CN107368639B - Speed planning method, speed planning device, computer equipment and storage medium - Google Patents
Speed planning method, speed planning device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN107368639B CN107368639B CN201710557918.XA CN201710557918A CN107368639B CN 107368639 B CN107368639 B CN 107368639B CN 201710557918 A CN201710557918 A CN 201710557918A CN 107368639 B CN107368639 B CN 107368639B
- Authority
- CN
- China
- Prior art keywords
- speed
- track
- planning
- trajectory
- acceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Pure & Applied Mathematics (AREA)
- Evolutionary Computation (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention relates to a speed planning method, a speed planning device, computer equipment and a storage medium, wherein the method comprises the following steps: acquiring a first position and a first speed outside an end point of a first track, wherein the first speed is the speed of the first position when the first track is subjected to speed planning; acquiring a second position and a second speed outside the endpoint of the second track, wherein the second speed is the speed of the second position when the speed of the second track is planned; and planning the speed of the original track between the first position and the second position of the motion device by taking the first speed as a starting speed and the second speed as an end speed, so that the motion device can plan to move on the original track between the first position and the second position according to the speed of the original track between the first position and the second position.
Description
Technical Field
The present invention relates to the field of motion control, and in particular, to a velocity planning method, apparatus, computer device, and storage medium.
Background
In a motion control system, a desired operation speed of a motion device such as a robot or a numerical control machine tool is usually set according to actual needs, and in order to ensure the smoothness and accuracy of the operation process of the motion device, the speed of the motion device needs to be planned according to a motion track and the desired speed.
In the existing speed planning, for each track, the robot starts to move to stop, and the speed process usually includes several stages of "start-acceleration-uniform speed-deceleration-stop". However, when the speed planning method plans the continuous track, the moving device is easily worn when the moving device is stopped and started each time, and the speed utilization rate is low.
Disclosure of Invention
Accordingly, it is desirable to provide a speed planning method, apparatus, computer device and storage medium for solving the above problems, wherein the speed planning is performed on the speed of the original trajectory between the first position outside the end point of the first trajectory and the second position outside the end point of the second trajectory, so that the motion apparatus moves from the first position to the second position on the original trajectory according to the planned speed, thereby enabling the motion apparatus to continuously move in the continuous trajectory motion, improving the speed utilization rate and reducing the wear of the motion apparatus.
A method of speed planning, the method comprising: acquiring a first position and a first speed outside an end point of a first track, wherein the first speed is the speed of the first position when the first track is subjected to speed planning; acquiring a second position and a second speed outside an end point of a second track, wherein the second speed is the speed of the second position when the second track is subjected to speed planning, and the first track and the second track are connected continuous tracks; and planning the speed of an original track of the motion device between a first position and a second position by taking the first speed as a starting speed and the second speed as an end speed, so that the motion device moves from the first position to the second position on the original track according to the planned speed.
In one embodiment, the first position is any position from the acceleration turning point to the position before the end point of the first track when the first track is subjected to speed planning, and/or the second position is any position from the start position of the second track to the deceleration turning point of the second track when the second track is subjected to speed planning.
In one embodiment, the first position is a turning point of deceleration when the first trajectory is subjected to speed planning and/or the second position is a turning point of acceleration when the second trajectory is subjected to speed planning.
In one embodiment, the step of velocity planning the velocity of the original trajectory of the motion device between the first position and the second position with the first velocity as a starting velocity and the second velocity as an ending velocity comprises: acquiring the track length of an original track between the first position and the second position according to the first position and the second position; acquiring third acceleration information of an original track of the motion device between the first position and the second position according to the first speed, the second speed, the track length and an acceleration calculation method corresponding to a third speed specification; and planning the speed of the original track of the motion device between the first position and the second position according to the track length and the third acceleration information by taking the first speed as a starting speed and the second speed as an end speed. .
In one embodiment, the third speed planning rule is that the motion device performs uniform acceleration motion on an original track between the first position and the second position; or, the third speed planning rule is that the motion device performs variable acceleration motion on the original track between the first position and the second position.
In one embodiment, when the first track is a starting track of a plurality of continuous tracks, a first starting point speed is 0, a first ending point speed is the first speed, and the track of the motion device between the starting point of the first track and a first position is subjected to speed planning according to the expected speed of the first track, the length of the first track, first acceleration information and a first speed planning rule; and/or when the second track is the final track of the multiple continuous tracks, taking a second starting point speed as the second speed and a second end point speed as 0, and performing speed planning on the track of the motion device between the second position and the end point of the second track according to the expected speed of the second track, the length of the second track, second acceleration information and a second speed planning rule.
A speed planning apparatus, the apparatus comprising: the first obtaining module is used for obtaining a first position and a first speed outside an end point of a first track, wherein the first speed is the speed of the first position when the first track is subjected to speed planning; a second obtaining module, configured to obtain a second position and a second speed outside an endpoint of a second trajectory, where the second speed is a speed of the second position when the second trajectory is subjected to speed planning, and the first trajectory and the second trajectory are connected to each other and are continuous trajectories; and the third speed planning module is used for carrying out speed planning on the speed of an original track of the motion device between the first position and the second position by taking the first speed as a starting speed and the second speed as an end speed, so that the motion device moves from the first position to the second position on the original track according to the planned speed.
