; the constructing a connection track between the second point location and the first adjacent point location according to the connection mode indicated by the first point location information includes:

acquiring coordinate information of a third point position on the arc track where the first point position and the first adjacent point position are located on the initial track, wherein the third point position is different from the first point position and the first adjacent point position;

calculating to obtain arc parameters for limiting arcs where the second point location, the first adjacent point location and the third point location are located according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the third point location;

according to the arc indicated by the arc parameter obtained by calculation, arc connection is carried out on the second point location, the first adjacent point location and the third point location;

the constructing of the connection trajectory between the second point location and the second adjacent point location according to the connection manner indicated by the second point location information includes:

acquiring coordinate information of a fourth point location on the circular arc track where the first point location and the second adjacent point location are located on the initial track, wherein the fourth point location is different from the first point location and the second adjacent point location;

calculating to obtain arc parameters for limiting arcs where the second point location, the second adjacent point location and the fourth point location are located according to the coordinate information of the second point location, the coordinate information of the second adjacent point location and the coordinate information of the fourth point location;

and according to the arc indicated by the arc parameter obtained by calculation, carrying out arc connection on the second point position, the second adjacent point position and the fourth point position.

2. The method according to claim 1, wherein the connection manner includes a straight line connection, and the constructing a connection track between the second point location and the first adjacent point location according to the connection manner indicated by the first point location information includes:

according to the coordinate information of a second point location and the coordinate information of the first adjacent point location, a straight line track between the second point location and the first adjacent point location is constructed;

3. The method according to claim 1, wherein the connection manner includes circular arc connection, the first point location, the first neighboring point location and the second neighboring point location are on the same circular arc trajectory on the initial trajectory, the constructing the connection trajectory between the second point location and the first neighboring point location according to the connection manner indicated by the first point location information, and the constructing the connection trajectory between the second point location and the second neighboring point location according to the connection manner indicated by the second point location information includes:

according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the second adjacent point location, calculating to obtain circular arc parameters for limiting circular arcs where the second point location, the first adjacent point location and the second adjacent point location are located;

and according to the circular arc indicated by the circular arc parameter, performing circular arc connection on the second point location, the first adjacent point location and the second adjacent point location.

4. The method of claim 1 or 3, wherein the arc parameters include arc radius, center angle, arc direction indicating parameter, and major and minor arc indicating parameters.

5. The method of claim 4, wherein the arc direction indicating parameter is calculated by:

determining a starting point position, a middle point position and an end point position of three point positions to be subjected to circular arc connection according to the moving direction on the initial track;

calculating cross multiplication of the first vector and the second vector, taking the cross multiplication as the arc direction indicating parameter, and if the cross multiplication is smaller than zero, indicating that the arc is in the counterclockwise direction; otherwise, the arc is indicated to be clockwise.

6. The method of claim 4, wherein the major and minor arc indicating parameters are calculated by:

calculating to obtain a third vector formed by the middle point pointing to the start point and a second vector formed by the middle point pointing to the end point according to the coordinate information of the start point, the coordinate information of the middle point and the coordinate information of the end point;

calculating the point multiplication of the second vector and the third vector, taking the point multiplication as an indication parameter of the major arc and the minor arc, and if the point multiplication is larger than zero, indicating that the arc is the major arc; otherwise, the arc is indicated as a minor arc.

7. The method according to claim 1, wherein before obtaining the coordinate information of the second point location obtained by performing the coordinate adjustment on the first point location on the initial trajectory, the method further comprises:

acquiring track data for describing the initial track; and

acquiring an indication instruction for specifying a projection plane;

and on a projection plane indicated by the indication instruction, constructing a track according to the track data and displaying the initial track.

8. A trajectory adjustment device, characterized in that the device comprises:

a second obtaining module, configured to obtain coordinate information of the first point location on the initial trajectory and second point location information of a second adjacent point location adjacent to the first point location, where the second point location information indicates coordinate information of the second adjacent point location and a connection manner between the second adjacent point location and the first point location, where the connection manner includes a straight line connection and an arc connection;

a track construction module, configured to construct, according to the coordinate information of the second point location, the coordinate information of the first adjacent point location, and the coordinate information of the second adjacent point location, a connection track between the second point location and the first adjacent point location in a connection manner indicated by the first point location information, and construct, according to the connection manner indicated by the second point location information, a connection track between the second point location and the second adjacent point location;

if the first point location, the first adjacent point location and the second adjacent point location on the initial trajectory are not on the same circular arc trajectory, the first point location and the first adjacent point location are connected in a circular arc manner, and/or the first point location and the second adjacent point location are connected in a circular arc manner; the trajectory construction module comprises:

a first obtaining unit, configured to obtain coordinate information of a third point location on an arc trajectory where the first point location and the first adjacent point location are located on the initial trajectory, where the third point location is different from the first point location and the first adjacent point location;

the second arc parameter calculation unit is used for calculating and obtaining arc parameters for limiting arcs where the second point location, the first adjacent point location and the third point location are located according to the coordinate information of the second point location, the coordinate information of the first adjacent point location and the coordinate information of the third point location;

the second arc connecting unit is used for performing arc connection on the second point location, the first adjacent point location and the third point location according to the arc indicated by the calculated arc parameter;

a second obtaining unit, configured to obtain coordinate information of a fourth point location on the circular arc trajectory where the first point location and the second adjacent point location are located on the initial trajectory, where the fourth point location is different from the first point location and the second adjacent point location;

a third arc parameter calculating unit, configured to calculate, according to the coordinate information of the second point location, the coordinate information of the second adjacent point location, and the coordinate information of the fourth point location, an arc parameter for defining an arc where the second point location, the second adjacent point location, and the fourth point location are located;

and the third arc connecting unit is used for performing arc connection on the second point position, the second adjacent point position and the fourth point position according to the arc indicated by the calculated arc parameter.

9. An electronic device, comprising:

a processor; and

a memory having computer readable instructions stored thereon which, when executed by the processor, implement the method of any of claims 1 to 7.

10. A computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, implement the method of any one of claims 1 to 7.