CN-121973182-A - Execution method of action track, electronic device and computer program product

CN121973182ACN 121973182 ACN121973182 ACN 121973182ACN-121973182-A

Abstract

The application is suitable for the technical field of motion control, and provides an execution method of a motion track, electronic equipment and a computer program product. The execution method of the action track comprises the steps of controlling an action executing mechanism to execute actions according to track points read in real time in a first buffer zone, responding to the acquired new images, determining an initial newly-added action track based on the new images, reading an end point of a current action track from the first buffer zone, replacing a starting point of the initial newly-added action track with the end point of the current action track to obtain an newly-added action track with an updated starting point, carrying out track point interpolation on the initial newly-added action track with the updated starting point, storing interpolation results in a second buffer zone, and moving interpolation results in the second buffer zone into the first buffer zone, so that the action track currently executed due to data competition can be prevented from being influenced, and the reliability of track switching is improved.

Inventors

HUANG YU
ZHANG YIXUAN
LIU MENG

Assignees

深圳市优必选科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20251219

Claims (10)

1. An execution method of an action trace is characterized by comprising the following steps: controlling an action executing mechanism to execute actions according to the track points read in real time in the first buffer area; In response to acquiring a new image, determining an initial newly added action track based on the new image; Reading the end point of the current action track from the first buffer area, and replacing the initial point of the initial newly-added action track with the end point of the current action track to obtain a newly-added action track with an updated initial point; performing track point interpolation on the initial newly-added action track updated by the starting point, and storing an interpolation result into a second buffer zone; and moving the interpolation result in the second buffer area into the first buffer area.
2. The method for executing the action trace according to claim 1, wherein the determining an initial newly added action trace based on the new image includes: Determining a deviation value between the action executing mechanism and the end point of the current action track; and if the deviation value is smaller than a deviation threshold value and the asynchronous thread is in an idle state, determining the initial newly-added action track based on the new image, wherein the asynchronous thread is used for determining the initial newly-added action track.
3. The method for executing an action trace according to claim 2, wherein if the deviation value is greater than or equal to a deviation threshold value or the asynchronous thread is in a working state, the method for executing an action trace comprises: The new image is discarded.
4. The method for executing the action track according to claim 1, wherein the performing track point interpolation on the initial newly added action track after the start point update includes: And taking the speed and acceleration of the starting point and the end point of the interpolation result as 0 as constraint, and performing track point interpolation on the initial newly-added action track updated by the starting point to obtain the interpolation result.
5. The method of claim 1, wherein after storing the interpolation result in the second buffer, the method of performing the action trace further comprises: The track processing zone bit is a ready zone; Said moving said interpolation result in said second buffer into said first buffer comprises: detecting the track processing zone bit according to a preset detection frequency; And if the track processing flag bit is the ready flag, moving the interpolation result in the second buffer zone into the first buffer zone.
6. The method for executing an action trajectory according to claim 1, wherein before performing trajectory point interpolation on the initial newly added action trajectory after the start point update and storing the interpolation result in the second buffer, the method for executing an action trajectory further comprises: Storing the initial newly-added action track in a third buffer area; the initial newly added action track is periodically read from the third buffer.
7. The method for executing the action trace according to claim 1, wherein the moving the interpolation result in the second buffer into the first buffer includes: And moving the interpolation result in the second buffer area into the first buffer area through an atomic switching operation.
8. The method of claim 1, wherein each trace point corresponds to an index, and wherein the controlling the action executing mechanism to execute the action according to the trace point read in the first buffer area in real time comprises: and when the index corresponding to the read track point is consistent with the maximum index of the current action track, confirming that the current action track is read.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the execution method of the action trace according to any one of claims 1 to 7.
10. A computer program product comprising a computer program which, when run, causes the execution method of the action trajectories of any of claims 1 to 7 to be performed.

Description

Execution method of action track, electronic device and computer program product Technical Field The present application relates to a method for executing a motion track, an electronic device, and a computer program product, and belongs to the technical field of motion control. Background In the core fields of industrial manufacture, medical rehabilitation, service interaction and the like, the accurate action control capability of a robot directly determines the operation value of the robot, and the joint is used as a core execution unit for the movement of the robot, so that the control precision, response speed and adaptability of the joint become key indexes for measuring the performance of the robot. With technology iteration, a Vision-Language-Action model (VLA) gradually becomes a core technology bridge for connecting perception and execution in a complex dynamic scene. In the existing VLA model deployment scheme, when a mechanism for executing actions such as a robot obtains a new action execution requirement, the action track currently executed is easily influenced by data competition, and the reliability of switching between a new track and an old track is further influenced. Disclosure of Invention The embodiment of the application provides an execution method of an action track, electronic equipment and a computer program product, which can avoid influencing the track currently executed by data competition and improve the reliability of track switching. The first aspect of the embodiment of the application provides an execution method of an action track, which comprises the steps of controlling an action executing mechanism to execute actions according to track points read in real time in a first buffer zone, responding to a new image, determining an initial new action track based on the new image, reading an end point of a current action track from the first buffer zone, replacing a starting point of the initial new action track with the end point of the current action track to obtain a new action track with an updated starting point, interpolating track points of the initial new action track after the starting point is updated, storing interpolation results in a second buffer zone, and moving interpolation results in the second buffer zone into the first buffer zone. In some implementations of the first aspect, determining an initial newly added motion trajectory based on the new image includes determining a deviation value between the motion actuator and an endpoint of the current motion trajectory, and if the deviation value is less than a deviation threshold and an asynchronous thread is in an idle state, determining the initial newly added motion trajectory based on the new image, the asynchronous thread being used to determine the initial newly added motion trajectory. In some embodiments of the first aspect, if the deviation value is greater than or equal to a deviation threshold, or the asynchronous thread is in a working state, the method for executing the action track includes discarding the new image. In some embodiments of the first aspect, performing track point interpolation on the initial newly-added motion track after the initial point update includes performing track point interpolation on the initial newly-added motion track after the initial point update with a constraint that a speed and an acceleration of a start point and an end point of the interpolation result are 0, to obtain the interpolation result. In some embodiments of the first aspect, after the interpolation result is stored in the second buffer, the method for executing the action track further includes that a track processing flag bit is a ready flag, the moving the interpolation result in the second buffer into the first buffer includes detecting the track processing flag bit according to a preset detection frequency, and if the track processing flag bit is the ready flag, moving the interpolation result in the second buffer into the first buffer. In some embodiments of the first aspect, before the performing track point interpolation on the initial newly-added motion track after the updating of the starting point and storing the interpolation result in the second buffer, the method for executing the motion track further includes storing the initial newly-added motion track in a third buffer, and periodically reading the initial newly-added motion track from the third buffer. In some implementations of the first aspect, moving the interpolation result within the second buffer into the first buffer includes moving the interpolation result within the second buffer into the first buffer by an atomic switch operation. In some embodiments of the first aspect, each track point corresponds to an index, and the controlling the action executing mechanism to execute the action according to the track point read in real time in the first buffer area includes confirming that reading of the current action track is completed