In one embodiment, the third speed planning module comprises: the length acquiring unit is used for acquiring the track length of the original track between the first position and the second position according to the first position and the second position; the acceleration information determining unit is used for acquiring third acceleration information of an original track of the motion device between the first position and the second position according to the first speed, the second speed, the track length and an acceleration calculation method corresponding to a third speed planning rule; and the track speed planning unit is used for planning the speed of an original track of the motion device between the first position and the second position according to the track length and the third acceleration information by taking the first speed as a starting point speed and the second speed as an end point speed.
A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to carry out the steps of the above speed planning method.
A storage medium having stored thereon computer-readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the above-described speed planning method.
When the speed planning of the continuous track is carried out, the speed of the original track of the motion device between the first position and the second position is planned by acquiring the first position and the first speed outside the end point of the first track and acquiring the second position and the second speed outside the end point of the second track, and then taking the first speed as the starting point speed and the second speed as the end point speed. The first speed is the speed of the first position when the first track is subjected to speed planning, and the second speed is the speed of the second position when the second track is subjected to speed planning, so that the speed of the original track between the first position and the second position is subjected to speed planning by the planning speed of the first track and the planning speed of the second track, the movement device can continuously move in the continuous track, the speed utilization rate is improved, and the abrasion of the movement device is reduced.
Drawings
FIG. 1 is a schematic illustration of a velocity profile provided in one embodiment;
FIG. 2 is a flow diagram of a method of speed planning in one embodiment;
FIG. 3 is a schematic illustration of a velocity profile provided in one embodiment;
FIG. 4 is a schematic illustration of a velocity profile provided in one embodiment;
FIG. 5 is a flow chart illustrating the planning of the velocity of the original trajectory of the exercise device between the first position and the second position with the first velocity as the starting velocity and the second velocity as the ending velocity in one embodiment;
FIG. 6 is a block diagram of a speed planner in one embodiment;
FIG. 7 is a block diagram of a third velocity planner module in one embodiment;
FIG. 8 is a block diagram of a speed planner in one embodiment;
FIG. 9 is a block diagram of a speed planner in one embodiment;
FIG. 10 is a block diagram showing an internal configuration of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another. For example, the first speed may be referred to as a second speed, and similarly, the second speed may be referred to as a first speed, without departing from the scope of the present application.
The speed planning principle and application of the present invention will be described below with reference to fig. 1 and taking a trapezoidal speed plan as an example. Fig. 1 is a diagram of speed versus time when a continuous trajectory trapezoidal speed curve is planned, with the abscissa as time and the ordinate as speed. In fig. 1, S1, S2, and S3 are velocity graphs of the first-stage trajectory, the second-stage trajectory, and the third-stage trajectory, respectively. The first section of track and the second section of track comprise a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage, and the third section of track does not have a uniform speed section because the track is too short and is not accelerated or is required to be decelerated just after being accelerated to the uniform speed section, so that the acceleration turning point and the deceleration turning point are overlapped. Therefore, a1, a2 and A3 are acceleration turning points of each segment of track speed, and B1, B2 and a1 are deceleration turning points of each segment of track speed. The acceleration turning point refers to a position where the acceleration phase ends, and the deceleration turning point refers to a position where the deceleration phase begins.
When the trapezoidal velocity planning is carried out, the technician can set the acceleration a of the acceleration section according to the actual requirement1Acceleration a of deceleration section2And a desired speed VpAnd the motion track is already determined, so the length S of the motion track can also be calculated, and if the start point and the end point are in the stop state, the speed of the start point and the speed of the end point are both 0. Therefore, according to the speed variation law of the uniform acceleration linear motion, the running time t of the acceleration stage can be obtained according to the following formula1Time t of the uniform velocity phase2And a period t of the deceleration phase3(for convenience of explanation)Obviously, the acceleration phase is acceleration a, and the acceleration of the deceleration phase is-a):
therefore, after the time is obtained, one or more of the motion state parameters of the motion device at each time point, such as displacement, speed, acceleration and the like, can be further obtained during the speed planning, and then the motion state at the next time point is obtained according to the motion state at each time point, so as to perform acceleration and deceleration control on the motion device. For example, the current displacement is calculated according to the speed of the current time point, when the current displacement of the motion device is smaller than the displacement of the deceleration turning point and the current speed is smaller than the maximum speed, it indicates that the motion device is in an acceleration stage, and acceleration control needs to be performed according to a given acceleration; if the current speed is equal to the maximum speed and the current displacement is smaller than the displacement of the deceleration turning point, the constant speed motion is performed when the current speed is in the constant speed motion stage.
The maximum velocity V mentioned abovemRefers to the maximum speed that the motion device can achieve in the motion trajectory. In the speed planning, the speed is required to be planned according to the given movement distance S, the acceleration a and the expected speed VpThe maximum speed is obtained. The trapezoidal velocity plan is taken, the velocity in the acceleration stage is a, and the acceleration in the deceleration stage is-a. For example, it can be seen from the displacement formula (4) of the uniformly accelerated linear motion that V ispIs less than or equal to aS, the maximum speed can reach V when the speed is plannedpSo that the maximum speed is VpB, carrying out the following steps of; if VpIf the speed is greater than aS, the track is too short during speed planning, and the expected speed is not reached, so that the speed is required to be plannedGo on decelerating, therefore VmLess than VpTherefore, the maximum velocity needs to be calculated from the given acceleration a and S.
