CN115008457A - Method, device and equipment for planning motion speed curve and storage medium - Google Patents
Method, device and equipment for planning motion speed curve and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The application discloses a method, a device, equipment and a storage medium for planning a motion speed curve, which are used for obtaining the current planned motion speed, the current target motion speed and the last target motion speed of a moving object; determining the acceleration state of the moving object based on the difference value between the current planned movement speed, the current target movement speed and the previous target movement speed; performing acceleration correction on the moving object by using an acceleration correction strategy corresponding to the acceleration state according to the current planned movement speed and the current target movement speed or the last target movement speed to obtain the target acceleration of the moving object, wherein the acceleration correction strategy comprises an acceleration coefficient and a curve softness coefficient; and generating a motion speed curve of the moving object based on the target acceleration and the current planning motion speed. The moving process of the moving object is smoother when the target speed is frequently changed by using the acceleration coefficient and the curve softness coefficient.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, and a storage medium for planning a motion velocity curve.
Background
With the development of industrial intelligence, many simple and repetitive works are replaced by intelligent robots such as mechanical arms, inspection robots and the like. In order to make the robot move more smoothly, an S-shaped motion speed curve of the robot is usually planned, so that the shape of an image of the motion of the robot is the same as that of a letter "S", thereby reducing the impact on the motion process and reducing the energy consumption.
At present, the conventional S-shaped motion speed curve planning usually sets speed regions such as acceleration, uniform speed, uniform deceleration, deceleration and the like based on the jerk and the acceleration time to complete the planning of the motion speed curve, and needs to set a plurality of parameters such as jerk, maximum acceleration, acceleration and deceleration time and the like. However, when the target speed is frequently changed, the speed planning may be limited by jerk and planning time, resulting in poor smoothing effect of the robot motion.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for planning a motion velocity curve, which aim to solve the technical problem that the planning process of the current planned motion velocity curve is limited by acceleration and planning time.
In order to solve the above technical problem, in a first aspect, the present application provides a method for planning a motion speed curve, including:
acquiring the current planned movement speed, the current target movement speed and the last target movement speed of the moving object;
determining the acceleration state of the moving object based on the difference value between the current planned motion speed, the current target motion speed and the last target motion speed, wherein the acceleration state is an acceleration increasing state or an acceleration decreasing state;
performing acceleration correction on the moving object by using an acceleration correction strategy corresponding to the acceleration state according to the current planned movement speed and the current target movement speed or the last target movement speed to obtain the target acceleration of the moving object, wherein the acceleration correction strategy comprises an acceleration coefficient and a curve softness coefficient;
and generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed, wherein the motion speed curve is used for carrying out speed control on the moving object.
Preferably, the determining the acceleration state of the moving object based on the difference between the current planned moving speed, the current target moving speed and the last target moving speed includes:
calculating a first difference value between the current planning movement speed and the current target movement speed;
calculating a second difference value between the current planning movement speed and the last target movement speed;
if the first difference is not smaller than the second difference, the acceleration state of the moving object is judged to be an acceleration adding state;
and if the first difference is smaller than the second difference, judging that the acceleration state of the moving object is a deceleration and acceleration state.
Preferably, the acceleration correction of the moving object is performed according to the current planned movement speed and the current target movement speed or the last target movement speed by using an acceleration correction strategy corresponding to the acceleration state, so as to obtain the target acceleration of the moving object, and the method comprises the following steps:
calculating the acceleration of the moving object according to the current planning movement speed, the current target movement speed and the current target movement speed or the last target movement speed by using an acceleration calculation formula corresponding to the acceleration state, wherein the acceleration calculation formula comprises an acceleration coefficient and a curve softness coefficient;
comparing the acceleration with a preset acceleration range;
and if the acceleration is within the preset acceleration range, judging that the acceleration is the target acceleration.
Preferably, the calculating the acceleration of the moving object according to the current planned movement speed, the current target movement speed, and the current target movement speed or the last target movement speed by using an acceleration calculation formula corresponding to the acceleration state includes:
if the acceleration state is the acceleration adding state, the acceleration of the moving object is calculated according to the current planning movement speed and the last target movement speed by using a first acceleration calculation formula, wherein the first acceleration calculation formula is as follows:
wherein a is acceleration, K 1 Is the coefficient of acceleration, V t-1 The last target movement speed, V p For the currently planned movement speed, K 2 Curve softness factor.