It should be understood that the above description is only given by using a trapezoidal velocity plan, and in practical applications, since the trapezoidal velocity plan may generate abrupt changes of acceleration at the beginning and the end of acceleration and may generate impacts on the exercise device, in some embodiments, in order to reduce abrupt changes of acceleration at corners, other velocity planning methods such as an S-shaped curve and an exponential curve may also be used to perform velocity planning. Taking the S-shaped curve as an example, the S-shaped curve can be generally divided into seven sections, i.e., an acceleration increasing section, a uniform acceleration increasing section, an acceleration decreasing section, a uniform velocity decreasing section, an acceleration decreasing section, a uniform deceleration decreasing section and a deceleration decreasing section. The technician can set the acceleration a and the expected speed v according to actual requirementspAnd jerk J.
As shown in fig. 2, in an embodiment, a speed planning method is provided, which may be applied to a speed controller of a robot or a numerical control machine, and specifically includes the following steps:
step 202, acquiring a first position and a first speed outside an end point of a first track;
the end points refer to a starting point and an end point, and the first position is a position on the preset first track except the end points. The first position may be represented by a distance, for example, may be represented by an equal distance from a start point or an end point of the first trajectory, or may be represented by a coordinate point. The first speed is the speed of the first position when the speed planning is carried out on the first track. It will be appreciated that the first speed is typically greater than 0, since no pauses are made in between when the speed plan is made.
In some embodiments, the first position is located at any position before the acceleration turning point to the end point of the first trajectory when the first trajectory is subjected to velocity planning. Preferably the turning point of deceleration when the first trajectory is speed planned. The acceleration turning point is a position where the acceleration phase ends when the first trajectory is subjected to the velocity planning. For example, the position of the point a1 in fig. 1 where the velocity is located starts to any position before the end of the first trajectory. The deceleration turning point refers to a position where a deceleration phase starts in the speed planning. Such as the position at the speed of point B1 in fig. 1. In this position, the time for which the moving means moves at the maximum speed of the first trajectory is the longest, and therefore, the speed utilization rate is high. It should be noted that any position from the acceleration turning point to the position before the end point of the first track includes the acceleration turning point, but the first position is not the end point of the first track because the first position is a position other than the end point of the first track.
Planning by using trapezoidal speed, setting the first position as a first track deceleration turning point, the length of the first track as 12m, and the acceleration in the acceleration stage as 2m/s2The deceleration in the deceleration stage is-2 m/s2Taking the desired speed as 4m/s, the starting point speed and the end point as 0 as an example, the speed of the deceleration turning point can be calculated as 4m/s, and the distance from the first position to the starting point is 12-v, which is the total length-the length of the deceleration stage2/2a＝12-(4*4)/(2*2)＝8。
Step 204, a second position and a second speed outside the second trajectory endpoint are obtained.
The first track and the second track are connected to each other to form a continuous track, the second position is a preset position on the second track except for an end point, the second position may be represented by a distance, for example, the second position may be represented by a distance from a start point or an end point of the second track, or the second position may be represented by a coordinate point. The second speed is a speed at the second position when the second trajectory is subjected to the speed planning, and it can be understood that the second speed is generally greater than 0 because no pause is made in the middle of the speed planning.
In some embodiments, the second position is any position from the start point of the second trajectory to the deceleration turning point of the second trajectory when the second trajectory is subjected to the speed planning. Preferably the second trajectory acceleration turning point. The deceleration turning point refers to a point at which deceleration starts at the time of speed planning. For example, anywhere between the position of the velocity at point B2 after the second trajectory begins in fig. 1. The acceleration turning point refers to a position where the acceleration phase ends during the velocity planning, for example, a position where the velocity is located at a2 point in fig. 1. At this position, the speed of the second track just reaches the maximum speed which can be reached by the second track, so that the running time of the second track on the maximum speed is not influenced, and therefore, the speed utilization rate is high. It should be noted that any position between the second trajectory starting point and the second trajectory deceleration turning point includes the deceleration turning point, but the second position is not the second trajectory starting point because the second position is a position other than the second trajectory end point.
Taking the trapezoidal velocity schedule as an example, the second position is the second track acceleration turning point, the second track length is 24m, and the acceleration in the acceleration stage is 3m/s2The deceleration in the deceleration stage is-3 m/s2If the expected speed is 6m/s, and the starting point speed and the end point are both 0, then the speed of the acceleration turning point is 6m/s, and the distance from the acceleration turning point to the starting point is v2/2a＝(6*6)/(2*3)＝6m。
It is understood that steps S202 and S204 are performed simultaneously, and S202 or S204 may be performed first. The first trajectory and the second trajectory may be in various geometric shapes such as a curve, a straight line, a circle, and the like, and the first trajectory speed plan and the second trajectory speed may be in a trapezoidal speed plan, an S-shaped speed plan, and other speed plans, and may be specifically planned according to given parameters and a speed planning algorithm, which is not limited herein.
Step 206, planning the speed of the original track of the motion device between the first position and the second position by using the first speed as a starting speed and the second speed as an end speed, so that the motion device moves from the first position to the second position on the original track according to the planned speed.
The moving device can be moving equipment in equipment such as a mechanical arm of a robot, a cutter of a numerical control machine tool and the like. The original track between the first position and the second position is a combination of the first track and the second track between the first position and the second position, namely a track formed by two sections of tracks, namely a section of track starting from the first position to the end position of the first track in the first track, and a section of track starting from the start point of the second track to the second position in the second track.
The speed planning method of the original trajectory between the first position and the second position may be set according to actual circumstances. For example, uniform acceleration motion, variable acceleration motion, or the like may be performed. In some embodiments, the original trajectory between the first location and the second location may be velocity programmed according to a first location and second location velocity magnitude relationship. For example, if the speeds of the first position and the second position are equal, the speed of the motion device is not changed in the speed planning of the original trajectory between the first position and the second position. When the speed of the first position is higher than that of the second position, the motion device performs deceleration motion in the speed plan of the original track between the first position and the second position. When the speed of the first position is less than the speed of the second position, the movement device performs an accelerated movement in the speed plan of the original trajectory between the first position and the second position.
If B1 is the first position and a2 is the second position, as shown in fig. 3, the velocity curve of the original trajectory between the first position and the second position in the velocity planning can be a straight line, i.e. a uniform acceleration motion is performed. In some embodiments, to further keep the motion device smooth and reduce wear of the motion device, the velocity of the original trajectory between the first position and the second position at the time of the velocity planning is a curve, as shown in fig. 4.
When the speed planning of the continuous track is carried out, the speed of the original track of the motion device between the first position and the second position is planned by acquiring the first position and the first speed outside the end point of the first track and acquiring the second position and the second speed outside the end point of the second track, and then taking the first speed as the starting point speed and the second speed as the end point speed. The first speed is the speed of the first position when the first track is subjected to speed planning, the second speed is the speed of the second position when the second track is subjected to speed planning, and the speed of the original track between the first position and the second position is subjected to speed planning by the planning speed of the first track and the planning speed of the second track, so that the movement device can continuously move in the continuous track, the speed utilization rate is improved, and the abrasion of the movement device is reduced.
In one embodiment, as shown in fig. 5, the step S206 of planning the speed of the original trajectory of the exercise device between the first position and the second position by using the first speed as the starting speed and the second speed as the ending speed, so that the step of moving the exercise device from the first position to the second position on the original trajectory according to the planned speed may include steps S502, S504 and S506.
S502, acquiring the track length of an original track between a first position and a second position according to the first position and the second position;
in the embodiment of the present invention, since the first position and the second position are known, the length of the original trajectory between the first position and the second position can be obtained according to the first position and the second position. Taking the first position as a first track deceleration turning point, the length of the first track is 12m, and the acceleration in the acceleration stage is 2m/s2The deceleration in the deceleration stage is-2 m/s2The desired speed is 4m/s, the starting point speed and the end point are both 0; the second position is a second track acceleration turning point, the length of the second track is 24m, and the acceleration in the acceleration stage is 3m/s2The deceleration in the deceleration stage is-3 m/s2The desired speed is 6m/s, and the starting point speed and the end point are both 0 as an example. The distance covered by the first trajectory deceleration stage can be calculated as v2And/2 a is (4 × 4)/(2 × 2) is 8 m. The distance covered by the second trajectory acceleration phase is v2And/2 a is (6 x 6)/(2 x 3) is 6 m. The length of the original trajectory between the first position and the second position is 8m +6m — 14 m.
S504, obtaining third acceleration information of an original track of the motion device between the first position and the second position according to the first speed, the second speed, the track length and an acceleration calculation method corresponding to a third speed planning rule;
when the speed of the original trajectory between the first position and the second position is planned, since the first speed is used as a starting point and the second speed is used as an ending point, and the trajectory of the original trajectory between the first position and the second position is known, the third acceleration information of the original trajectory between the first position and the second position can be obtained according to an acceleration calculation method corresponding to a preset third speed planning rule. In some embodiments, in order to reduce the calculation amount in the speed planning, a third speed rule may be set to make the motion device perform uniform acceleration motion on the original track between the first position and the second position; alternatively, to reduce wear of the movement means, the third speed planning rule is a variable acceleration movement of the movement means on an original trajectory between the first position and the second position.
For example, if the third speed planning rule is that the acceleration of the original trajectory between the first position and the second position is kept constant, the original trajectory between the first position and the second position has a length of 14m, and the first speed v is constant1Is 4m/s, second speed v2For example, 6m/s, the acceleration a of the original trajectory between the first position and the second position is 0.714m/s, which can be calculated according to the uniform acceleration formula v2 ═ v1+ a × t, and s ═ v1 × t +0.5 × a × t2The speed and time t are 2.8 s. Of course, in some embodiments, the third speed planning rule may also be to perform variable acceleration motion, and other calculation methods of setting the acceleration according to actual needs may be used, for example, the acceleration to a is calculated according to a uniform acceleration formula, and then the acceleration and the jerk at each time point when the speed planning is performed are calculated according to a preset mapping function of the acceleration a, where the mapping function may be selected according to actual conditions, for example, may be a linear function.
And S506, planning the speed of the original track of the motion device between the first position and the second position according to the track length and the third acceleration information by taking the first speed as a starting speed and the second speed as an end speed.
And after the third acceleration information is acquired, planning the speed of the original track of the motion device between the first position and the second position by taking the first speed as a starting point speed and the second speed as an end point speed according to the track length and the third acceleration information, so that the motion device moves on the original track between the first position and the second position according to the speed planned by the speed of the original track between the first position and the second position.
In an embodiment, if the first trajectory is a start trajectory of a plurality of continuous trajectories, the speed planning method may further include: and performing speed planning on the speed of the motion device between the starting point of the first track and the first position according to the expected speed of the first track, the length of the first track, the first acceleration information and the first speed planning rule.
The expected speed of the first track, the first acceleration information, the first speed planning rule and other parameters are preset, and the first speed planning rule can be that uniform acceleration movement is carried out, and then uniform movement is carried out. Or the acceleration adding motion, the uniform acceleration motion, the acceleration reducing motion and the like can be performed firstly. The invention is not limited in this regard.