Preferably, the calculating the acceleration of the moving object according to the current planned movement speed, the current target movement speed, and the current target movement speed or the last target movement speed by using an acceleration calculation formula corresponding to the acceleration state includes:
if the acceleration state is a deceleration acceleration state, calculating the acceleration of the moving object according to the current planning movement speed and the current target movement speed by using a second acceleration calculation formula, wherein the second acceleration calculation formula is as follows:
wherein a is acceleration, K 1 Is the coefficient of acceleration, V t For the current target movement speed, V p For the currently planned movement speed, K 2 Curve softness factor.
Preferably, the preset acceleration range includes a preset acceleration maximum value and a preset acceleration minimum value, and after the acceleration is compared with the preset acceleration range, the method further includes:
if the acceleration is smaller than the preset acceleration minimum value, judging that the preset acceleration minimum value is the target acceleration;
and if the acceleration is greater than the preset acceleration maximum value, judging that the preset acceleration maximum value is the target acceleration.
Preferably, generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed comprises:
if the current planned movement speed is larger than the current target movement speed, generating a first movement speed curve of the moving object according to the target acceleration and the current planned movement speed;
and if the current planning motion speed is not greater than the current target motion speed, generating a second motion speed curve of the moving object according to the target acceleration and the current planning motion speed.
In a second aspect, the present application further provides a device for planning a motion speed curve, including:
the acquisition module is used for acquiring the current planned movement speed, the current target movement speed and the last target movement speed of the moving object;
the determining module is used for determining the acceleration state of the moving object based on the difference value between the current planned motion speed, the current target motion speed and the last target motion speed, wherein the acceleration state is an acceleration increasing state or an acceleration decreasing state;
the correction module is used for performing acceleration correction on the moving object according to the current planned movement speed and the current target movement speed or the last target movement speed by using an acceleration correction strategy corresponding to the acceleration state to obtain the target acceleration of the moving object, and the acceleration correction strategy comprises an acceleration coefficient and a curve softness coefficient;
and the generating module is used for generating a motion speed curve of the moving object based on the target acceleration and the current planning motion speed.
In a third aspect, the present application also provides a computer device comprising a processor and a memory for storing a computer program, which when executed by the processor implements the method for planning a movement velocity profile according to the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the method for planning a motion velocity curve according to the first aspect.
Compared with the prior art, the method has the following beneficial effects:
determining the acceleration state of the moving object through the difference value between the current planned movement speed, the current target movement speed and the last target movement speed to obtain the acceleration stage of the current speed plan, and performing acceleration correction on the moving object according to the current planned movement speed, the current target movement speed or the last target movement speed by using an acceleration correction strategy corresponding to the acceleration state to obtain the target acceleration of the moving object, wherein the acceleration correction strategy comprises an acceleration coefficient and a curve softness coefficient to adjust the overall time of the speed plan by using the acceleration coefficient and adjust the overall softness of the speed plan by using the curve softness coefficient, so that the speed plan process only needs to set the acceleration coefficient and the curve softness coefficient without setting a plurality of parameters such as plan time, acceleration time and the like, and removing the limitation of the jerk and the planning time on the movement velocity curve planning; and finally, generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed, so that the speed control process of the moving object is smoother when the target speed is frequently changed.
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Fig. 1 is a schematic flow chart illustrating a method for planning a motion speed curve according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for planning a motion speed curve according to another embodiment of the present application;
FIG. 3 is a velocity curve diagram illustrating a current target motion velocity and a current projected motion velocity according to an embodiment of the present application;
FIG. 4 is a velocity profile illustrating acceleration and current projected movement velocity according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a movement speed curve planning apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for planning a motion speed curve according to an embodiment of the present disclosure. The method for planning the movement speed curve in the embodiment of the application can be applied to computer equipment, and the computer equipment comprises robot equipment or equipment such as a smart phone, a notebook computer, a tablet computer, a desktop computer, a physical server and a cloud server which are in communication connection with a moving object. As shown in fig. 1, the method for planning a motion speed curve of the present embodiment includes steps S101 to S104, which are detailed as follows:
and step S101, acquiring the current planned movement speed, the current target movement speed and the last target movement speed of the moving object.