In one embodiment, when the second trajectory is a final trajectory of the plurality of continuous trajectories, the speed planning method may further include: and taking the second starting point speed as a second speed, taking the second ending point speed as 0, and carrying out speed planning on the speed of the motion device between the second position and the ending point of the second track according to the expected speed of the second track, the length of the second track, the second acceleration information and a second speed planning rule.
Parameters such as the expected speed of the second track, the second acceleration information, the second speed planning rule and the like are preset, and the second speed planning rule can be that uniform acceleration movement is carried out, and then uniform movement is carried out. Or the acceleration adding motion, the uniform acceleration motion, the acceleration reducing motion and the like can be performed firstly. The invention is not limited in this regard.
By adopting the method provided by the embodiment of the invention, because the original track between the first position and the second position is planned in a speed mode, in the actual planning, only partial tracks except the original track are planned when the first track and the second track are respectively planned, but the planned speeds of the first position and the second position are the speeds when the first track is completely planned, so that the calculation method in the speed planning is simple, the motion device can continuously move in the continuous track, the speed utilization rate is improved, and the abrasion of the motion device is also reduced. Taking fig. 3 as an example, the speed planning process is: the method comprises the steps of performing speed planning on a track from a first track starting point to a position where a speed of a point B1 is located, performing a uniform acceleration stage and a uniform speed stage with the starting speed of 0, performing speed planning on a track from the position where the speed of a point B1 is located to the position where the speed of a point A2 is located, performing the uniform acceleration stage, performing speed planning on a track from the position where the speed of a point A2 is located to the position where the speed of a point B2 is located, performing the uniform speed stage, performing speed planning on a track from the position where the speed of a point B2 is located to the position where the speed of a point A3 is located, performing the uniform deceleration stage, performing speed planning on a track from the position where the speed of a point A3 is located to a third section track end point, and performing the uniform deceleration stage, wherein the end point speed is 0. Therefore, compared with the process that each stage needs to be stopped when the continuous track is planned in fig. 1 and then the process of the next stage is started, the speed planning curve of the multi-stage track in fig. 3 is continuous and is kept to run at a high speed, and the speed planning curve is stopped only in the initial stage and the final stage, so that the utilization efficiency of the speed can be improved.
As shown in fig. 6, in an embodiment, a speed planning apparatus is provided, which may specifically include a first obtaining module 602, a second obtaining module 604, and a third speed planning module 606.
A first obtaining module 606, configured to obtain a first position and a first speed outside an endpoint of the first trajectory, where the first speed is a speed of the first position when the first trajectory is subjected to speed planning;
a second obtaining module 604, configured to obtain a second position and a second speed outside an endpoint of a second trajectory, where the second speed is a speed of the second position when the second trajectory is subjected to speed planning, and the first trajectory and the second trajectory are connected to each other and are continuous trajectories;
a third speed planning module 606, configured to perform speed planning on a speed of an original trajectory of a moving device between a first position and a second position by using the first speed as a starting speed and the second speed as an ending speed, so that the moving device moves from the first position to the second position on the original trajectory according to the planned speed.
In one embodiment, as shown in fig. 7, the third velocity planning module 606 may include a length acquisition unit 702, an acceleration information determination unit 704, and a trajectory velocity planning unit 706.
A length obtaining unit 702, configured to obtain a track length of an original track between a first position and a second position according to the first position and the second position;
an acceleration information determining unit 704, configured to obtain third acceleration information of an original trajectory of the exercise device between the first position and the second position according to the first speed, the second speed, the trajectory length, and an acceleration calculation method corresponding to the third speed specification;
and a track speed planning unit 706, configured to use the first speed as a start speed, use the second speed as an end speed, and plan a speed of an original track of the motion device between the first position and the second position according to the track length and the third acceleration information.
In an embodiment, if the first trajectory is a start trajectory of a plurality of continuous trajectories, as shown in fig. 8, the speed planning apparatus may further include a first speed planning module 802, configured to plan a speed of the moving apparatus between the start point and the first position of the first trajectory according to a desired speed of the first trajectory, a length of the first trajectory, the first acceleration information, and a first speed planning rule, where the first speed planning module is configured to set a first starting point speed to 0 and a first ending point speed to a first speed.
In one embodiment, as shown in fig. 9, when the second trajectory is a final trajectory of a plurality of continuous trajectories, the speed planning apparatus may further include a second speed planning module 902: and the speed planning module is used for performing speed planning on the speed of the motion device between the second position and the end point of the second track according to the expected speed of the second track, the length of the second track, the second acceleration information and a second speed planning rule, wherein the second starting point speed is used as the second speed, and the second end point speed is 0.
Fig. 10 is a diagram showing an internal structure of a computer device in one embodiment, and the computer device is connected with a processor, a nonvolatile storage medium, an internal memory, and a network interface through a system connection bus. Wherein the non-volatile storage medium of the computer device may store an operating system and computer readable instructions that, when executed, may cause the processor to perform a speed planning method. The processor of the computer device is used for providing calculation and control capability and supporting the operation of the whole computer device. The internal memory may have stored therein computer readable instructions that, when executed by the processor, cause the processor to perform a speed planning method. The network interface of the computer device is used for network communication. Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the speed planning apparatus provided in the present application may be implemented in a form of a computer program, the computer program may be run on a computer device as shown in fig. 10, and the non-volatile storage medium of the computer device may store various program modules constituting the speed planning apparatus, such as the first obtaining module 602, the second obtaining module 604, and the third speed planning module 606 in fig. 6. Each program module includes computer readable instructions for causing a computer device to execute the steps in the speed planning method according to each embodiment of the present application described in this specification, for example, the computer device may obtain, by a first obtaining module 606 as shown in fig. 6, a first position and a first speed outside an end point of a first trajectory, the first speed being a speed of the first position when the first trajectory is subjected to speed planning, obtain, by a second obtaining module 604, a second position and a second speed outside an end point of a second trajectory, the second speed being a speed of the second position when the second trajectory is subjected to speed planning, perform speed planning on a speed of an original trajectory of a moving apparatus between the first position and the second position by a third speed planning module 606, with the first speed being a starting speed and the second speed being an ending speed, so that the moving apparatus moves from the first position to the second position on the original trajectory according to the planned speed And (4) placing.
In one embodiment, a computer device is proposed, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring a first position and a first speed outside an end point of a first track, wherein the first speed is the speed of the first position when the first track is subjected to speed planning; acquiring a second position and a second speed outside an end point of a second track, wherein the second speed is the speed of the second position when the second track is subjected to speed planning, and the first track and the second track are connected continuous tracks; and planning the speed of an original track of the motion device between a first position and a second position by taking the first speed as a starting speed and the second speed as an end speed, so that the motion device moves from the first position to the second position on the original track according to the planned speed.
In one embodiment, the first position is any position from the acceleration turning point to the position before the end point of the first trajectory when the first trajectory performs speed planning, and/or the second position is any position from the start point of the second trajectory to the deceleration turning point of the second trajectory when the second trajectory performs speed planning.
In one embodiment, the first position is a deceleration turning point when the first trajectory is subjected to speed planning and/or the second position is an acceleration turning point when the second trajectory is subjected to speed planning.
In one embodiment, the processor, when executing the computer readable instructions, is configured to plan the speed of the original trajectory of the motion device between the first position and the second position with a first speed as a starting speed and a second speed as an ending speed, including: acquiring the track length of an original track between the first position and the second position according to the first position and the second position; acquiring third acceleration information of an original track of the motion device between the first position and the second position according to the first speed, the second speed, the track length and an acceleration calculation method corresponding to a third speed specification; and planning the speed of the original track of the motion device between the first position and the second position according to the track length and the third acceleration information by taking the first speed as a starting speed and the second speed as an end speed.
In one embodiment, the third speed planning rule is that the motion device performs uniform acceleration motion on an original track between the first position and the second position; alternatively, the third speed programming rule is that the moving device performs a variable acceleration movement on an original trajectory between the first position and the second position.
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of: when the first track is a starting track of a plurality of sections of continuous tracks, taking a first starting point speed as 0 and a first end point speed as a first speed, and carrying out speed planning on the track of the motion device between the starting point of the first track and the first position according to the expected speed of the first track, the length of the first track, the first acceleration information and a first speed planning rule; and/or when the second track is the final track of the multiple continuous tracks, taking the second starting point speed as the second speed and the second end point speed as 0, and performing speed planning on the track of the motion device between the second position and the end point of the second track according to the expected speed of the second track, the length of the second track, the second acceleration information and a second speed planning rule.
In one embodiment, a storage medium is provided that stores computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of: acquiring a first position and a first speed outside an end point of a first track, wherein the first speed is the speed of the first position when the first track is subjected to speed planning; acquiring a second position and a second speed outside an end point of a second track, wherein the second speed is the speed of the second position when the second track is subjected to speed planning, and the first track and the second track are connected continuous tracks; and planning the speed of an original track of the motion device between a first position and a second position by taking the first speed as a starting speed and the second speed as an end speed, so that the motion device moves from the first position to the second position on the original track according to the planned speed.
In one embodiment, the first position is any position from the acceleration turning point to the position before the end point of the first trajectory when the first trajectory performs speed planning, and/or the second position is any position from the start point of the second trajectory to the deceleration turning point when the second trajectory performs speed planning.
In one embodiment, the first position is a deceleration turning point when the first trajectory is subjected to speed planning and/or the second position is an acceleration turning point when the second trajectory is subjected to speed planning.
In one embodiment, the processor, when executing the computer readable instructions, is configured to plan the speed of the original trajectory of the motion device between the first position and the second position with a first speed as a starting speed and a second speed as an ending speed, including: acquiring the track length of an original track between the first position and the second position according to the first position and the second position; acquiring third acceleration information of an original track of the motion device between the first position and the second position according to the first speed, the second speed, the track length and an acceleration calculation method corresponding to a third speed specification; and planning the speed of the original track of the motion device between the first position and the second position according to the track length and the third acceleration information by taking the first speed as a starting speed and the second speed as an end speed.
In one embodiment, the third speed planning rule is that the motion device performs uniform acceleration motion on an original track between the first position and the second position; alternatively, the third speed programming rule is that the moving device performs a variable acceleration movement on an original trajectory between the first position and the second position.