In this step, the moving object is a computer device controlled device or component, such as a robot or robotic arm. The current planning movement speed is the movement speed of the moving object, when the secondary target movement speed is the movement speed which the moving object needs to reach in the current movement control process, the last target movement speed is the movement speed before the target movement speed of the moving object is changed into the movement speed before the secondary target movement speed. It can be understood that the current planned movement speed is a movement speed acquired in real time, and the current target movement speed and the previous target movement speed are movement speeds carried in the control command.
And step S102, determining the acceleration state of the moving object based on the difference value between the current planned motion speed, the current target motion speed and the last target motion speed, wherein the acceleration state is an acceleration increasing state or an acceleration decreasing state.
In this step, the motion speed curve can be divided into an acceleration stage, a uniform acceleration stage, a deceleration stage, a uniform speed stage, an acceleration and deceleration stage, a uniform deceleration stage and a deceleration stage.
It should be noted that, in order to make the motion of the moving object smoother, the motion control process is a multi-stage process. Illustratively, the mechanical arm needs to move from a point A to a point B in a static state within 10 seconds, the distance between the point A and the point B is 24 meters, the mechanical arm is generally informed of moving 2.4 meters per second every 1 second in a control instruction mode, but the motion process is not smooth, and the situations of rapid acceleration and rapid stop can occur. Thus, the present application is programmed by the speed of movement, for example: the mechanical arm is informed to move forward for 1 meter per second in the 1 st second; the 2 nd second tells the mechanical arm to move forward 2 meters per second; informing the mechanical arm to move forward 3 meters per second every 1 second from the 3 rd to the 8 th; the 9 th second informs the mechanical arm to move forward for 2 meters per second; the 10 th second informs the mechanical arm to move forward 1 meter per second; therefore, the mechanical arm slowly moves and stops, and the whole motion process is smoother. Optionally, since the speed difference before and after the target speed is changed is increased, and the moving object needs to have a larger acceleration in order to reach the target moving speed, that is, the acceleration of the moving object is increased, which is in an acceleration increasing stage, and vice versa, the current acceleration state of the moving object is determined by calculating the difference between the current planned moving speed of the moving object, the current target moving speed and the last target moving speed, and comparing according to the speed difference before and after the target speed is changed.
And S103, performing acceleration correction on the moving object according to the current planned movement speed and the current target movement speed or the last target movement speed by using an acceleration correction strategy corresponding to the acceleration state to obtain the target acceleration of the moving object, wherein the acceleration correction strategy comprises an acceleration coefficient and a curve softness coefficient.
In this step, the acceleration correction strategy is a strategy for correcting the acceleration of the moving object with the target speed frequently changed in the moving process, so that the acceleration is more suitable for the moving state of the moving object after the target speed is changed, and the moving process of the moving object is smoother.
The acceleration coefficient is a linear gain of acceleration and is used for influencing the overall slope of a motion speed curve so as to adjust the overall planning time of speed planning, and specifically, the greater the acceleration coefficient is, the smaller the overall planning time is; the curve softness factor is a power exponential gain of the acceleration and is used for influencing the softness of the movement speed curve so as to adjust the overall softness of the speed plan, and specifically, the smaller the curve softness factor, the softer the movement speed curve.
Optionally, an acceleration calculation formula is established based on the acceleration coefficient and the curve softness coefficient to perform acceleration correction on the moving object. It should be noted that the acceleration coefficient and the curve softness coefficient may be obtained based on artificial intelligence model training, or may be preset based on experience.
And S104, generating a motion speed curve of the moving object based on the target acceleration and the current planned motion speed, wherein the motion speed curve is used for carrying out speed control on the moving object.
In this step, the computer device controls the acceleration stage of the moving object according to the motion speed curve, specifically, the acceleration stage may be an initial acceleration stage of the moving object after the target speed is given, or a secondary acceleration stage of the moving object after the target speed is changed.
It should be noted that, in the present application, only the acceleration coefficient and the curve softness coefficient need to be set to correct the acceleration, so that the motion process of the moving object after the target motion is changed is smoother, and multiple parameters such as jerk, planning time, acceleration time and the like do not need to be set, thereby eliminating the limitation of the multiple parameters such as jerk, acceleration time, planning time and the like. Meanwhile, the set parameters are reduced to the acceleration coefficient and the curve softness coefficient, so that a large amount of complex logic processing of a plurality of parameters such as acceleration, acceleration time and planning time is reduced, the logic processing complexity and the data operation complexity are reduced, and the operation resources are saved.
In some embodiments, based on the embodiment shown in fig. 1, the step S102 includes:
calculating a first difference between the current planned movement velocity and the current target movement velocity;
calculating a second difference between the current planned movement velocity and the last target movement velocity;
if the first difference is not smaller than the second difference, determining that the acceleration state of the moving object is an acceleration adding state;
and if the first difference is smaller than the second difference, determining that the acceleration state of the moving object is a deceleration and acceleration state.
In this embodiment, the first difference and the second difference are positive numbers, that is, the first difference and the second difference are absolute values. Illustratively, if | V p -V t |≥|V t-1 -V p If V, the acceleration state of the moving object is a plus acceleration state p -V t |＜|V t-1 -V p If the acceleration state of the moving object is a reduced acceleration state, wherein V p For the currently planned movement speed, V t Is the current target movement speed, V t-1 The last target movement speed.
In some embodiments, based on the embodiment shown in fig. 1, the step S103 includes:
calculating the acceleration of the moving object according to the current planning movement speed, the current target movement speed and the current target movement speed or the last target movement speed by using an acceleration calculation formula corresponding to the acceleration state, wherein the acceleration calculation formula comprises the acceleration coefficient and the curve softness coefficient;
comparing the acceleration with a preset acceleration range;
and if the acceleration is within a preset acceleration range, judging that the acceleration is the target acceleration.
In the present embodiment, the acceleration calculation formula includes a first acceleration calculation formula corresponding to an acceleration-increasing state and a first acceleration calculation formula corresponding to a deceleration-increasing stateA second acceleration calculation formula. The preset acceleration range is a preset acceleration minimum value a min And a preset maximum acceleration a max And (4) forming. In the embodiment, the acceleration is corrected while the acceleration is calculated by an acceleration calculation formula containing an acceleration coefficient and a curve softness coefficient, so that the smooth effect of a subsequent movement speed curve is ensured.
Optionally, if the acceleration is smaller than the preset acceleration minimum value, determining that the preset acceleration minimum value is the target acceleration; and if the acceleration is greater than the maximum preset acceleration, determining that the maximum preset acceleration is the target acceleration. The optional embodiment avoids that the moving object cannot move too fast due to too fast acceleration caused by abnormal operation logic by presetting the minimum value and the maximum value of the acceleration, thereby ensuring the reliability and the safety of speed planning and avoiding that the working efficiency of the moving object is influenced due to too slow acceleration.
Optionally, if the acceleration state is an acceleration state, calculating the acceleration of the moving object according to the current planned movement velocity and the last target movement velocity by using a first acceleration calculation formula, where the first acceleration calculation formula is:
wherein a is the acceleration, K 1 Is the acceleration coefficient, V t-1 For the last target movement speed, V p For the currently planned movement speed, K 2 Is the curve softness factor.
Optionally, if the acceleration state is a deceleration state, the acceleration of the moving object is calculated according to the current planned motion speed and the current target motion speed by using a second acceleration calculation formula, where the second acceleration calculation formula is:
wherein a is the acceleration, K 1 Is the acceleration coefficient, V t For the current target movement speed, V p For the currently planned movement speed, K 2 Is the curve softness factor.
In some embodiments, based on the embodiment shown in fig. 1, the step S104 includes:
if the current planning movement speed is larger than the current target movement speed, generating a first movement speed curve of the moving object according to the target acceleration and the current planning movement speed;
and if the current planning movement speed is not greater than the current target movement speed, generating a second movement speed curve of the moving object according to the target acceleration and the current planning movement speed.
In the present embodiment, for example, if V p ＞V t Then, the expression of the first motion speed curve is: v p ′＝V p -a't; if V p ≤V t Then, the expression of the second movement speed curve is: v p ′＝V p + a't, wherein V p 'real-time movement speed of a computer device for controlling a moving object to move, a' is target acceleration, and t is movement time.
By way of example and not limitation, the following illustrates an application scenario for a mobility plan for a mobility vehicle:
fig. 2 is a schematic view of an application scenario flow of a method for planning a movement velocity curve, fig. 3 is a schematic view of a velocity curve of a current target movement velocity and a current planned movement velocity, and fig. 4 is a schematic view of a velocity curve of an acceleration and a current planned movement velocity according to an embodiment of the present application.
As shown in fig. 2, the current target movement speed V is set t . According to | V p -V t |≥|V t-1 -V p Determining the acceleration state of the scooter; if the acceleration state is an acceleration state, the acceleration of the scooter is
If the acceleration state is a deceleration state, the acceleration of the scooter is
If a min ＜a＜a max If the target acceleration a' of the scooter is a; if a min And a is larger than or equal to a, the target acceleration of the scooter is a ═ a min (ii) a If a max A is less than or equal to a, the target acceleration of the scooter is a ═ a max . If V p ＞V t Then, the expression of the first motion speed curve is: v p ′＝V p -a't; if V p ≤V t Then, the expression of the second motion speed curve is: v p ′＝V p +a′t。
Among them, the calculation process regarding the acceleration a is exemplified as follows: the acceleration of the scooter is too fast to cause the rider to feel no safety, and the acceleration is too slow to cause the rider to be anxious, so the minimum acceleration of the wheels is set to be 20rpm 2 Maximum acceleration of the wheel of 200rpm 2 . Suppose the shortest time required for the vehicle to accelerate from 0rpm to 1000rpm is 1000/200 ═ 5s (the vehicle is moving at maximum acceleration of the wheels), and the longest time is 1000/20 ═ 50s (the vehicle is moving at minimum acceleration of the wheels). The embodiment sets the acceleration coefficient K 1 Softness K of sum curve 2 The acceleration time of the scooter is between 5 and 50 s. As can be appreciated, K 1 And K 2 The specific value of (a) can be adjusted according to the real riding experience of the user.
Taking fig. 2 and 3 as an example, setting K 1 ＝1、K 2 ＝1.2、a min ＝20rpm 2 、a max ＝50rpm 2 At time t-1, V is given t Motion planning procedure at 1000rpm target speed:
when t is 1-1.6, the planned acceleration is smaller than the minimum acceleration, the acceleration is the minimum acceleration, the planned speed is linearly increased, and the stage is a uniform acceleration stage;
when t is 1.6-2.6, the acceleration is increased from the minimum acceleration to the maximum acceleration, the programming speed is increased in a nonlinear mode, and the stage is an acceleration stage;
when t is 2.6-6.7, the planned acceleration is greater than the maximum acceleration, the acceleration is the maximum acceleration, the planned speed is increased linearly, and the stage is a uniform acceleration stage;
when t is 6.7-7.7, the acceleration is reduced from the maximum acceleration to the minimum acceleration, the programming speed is increased in a nonlinear mode, and the stage is an acceleration reducing stage;
when t is 7.7-8.4, the planned acceleration is smaller than the minimum acceleration, the acceleration is the minimum acceleration, the planned speed is linearly increased, and the stage is a uniform acceleration stage;
when t is 8.4, the planning speed reaches the target speed, and the planning is finished.
In order to implement the method for planning the movement speed curve corresponding to the method embodiment, corresponding functions and technical effects are realized. Referring to fig. 5, fig. 5 is a block diagram illustrating a structure of a device for planning a motion speed curve according to an embodiment of the present application. For convenience of explanation, only the part related to the present embodiment is shown, and the device for planning a motion speed curve provided in the embodiment of the present application includes:
an obtaining module 501, configured to obtain a current planned movement speed of a moving object, a current target movement speed, and a previous target movement speed;
a determining module 502, configured to determine an acceleration state of the moving object based on a difference between the current planned motion speed, the current target motion speed, and the last target motion speed, where the acceleration state is an acceleration increasing state or an acceleration decreasing state;
a correction module 503, configured to perform acceleration correction on the moving object according to the current planned motion speed and the current target motion speed or the previous target motion speed by using an acceleration correction policy corresponding to the acceleration state, to obtain a target acceleration of the moving object, where the acceleration correction policy includes an acceleration coefficient and a curve softness coefficient;
a generating module 504, configured to generate a motion speed curve of the moving object based on the target acceleration and the current planned motion speed.
In some embodiments, the determining module 502 is specifically configured to:
calculating a first difference between the current planned movement velocity and the current target movement velocity;
calculating a second difference between the current planned movement speed and the last target movement speed;
if the first difference is not smaller than the second difference, determining that the acceleration state of the moving object is an acceleration adding state;
and if the first difference is smaller than the second difference, determining that the acceleration state of the moving object is a deceleration and acceleration state.
In some embodiments, the modification module 503 includes:
a calculating unit, configured to calculate, by using an acceleration calculation formula corresponding to the acceleration state, an acceleration of the moving object according to the current planned motion velocity, the current target motion velocity, and the current target motion velocity or the last target motion velocity, where the acceleration calculation formula includes the acceleration coefficient and the curve softness coefficient;
the comparison unit is used for carrying out numerical comparison on the acceleration and a preset acceleration range;
and the judging unit is used for judging that the acceleration is the target acceleration if the acceleration is within a preset acceleration range.
In some embodiments, the computing unit includes:
a first calculating subunit, configured to calculate, if the acceleration state is an acceleration added state, an acceleration of the moving object according to the current planned motion velocity and the last target motion velocity by using a first acceleration calculation formula, where the first acceleration calculation formula is:
wherein a is the acceleration, K 1 Is said acceleration coefficient, V t-1 For the last target movement speed, V p For the currently planned movement speed, K 2 Is the curve softness factor.
In some embodiments, the computing unit includes:
a second calculating subunit, configured to calculate, if the acceleration state is a deceleration acceleration state, an acceleration of the moving object according to the current planned motion velocity and the current target motion velocity by using a second acceleration calculation formula, where the second acceleration calculation formula is:
wherein a is the acceleration, K 1 Is said acceleration coefficient, V t For said current target movement speed, V p For the current planned movement speed, K 2 Is the curve softness factor.
In some embodiments, the determining unit is further configured to:
if the acceleration is smaller than the preset acceleration minimum value, judging that the preset acceleration minimum value is the target acceleration;
and if the acceleration is greater than the maximum preset acceleration, determining that the maximum preset acceleration is the target acceleration.
In some embodiments, the generating module 504 is specifically configured to:
if the current planning movement speed is larger than the current target movement speed, generating a first movement speed curve of the moving object according to the target acceleration and the current planning movement speed;
and if the current planned movement speed is not greater than the current target movement speed, generating a second movement speed curve of the moving object according to the target acceleration and the current planned movement speed.
The device for planning a movement velocity curve can implement the method for planning a movement velocity curve of the above method embodiment. The alternatives in the above-described method embodiments are also applicable to this embodiment and will not be described in detail here. The rest of the embodiments of the present application may refer to the contents of the above method embodiments, and in this embodiment, details are not described again.
Fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present application. As shown in fig. 6, the computer device 6 of this embodiment includes: at least one processor 60 (only one shown in fig. 6), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, the processor 60 implementing the steps in any of the method embodiments described above when executing the computer program 62.
The computer device 6 may be a computing device such as a smart phone, a tablet computer, a desktop computer, and a cloud server. The computer device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of the computer device 6 and does not constitute a limitation of the computer device 6, and may include more or less components than those shown, or combine certain components, or different components, such as input output devices, network access devices, etc.
The Processor 60 may be a Central Processing Unit (CPU), and the Processor 60 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may in some embodiments be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. The memory 61 may also be an external storage device of the computer device 6 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the computer device 6. The memory 61 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in any of the method embodiments described above.
The embodiments of the present application provide a computer program product, which when executed on a computer device, enables the computer device to implement the steps in the above method embodiments.
In several embodiments provided herein, it will be understood that 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.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are further detailed to explain the objects, technical solutions and advantages of the present application, and it should be understood that the above-mentioned embodiments are only examples of the present application and are not intended to limit the scope of the present application. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the present application, may occur to those skilled in the art and are intended to be included within the scope of the present application.
Claims (10)
1. A method for planning a motion speed curve is characterized by comprising the following steps:
acquiring the current planned movement speed, the current target movement speed and the last target movement speed of the moving object;
determining the acceleration state of the moving object based on the difference value between the current planned movement speed, the current target movement speed and the last target movement speed, wherein the acceleration state is an acceleration increasing state or an acceleration decreasing state;
performing acceleration correction on the moving object according to the current planned movement speed and the current target movement speed or the last target movement speed by using an acceleration correction strategy corresponding to the acceleration state to obtain the target acceleration of the moving object, wherein the acceleration correction strategy comprises an acceleration coefficient and a curve softness coefficient;
and generating a motion speed curve of the moving object based on the target acceleration and the current planning motion speed, wherein the motion speed curve is used for carrying out speed control on the moving object.
2. The method for planning a movement speed profile according to claim 1, wherein the determining the acceleration state of the moving object based on the difference between the current planned movement speed, the current target movement speed, and the last target movement speed comprises:
calculating a first difference between the current planned movement velocity and the current target movement velocity;
calculating a second difference between the current planned movement speed and the last target movement speed;
if the first difference value is not smaller than the second difference value, judging that the acceleration state of the moving object is an acceleration state;
and if the first difference is smaller than the second difference, determining that the acceleration state of the moving object is a deceleration and acceleration state.
3. The method for planning a movement velocity curve according to claim 1, wherein the performing acceleration correction on the moving object according to the currently planned movement velocity and the current target movement velocity or the last target movement velocity by using an acceleration correction strategy corresponding to the acceleration state to obtain the target acceleration of the moving object includes:
calculating the acceleration of the moving object according to the current planning movement speed, the current target movement speed and the current target movement speed or the last target movement speed by using an acceleration calculation formula corresponding to the acceleration state, wherein the acceleration calculation formula comprises the acceleration coefficient and the curve softness coefficient;
comparing the acceleration with a preset acceleration range;
and if the acceleration is within a preset acceleration range, judging that the acceleration is the target acceleration.
4. The method for planning a movement velocity curve according to claim 3, wherein the calculating the acceleration of the moving object according to the current planned movement velocity, the current target movement velocity, or the last target movement velocity using the acceleration calculation formula corresponding to the acceleration state includes:
if the acceleration state is an acceleration state, calculating the acceleration of the moving object according to the current planned movement speed and the last target movement speed by using a first acceleration calculation formula, wherein the first acceleration calculation formula is as follows:
wherein a is the acceleration, K 1 Is said acceleration coefficient, V t-1 For the last target movement speed, V p For the currently planned movement speed, K 2 Is the curve softness factor.
5. The method for planning a movement velocity curve according to claim 3, wherein the calculating the acceleration of the moving object according to the current planned movement velocity, the current target movement velocity, or the last target movement velocity using the acceleration calculation formula corresponding to the acceleration state includes:
if the acceleration state is a deceleration acceleration state, calculating the acceleration of the moving object according to the current planning movement speed and the current target movement speed by using a second acceleration calculation formula, wherein the second acceleration calculation formula is as follows:
wherein a is the acceleration, K 1 Is the acceleration coefficient, V t For the current target movement speed, V p For the currently planned movement speed, K 2 Is the curve softness factor.
6. The method for planning a motion velocity profile according to claim 3, wherein the preset acceleration range includes a preset acceleration maximum value and a preset acceleration minimum value, and after the comparing the acceleration with the preset acceleration range, the method further comprises:
if the acceleration is smaller than the preset acceleration minimum value, judging that the preset acceleration minimum value is the target acceleration;
and if the acceleration is greater than the maximum preset acceleration, determining that the maximum preset acceleration is the target acceleration.
7. The method for planning a motion velocity profile according to claim 1, wherein the generating a motion velocity profile of the moving object based on the target acceleration and the current planned motion velocity comprises:
if the current planning movement speed is larger than the current target movement speed, generating a first movement speed curve of the moving object according to the target acceleration and the current planning movement speed;
and if the current planning movement speed is not greater than the current target movement speed, generating a second movement speed curve of the moving object according to the target acceleration and the current planning movement speed.
8. A device for planning a motion speed profile, comprising:
the acquisition module is used for acquiring the current planned movement speed, the current target movement speed and the last target movement speed of the moving object;
a determining module, configured to determine an acceleration state of the moving object based on a difference between the current planned motion speed, the current target motion speed, and the previous target motion speed, where the acceleration state is an acceleration increasing state or an acceleration decreasing state;
the correction module is used for performing acceleration correction on the moving object according to the current planning movement speed and the current target movement speed or the last target movement speed by using an acceleration correction strategy corresponding to the acceleration state to obtain the target acceleration of the moving object, wherein the acceleration correction strategy comprises an acceleration coefficient and a curve softness coefficient;
and the generating module is used for generating a motion speed curve of the moving object based on the target acceleration and the current planning motion speed.
9. A computer device comprising a processor and a memory for storing a computer program which, when executed by the processor, implements a method of planning a movement velocity profile as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when being executed by a processor, implements a method of planning a movement velocity profile according to any one of claims 1 to 7.
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