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of: when the first track is a starting track of a plurality of sections of continuous tracks, taking a first starting point speed as 0 and a first end point speed as a first speed, and carrying out speed planning on the track of the motion device between the starting point of the first track and the first position according to the expected speed of the first track, the length of the first track, the first acceleration information and a first speed planning rule; and/or when the second track is the final track of the multiple continuous tracks, taking the second starting point speed as the second speed and the second end point speed as 0, and performing speed planning on the track of the motion device between the second position and the end point of the second track according to the expected speed of the second track, the length of the second track, the second acceleration information and a second speed planning rule.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of speed planning, the method comprising:
acquiring a first position and a first speed outside an end point of a first track, wherein the first speed is the speed of the first position when the first track is subjected to speed planning;
acquiring a second position and a second speed outside an end point of a second track, wherein the second speed is the speed of the second position when the second track is subjected to speed planning, and the first track and the second track are connected continuous tracks;
speed planning is carried out on the speed of an original track of the motion device between a first position and a second position by taking the first speed as a starting speed and the second speed as an end speed, so that the motion device continuously moves from the first position to the second position on the original track according to the planned speed; and planning the speed according to the magnitude relation of the first speed and the second speed.
2. The method according to claim 1, wherein the first position is any position from the acceleration turning point to the position before the end point of the first trajectory when the first trajectory is subjected to the velocity planning and/or the second position is any position from the start point of the second trajectory to the deceleration turning point when the second trajectory is subjected to the velocity planning.
3. The method according to claim 1, wherein the first position is a turning point for deceleration when the first trajectory is speed planned and/or the second position is a turning point for acceleration when the second trajectory is speed planned.
4. The method of claim 1, wherein the step of velocity planning the velocity of the original trajectory of the motion device between the first position and the second position with the first velocity as a starting velocity and the second velocity as an ending velocity comprises:
acquiring the track length of an original track between the first position and the second position according to the first position and the second position;
acquiring third acceleration information of an original track of the motion device between the first position and the second position according to the first speed, the second speed, the track length and an acceleration calculation method corresponding to a third speed specification;
and planning the speed of the original track of the motion device between the first position and the second position according to the track length and the third acceleration information by taking the first speed as a starting speed and the second speed as an end speed.
5. The method of claim 4, wherein the third speed planning rule is that the motion device performs a uniform acceleration motion on an original trajectory between the first and second positions; or
The third speed planning rule is that the motion device performs variable acceleration motion on an original track between the first position and the second position.
6. The method of claim 1, further comprising:
when the first track is a starting track of a plurality of sections of continuous tracks, taking a first starting point speed as 0 and a first end point speed as the first speed, and carrying out speed planning on the track of the motion device between the starting point of the first track and a first position according to the expected speed of the first track, the length of the first track, first acceleration information and a first speed planning rule;
and/or
And when the second track is the final track of the multiple continuous tracks, taking a second starting point speed as the second speed and a second end point speed as 0, and performing speed planning on the track of the motion device between the second position and the end point of the second track according to the expected speed of the second track, the length of the second track, second acceleration information and a second speed planning rule.
7. A speed planning apparatus, characterized in that the apparatus comprises:
the first obtaining module is used for obtaining a first position and a first speed outside an end point of a first track, wherein the first speed is the speed of the first position when the first track is subjected to speed planning;
a second obtaining module, configured to obtain a second position and a second speed outside an endpoint of a second trajectory, where the second speed is a speed of the second position when the second trajectory is subjected to speed planning, and the first trajectory and the second trajectory are connected to each other and are continuous trajectories;
a third speed planning module, configured to perform speed planning on a speed of an original trajectory of a motion device between a first position and a second position by using the first speed as a start speed and the second speed as an end speed, so that the motion device continuously moves from the first position to the second position on the original trajectory according to the planned speed; and planning the speed according to the magnitude relation of the first speed and the second speed.
8. The apparatus of claim 7, wherein the third velocity planning module comprises:
the length acquiring unit is used for acquiring the track length of the original track between the first position and the second position according to the first position and the second position;
the acceleration information determining unit is used for acquiring third acceleration information of an original track of the motion device between the first position and the second position according to the first speed, the second speed, the track length and an acceleration calculation method corresponding to a third speed planning rule;
and the track speed planning unit is used for planning the speed of an original track of the motion device between the first position and the second position according to the track length and the third acceleration information by taking the first speed as a starting point speed and the second speed as an end point speed.
9. A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to carry out the steps of the speed planning method according to any of claims 1 to 6.
10. A storage medium having stored thereon computer-readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the speed planning method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710557918.XA CN107368639B (en) | 2017-07-10 | 2017-07-10 | Speed planning method, speed planning device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710557918.XA CN107368639B (en) | 2017-07-10 | 2017-07-10 | Speed planning method, speed planning device, computer equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107368639A CN107368639A (en) | 2017-11-21 |
| CN107368639B true CN107368639B (en) | 2021-06-08 |
Family
ID=60306058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710557918.XA Active CN107368639B (en) | 2017-07-10 | 2017-07-10 | Speed planning method, speed planning device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107368639B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015775A (en) * | 2017-12-25 | 2018-05-11 | 上海物景智能科技有限公司 | The method for control speed and system of a kind of robot |
| EP3556521B1 (en) * | 2018-04-18 | 2023-05-24 | B&R Industrial Automation GmbH | Brake path monitoring of a kinematic |
| CN110442086A (en) * | 2018-05-02 | 2019-11-12 | 深圳市优必选科技有限公司 | A kind of robot and its method of movement switching |
| CN108628259B (en) * | 2018-07-12 | 2021-03-12 | 贵阳合众精密机械制造有限公司 | Acceleration and deceleration movement control method for rigid tapping of drilling and tapping center |
| CN109048091B (en) * | 2018-07-17 | 2020-12-25 | 大族激光科技产业集团股份有限公司 | Laser cutting speed planning method and device, storage medium and computer equipment |
| CN109108965B (en) * | 2018-07-27 | 2021-07-23 | 武汉精锋微控科技有限公司 | Cartesian space motion prediction method applied to mechanical arm |
| CN109129470B (en) * | 2018-08-02 | 2021-07-09 | 深圳市智能机器人研究院 | Planning method and system for linear path of robot |
| CN109227547B (en) * | 2018-11-01 | 2020-08-04 | 珠海格力电器股份有限公司 | Robot operation control method and device, storage medium and robot |
| CN111376949B (en) * | 2018-12-29 | 2022-02-15 | 交控科技股份有限公司 | Method for calculating adjustment speed of ATO quasi-point curve |
| CN109765851B (en) * | 2019-02-15 | 2021-02-05 | 大族激光科技产业集团股份有限公司 | Method and device for calculating speed of track motion, storage medium and computer equipment |
| CN112327756B (en) * | 2020-11-19 | 2021-08-17 | 杭州爱科科技股份有限公司 | Flexible material track data processing method, device, equipment and storage medium |
| CN112947423A (en) * | 2021-01-29 | 2021-06-11 | 深圳市银星智能科技股份有限公司 | Cleaning path planning method, mobile robot and storage medium |
| CN114035513A (en) * | 2021-09-28 | 2022-02-11 | 苏州谋迅智能科技有限公司 | S-shaped speed curve look-ahead planning method and device, storage medium and computing device |
| CN113894796B (en) * | 2021-11-24 | 2022-12-13 | 伯朗特机器人股份有限公司 | Mechanical arm multi-joint track time synchronization method based on trapezoidal programming |
| CN114217573B (en) * | 2021-12-10 | 2023-12-29 | 江苏集萃智能制造技术研究所有限公司 | Speed look-ahead control method |
| CN114434241B (en) * | 2021-12-30 | 2023-06-02 | 西门子（中国）有限公司 | Method and device for controlling movement of cross beam of stone mill, electronic equipment and storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| UA77662C2 (en) * | 2000-10-10 | 2007-01-15 | Dbt America Inc | Automated continuous haulage apparatus |
| CN102004466B (en) * | 2010-10-25 | 2012-05-09 | 武汉华中数控股份有限公司 | Method for compensating numerical control machine processing dynamic error based on instruction sequence analysis |
| CN102298359B (en) * | 2011-06-18 | 2012-11-14 | 山东大学 | Method for controlling acceleration and deceleration in numerical control system to transit smoothly |
| CN103699056B (en) * | 2013-12-02 | 2016-06-01 | 嘉兴学院 | The little line segment real-time smooth transition interpolation method of high-speed, high precision digital control processing |
-
2017
- 2017-07-10 CN CN201710557918.XA patent/CN107368639B/en active Active
Non-Patent Citations (2)
| Title |
|---|
| Novel Online Speed Profile Generation for Industrial Machine Tool Based on Flexible Neuro-Fuzzy Approximation;Leszek Rutkowski等;《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》;20120229;第59卷(第2期);第1238-1247页 * |
| 基于连续捷度的进给速度规划算法研究;吴继春 等;《中国机械工程》;20110731;第22卷(第13期);第1584-1587页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107368639A (en) | 2017-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107368639B (en) | Speed planning method, speed planning device, computer equipment and storage medium | |
| CN108549328B (en) | Self-adaptive speed planning method and system | |
| CN107850887B (en) | S-shaped curve planning method and device and numerical control machine tool | |
| JP5343081B2 (en) | Jerk limited trajectory planning system and method for path planner | |
| CN106444762B (en) | Automatic guided transport vehicle AGV and motion control method and device | |
| EP2022608B1 (en) | Improved blending algorithm for trajectory planning | |
| CN107844058B (en) | Motion curve discrete dynamic planning method | |
| US20180088551A1 (en) | Curve velocity planning method, device, and numerical control machining route data processing method thereof | |
| US8843230B2 (en) | Machining time predicting apparatus of numerically controlled machine tool | |
| WO2018126967A1 (en) | Method and device for planning and controlling velocity of shuttle, and shuttle | |
| CN111727411B (en) | Equipment motion control method, equipment and storage device | |
| CN110109491A (en) | Continuous S curve acceleration and deceleration motion control method, system and electronic equipment | |
| EP3486612A1 (en) | Method for generating a trajectory | |
| CN104898577B (en) | S-shaped curve speed planning method and device, numerical control method and numerical control machine tool | |
| CN102540978A (en) | High-speed processing-oriented surface quality preferred spline real-time interpolation method | |
| US10719060B2 (en) | Method for optimizing motion profiles, computer program product, control device and installation or robot | |
| CN114077226A (en) | S-shaped curve speed planning method, control terminal and computer readable storage medium | |
| CN108646674A (en) | Position S type smoothing instructions production method, system and electronic equipment | |
| CN113495531A (en) | Method and device for controlling speed of numerical control model, computer equipment and storage medium | |
| CN109313429B (en) | S-shaped speed planning method, device and system, robot and numerical control machine | |
| CN102566496B (en) | Feeding speed dynamic real-time look-ahead control method suitable for numerical control device | |
| CN116330299B (en) | Industrial robot compliant motion control method based on acceleration smoothing | |
| CN107850885B (en) | Trajectory determination method for non-productive time motion | |
| CN111381565B (en) | Acceleration recursive calculation limiting method for cubic polynomial S curve acceleration and deceleration | |
| CN110815219B (en) | Trajectory tracking method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |