CN107671859B - Moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration - Google Patents

Abstract

The present invention relates to a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration, this method includes：The target object initial position and tracks of device initial position of synchronization are obtained, the engagement point position of predicting tracing device tracking to target object builds geometrical model；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, evaluation work region initiation parameter；Judge target object running orbit and tracks of device initial positional relationship, determines the tracks of device working region that target object running orbit passes through；The dynamic tracking equations in tracks of device different operating region are built according to geometrical model respectively, and dynamic tracking equations are solved based on the most short principle of overall time, are tracked into Mobile state.The present invention makes full use of the working space of robot, based on the workpiece on time shortest principle dynamic tracking conveyer belt, has good dynamic property and crawl efficiency.

Description

Moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration

Technical field

The invention belongs to the technical fields of Computerized digital control system motion control, are added based on S curve more particularly, to one kind Moving target Dynamic Tracking, system and the device of deceleration.

Background technology

One common application field of robot is the tracking of moving target, realizes such as crawl, packaging, sorting application. For example, in robot sortings, DELTA parallel manipulators are applied to vision sorting system, production efficiency can be significantly improved, Enhance the adaptive capacity to environment of robot.But an efficient, rational grasp mode is vision sorting system normal work Premise.

The device that typical vision sorting system includes mainly has：Robot, line conveyor, vision system and workpiece. With constant speed from updrift side toward downstream direction linear transmission, vision system is located above conveyer belt conveyer belt, uses vision System positions the workpiece on linear transmission band.In conveyer belt operational process, work of the vision system detection in shooting area The location information of workpiece in shooting area is shot and is recorded by part, vision system, and location information is passed to controller, control Device transfers data to robot, and robot analyzes location of workpiece data and predict crawl position, realizes and is accurately positioned, Programming movement track, the corresponding such as dynamic of completion capture action immediately for robot.Conventionally employed fixed point waits for the mode of crawl, The working space of robot cannot be made full use of, it is difficult to improve sorting efficiency.

In existing method, Chinese patent document (application number 201010184309.2) is proposed according to workpiece in conveyer belt On distribution density adjust the control thought of line speed, to ensure that robot is always in most fast grasp speed state, And simple theory analysis has been carried out, but this method realizes more difficulty, and do not meet the production required to productive temp Process.

Chinese patent document (application number 201610222488.1) proposition uses modified trapezoid algorithm to be added and subtracted as robot The short-cut counting method, due to the irrationality of modified trapezoid algorithm temporal distribution, causes it short although the algorithm calculates simply Movement in time has jumping characteristic, and the feature of long range athletic performance weakness, dynamic characteristic is insufficient, it is difficult to ensure efficient Crawl.

In conclusion for the prior art, how further effectively dynamic pursuit movement target and raising tracks efficiency Problem still lacks effective solution scheme.

Invention content

For the deficiencies in the prior art, solve how effective dynamic pursuit movement target and to carry in the prior art The problem of height tracking efficiency, the moving target Dynamic Tracking that the present invention provides a kind of based on S curve acceleration and deceleration, system and Device effectively realizes the dynamic following of moving target, makes full use of the working space of tracks of device, is based on time shortest principle Dynamic pursuit movement target has good dynamic property and tracking efficiency.

The first object of the present invention is to provide a kind of moving target Dynamic Tracking based on S curve acceleration and deceleration.

To achieve the goals above, the present invention is using a kind of following technical solution：

A kind of moving target Dynamic Tracking based on S curve acceleration and deceleration, this method include：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to mesh The engagement point position of object is marked, geometrical model is built；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, meter Calculate working region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines what target object running orbit passed through Tracks of device working region；The dynamic tracking equations in tracks of device different operating region, and base are built according to geometrical model respectively Dynamic tracking equations are solved in the most short principle of overall time, are tracked into Mobile state.

In the present invention, the working space for making full use of tracks of device goes out tracking according to S curve acceleration and deceleration algorithm partition and fills Different working regions is set, the different motion conditions of the tracks of device embodied according to S type rate curves analyze tracks of device one by one Working region recalculate determination before dynamic tracks since the initial position of tracks of device before every secondary tracking may be different Working region parameter ensures the accuracy of dynamic tracking；Target object running orbit is different from tracks of device position relationship, passes through Tracks of device working region difference, judge target object running orbit and tracks of device position relationship, determine target object At least one tracks of device working region that running orbit passes through determines the value range and structure tracks of device of required variable The corresponding dynamic tracking equations in different operating region solve dynamic tracking equations and realize dynamic following, improve dynamic property respectively With crawl efficiency.

The present invention makes full use of the working space of tracks of device, based on the shortest principle dynamic tracking conveyer belt of overall time On workpiece, have good dynamic property and crawl efficiency.

Scheme as a further preference, the tracks of device track to the tracking process operation rail of target object engagement point Mark is door shape track, wherein the horizontal movement stage during tracking adds and subtracts the short-cut counting method using S curve, and will track process In horizontal movement divided stages tracks of device working region.

Scheme as a further preference, it is assumed that the initial velocity of S curve is more than tip speed, the work of the tracks of device Make region according to S type rate curves are with the presence or absence of even accelerating sections, even braking section and/or at the uniform velocity section exists in the S curve plus-minus short-cut counting method Horizontal plane divides tracking process.

Scheme as a further preference, the working region of the tracks of device include tracks of device initial position by introversion The first working region, the second working region, third working region and the 4th working region of external radiation；

First working region is that there is no even accelerating sections, even braking sections and at the uniform velocity for the S type rate curves of tracks of device The working region of section；

Second working region be tracks of device S types rate curve there are even braking section, there is no even accelerating sections and The at the uniform velocity working region of section；

The third working region be tracks of device S types rate curve there are even accelerating sections and even braking section, be not present The at the uniform velocity working region of section；

4th working region is that the S type rate curves of tracks of device have at the uniform velocity section and/or even accelerating sections, even deceleration The working region of section.

In the present invention, S type rate curves in the short-cut counting method are added and subtracted according to S curve and whether there is even accelerating sections, even braking section And/or at the uniform velocity section divides tracking process in horizontal plane, the working space of tracks of device is divided in detail, fully Using the working space of tracks of device, to improve tracking efficiency.

Scheme as a further preference, the working region initiation parameter include working region radius；

The working region radius is displacement when tracks of device is moved to the working region peripheral boundary by initial position, Including the first working region radius, the second working region radius, third working region radius and the 4th working region radius.

Scheme as a further preference, the judgement target object running orbit and tracks of device initial positional relationship, Determine target object running orbit pass through tracks of device working region the specific steps are：

If target object running orbit is less than the first working region radius, object with tracks of device initial position distance Running body track pass through tracks of device working region be followed successively by the 4th working region, third working region, the second working region, First working region, the second working region, third working region and the 4th working region；

If target object running orbit is more than the first working region radius with tracks of device initial position distance and is less than second Working region, then the tracks of device working region that target object running orbit passes through are followed successively by the 4th working region, third work Region, the second working region, third working region and the 4th working region；

If target object running orbit is more than the second working region radius with tracks of device initial position distance and is less than third Working region radius, then the tracks of device working region that target object running orbit passes through are followed successively by the 4th working region, third Working region and the 4th working region；

If target object running orbit is more than third working region radius with tracks of device initial position distance and is less than the 4th Working region radius, then the tracks of device working region that target object running orbit passes through are the 4th working region.

Scheme as a further preference, the specific step that dynamic tracking equations are solved based on the most short principle of overall time Suddenly it is：

The dynamic tracking equations for the tracks of device working region that target object running orbit passes through are solved successively,

If the dynamic tracking equations for the tracks of device working region passed through have solution, for the phase of tracks of device and target object Point is met, is tracked into Mobile state；

Otherwise, continue to solve the dynamic tracking equations of the tracks of device working region of next process；

If the dynamic tracking equations for the tracks of device working region that all target object running orbits pass through without solution, terminate Tracking.

Numerical analysis or object can be used in the dynamic tracking equations of scheme as a further preference, tracks of device working region Reason model is solved；

The method for solving of the physical model the specific steps are：

The physical model of tracks of device and target object is established, according to tracks of device to target object in the physical model Target object running orbit is divided into top half and lower half portion by running orbit intersection point；

Displacement is established according to the operation physical significance of tracks of device and target object to top half and lower half portion respectively Temporal image solves dynamic tracking equations.

In the present invention, dynamic tracking equations, the list of analystal section are solved using the Mathematical method of numerical analysis merely The distribution of tonality and solution is computationally intensive, and more difficult analysis；In order to analyze the uniqueness solved in its section, using based on practical work The mode that the physical model that condition simplifies is combined with mathematical displacement temporal image quickly, intuitively analyzes dynamic tracking equations There is solution, and then solves dynamic tracking equations.

The second object of the present invention is to provide a kind of computer readable storage medium.

To achieve the goals above, the present invention is using a kind of following technical solution：

A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device Reason device loads and executes following processing：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to mesh The engagement point position of object is marked, geometrical model is built；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, meter Calculate working region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines what target object running orbit passed through Tracks of device working region；The dynamic tracking equations in tracks of device different operating region, and base are built according to geometrical model respectively Dynamic tracking equations are solved in the most short principle of overall time, are tracked into Mobile state.

The third object of the present invention is to provide a kind of moving target dynamic tracking apparatus based on S curve acceleration and deceleration.

To achieve the goals above, the present invention is using a kind of following technical solution：

A kind of moving target dynamic tracking apparatus based on S curve acceleration and deceleration, using computing terminal equipment, including processor And computer readable storage medium, processor is for realizing each instruction；Computer readable storage medium is used to store a plurality of instruction, Described instruction is suitable for being loaded by processor and executing following processing：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to mesh The engagement point position of object is marked, geometrical model is built；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, meter Calculate working region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines what target object running orbit passed through Tracks of device working region；The dynamic tracking equations in tracks of device different operating region, and base are built according to geometrical model respectively Dynamic tracking equations are solved in the most short principle of overall time, are tracked into Mobile state.

The fourth object of the present invention is to provide a kind of moving target dynamic tracking system based on S curve acceleration and deceleration.

To achieve the goals above, the present invention is using a kind of following technical solution：

A kind of moving target dynamic tracking system based on S curve acceleration and deceleration, including：

Target object and target object parameter acquisition devices, the target object parameter acquisition devices are for acquiring object The parameter of body includes the position and speed of target object, and the parameter of target object is transmitted to the fortune based on S curve acceleration and deceleration Moving-target dynamic tracking apparatus；

Tracks of device and tracks of device parameter acquisition devices, the tracks of device are described for dynamically tracking target object Tracks of device parameter acquisition devices are used to acquire the parameter of tracks of device, include the position and speed of tracks of device, and will tracking The parameter of device is transmitted to the moving target dynamic tracking apparatus based on S curve acceleration and deceleration；

Moving target dynamic tracking apparatus based on S curve acceleration and deceleration, is used for：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to mesh The engagement point position of object is marked, geometrical model is built；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, meter Calculate working region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines what target object running orbit passed through Tracks of device working region；The dynamic tracking equations in tracks of device different operating region, and base are built according to geometrical model respectively Dynamic tracking equations are solved in the most short principle of overall time, are tracked into Mobile state.

Beneficial effects of the present invention：

1, a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration of the present invention, fill Divide the working space using tracks of device, the different working region of tracks of device is gone out according to S curve acceleration and deceleration algorithm partition, according to The different motion conditions of tracks of device that S type rate curves embody analyze the working region of tracks of device one by one, due to every time with The initial position of tracks of device may be different before track, recalculate determining working region parameter before dynamic tracks, ensure dynamic The accuracy of tracking；And it ensure that tracks of device moves as the plus-minus short-cut counting method of tracks of device using the S curve plus-minus short-cut counting method Continuity, be suitble to relatively long distance movement；

2, a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration of the present invention, root Different from tracks of device position relationship according to target object running orbit, the difference of the tracks of device working region of process judges mesh Object running orbit and tracks of device position relationship are marked, determines at least one tracks of device that target object running orbit passes through Working region determines the value range of required variable dynamic tracking equations corresponding with structure tracks of device different operating region, Dynamic tracking equations are solved respectively and realize dynamic following, improve dynamic property and crawl efficiency；

3, a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration of the present invention, root According to S type rate curves in the S curve plus-minus short-cut counting method are with the presence or absence of even accelerating sections, even braking section and/or at the uniform velocity section is incited somebody to action in horizontal plane Tracking process is divided, and the working space of tracks of device is divided in detail, makes full use of the work of tracks of device empty Between, to improve tracking efficiency；

4, a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration of the present invention are The uniqueness for analyzing solution in its section, is mutually tied using the physical model simplified based on actual condition and mathematical displacement temporal image The mode of conjunction, quickly, intuitively analysis dynamic tracking equations has solution, and then solves dynamic tracking equations.

Description of the drawings

The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.

Fig. 1 is the method flow diagram in the present invention；

Fig. 2 is the geometrical model schematic diagram in the present invention；

Fig. 3 is seven sections of S-shaped acceleration and deceleration curves schematic diagram in the present invention；

Fig. 4 is the working space subregion schematic diagram in the present invention；

Fig. 5 is the solution of equation physical analysis model schematic of embodiment 2 in the present invention；

Fig. 6 is top half t-S curve schematic diagram of embodiment 2 in the present invention；

Fig. 7 is lower half portion t-S curve schematic diagram of embodiment 2 in the present invention；

Fig. 8 is the specific implementation procedure schematic diagram of algorithm in the present invention.

Specific implementation mode：

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

It is noted that described further below be all exemplary, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms that the present embodiment uses have and the application person of an ordinary skill in the technical field Normally understood identical meanings.

It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.

For the deficiencies in the prior art, solve how effective dynamic pursuit movement target and to carry in the prior art The problem of height tracking efficiency, the moving target Dynamic Tracking that the present invention provides a kind of based on S curve acceleration and deceleration, system and Device effectively realizes the dynamic following of moving target, makes full use of the working space of tracks of device, is based on time shortest principle Dynamic pursuit movement target has good dynamic property and tracking efficiency.

In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.It ties below Closing attached drawing, the invention will be further described with embodiment.

Embodiment 1：

The purpose of the present embodiment 1 is to provide a kind of moving target Dynamic Tracking based on S curve acceleration and deceleration.

To achieve the goals above, the present invention is using a kind of following technical solution：

As shown in Figure 1,

A kind of moving target Dynamic Tracking based on S curve acceleration and deceleration, this method include：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to mesh The engagement point position of object is marked, geometrical model is built；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, meter Calculate working region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines what target object running orbit passed through Tracks of device working region；The dynamic tracking equations in tracks of device different operating region, and base are built according to geometrical model respectively Dynamic tracking equations are solved in the most short principle of overall time, are tracked into Mobile state.

In the present invention, the working space for making full use of tracks of device goes out tracking according to S curve acceleration and deceleration algorithm partition and fills Different working regions is set, the different motion conditions of the tracks of device embodied according to S type rate curves analyze tracks of device one by one Working region recalculate determination before dynamic tracks since the initial position of tracks of device before every secondary tracking may be different Working region parameter ensures the accuracy of dynamic tracking；Target object running orbit is different from tracks of device position relationship, passes through Tracks of device working region difference, judge target object running orbit and tracks of device position relationship, determine target object At least one tracks of device working region that running orbit passes through determines the value range and structure tracks of device of required variable The corresponding dynamic tracking equations in different operating region solve dynamic tracking equations and realize dynamic following, improve dynamic property respectively With crawl efficiency.

The present invention makes full use of the working space of tracks of device, based on the shortest principle dynamic tracking conveyer belt of overall time On workpiece, have good dynamic property and crawl efficiency.

In the present embodiment to the movement based on S curve acceleration and deceleration by taking DELTA parallel manipulator vision sorting systems as an example Target dynamic tracking is described in detail, and in DELTA parallel manipulator vision sorting systems, target object, that is, workpiece is put It is placed on the conveyer belt of linear uniform motion, first position harvester is set above conveyer belt, industry is used in the present embodiment Camera can also be used well known to a person skilled in the art the location information of workpiece on other positions harvester acquisition conveyer belt, DELTA parallel manipulators are set to conveyer belt side, are believed using DELTA parallel manipulators terminal position as tracks of device position Breath, keeps tracking accurate.DELTA is acquired using the positioning device carried in second position harvester or DELTA parallel manipulators Parallel manipulator terminal position.

In the present embodiment, DELTA parallel manipulators distal point is run by set-point to the road of the crawl point of grabbing workpiece Diameter is door shape track, and the wherein horizontal movement stage adds and subtracts the short-cut counting method, definition using S curve：S type rate curves play spot speed v_s, terminal velocity v_e, command speed v_com, acceleration limitation a_lim, acceleration limitation j_lim, when seven sections of S types rate curve is run Between be respectively t₁,t₂,t₃,t₄,t₅,t₆,t₇, door shape track both sides vertical and straight movement total time t', when the movement of door shape track is total Between t, line speed v_{It passes}, wherein door shape track moves total time t：

T=t₁+t₂+t₃+t₄+t₅+t₆+t₇+t’ (1)

Moving target Dynamic Tracking based on S curve acceleration and deceleration the specific steps are：

Step (1)：The workpiece initial position and DELTA parallel manipulators end initial position of synchronization are obtained, wherein Workpiece initial position is D (x_d,y_d), DELTA parallel manipulators end initial position is E (x_e,y_e)；It is built by geometrical relationship Model, DELTA parallel manipulator distal points track to the engagement point position F (x of workpiece_f,y_f), geometrical model is built, such as Fig. 2 institutes Show.

It is obtained according to the geometrical relationship of geometrical model,

Wherein, x_eFor DELTA parallel manipulators end initial position abscissa, y_dFor workpiece initial position abscissa, L_DE For horizontal distance of the DELTA parallel manipulators end initial position away from workpiece initial position, L_DFFor workpiece initial position to workpiece Prediction is crawled the displacement of position, L_EFThe water of position is crawled to part prediction for DELTA parallel manipulators end initial position Prosposition moves.

Step (2)：The motor pattern of S type rate curves in the short-cut counting method is added and subtracted by the level during tracking according to S curve Motion stage divides the working region of tracks of device.

It is illustrated in figure 3 seven sections of S types displacement curve, rate curve, accelerating curve and jerk curve, traditional S Type curve includes 7 sections, and accelerating sections, even accelerating sections is added to subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, and even braking section subtracts deceleration segment, But wherein even accelerating sections, at the uniform velocity section and even braking section are to differ to establish a capital existing, are needed according to the practical maximum speed of accelerating sections v_max2' (corresponding speed when acceleration maximum) and command speed v_comRelationship to determine whether there are even accelerating sections, according to subtracting The maximum speed v of fast section_max1' and command speed v_comMagnitude relationship to determine whether there are even braking sections.According to accelerating sections with Braking section displacement and with total displacement magnitude relationship judges whether at the uniform velocity section.

In the present embodiment, S type rate curves in the short-cut counting method are added and subtracted in the working region of the tracks of device according to S curve is It is no there are even accelerating sections, even braking section and/or at the uniform velocity section divides tracking process in horizontal plane.It is planned and is calculated according to S curve Method does complete triangle acceleration and deceleration according to the big or small side of speed, and both sides accelerate to maximum speed v_max, and compare with Command speed v_comThe thinking of relationship divide working region.Specific steps include：

Step (2-1)：Take v_s, v_eIn a smaller side make complete triangle acceleration and deceleration, find out attainable maximum speed v_max1', if v_max1'<v_com, then displacement range radius at this time is R₁；If v_max1'>v_com, then with v_comFor maximum speed, calculate R₁；

Step (2-2)：If v_max1'<v_com, take v_s, v_eIn a larger side make complete triangle and accelerate, find out v_max2', If v_max2'<v_com, then displacement range radius at this time is R₂；If v_max2'>v_com, then with v_comFor maximum speed, R is calculated₂；

Step (2-3)：If v_max2'<v_com, with v_comEvaluation work region, radius R₃。

Step (2-4)：Its radius of the maximum working space of robot is R₄。

In this example, it is assumed that v_s>v_e, it is based on step (2-1)-step (2-3), by DELTA parallel manipulator distal points Working space be divided into four parts, and calculate the corresponding working region initiation parameter：Working region radius；The work Zone radius is displacement when tracks of device is moved to the working region peripheral boundary by initial position, including the first working region Radius R₁, the second working region radius R₂, third working region radius R₃With the 4th working region radius R₄.As shown in figure 4, its In：

The working region of the tracks of device includes the first working region that tracks of device initial position radiates from inside to outside 0-R1, second working region R1-R2, third working region R2-R3 and the 4th working region R3-R4；

First 0-R1 of working region：v_eMake complete triangle acceleration and deceleration；First working region is tracks of device There is no the working regions of even accelerating sections, even braking section and at the uniform velocity section for S type rate curves；

Second working region R1-R2：v_sMake complete triangle acceleration and deceleration；Second working region is the S of tracks of device Type rate curve there are even braking section, there is no the working regions of even accelerating sections and at the uniform velocity section；

Third working region R2-R3：Without at the uniform velocity section, maximum speed v_max；The third working region is that tracking fills The S types rate curve set there are even accelerating sections and even braking section, there is no the working regions of at the uniform velocity section；

4th working region R3-R4：v_comFor maximum speed, there is at the uniform velocity section.4th working region is tracks of device S type rate curves there is the at the uniform velocity working region of section and/or even accelerating sections, even braking section.

In the present invention, S type rate curves in the short-cut counting method are added and subtracted according to S curve and whether there is even accelerating sections, even braking section And/or at the uniform velocity section divides tracking process in horizontal plane, the working space of tracks of device is divided in detail, fully Using the working space of tracks of device, to improve tracking efficiency.

Each the method for working region structure dynamic tracking equations is respectively：

1. first 0-R1 of working region, there is no the working regions of even accelerating sections, even braking section and at the uniform velocity section；

That is v_eMake complete triangle to accelerate, maximum speed meets v_max∈[0,v_max1']；

At this point, t₂=t₄=t₆=0 (3)

Time calculating is as follows,

Therefore

According to S curve displacement computational methods, obtain：

Accelerating sections displacement

Braking section displacement

L_EF=L₁+L₂ (9)

Equation can be obtained according to geometrical relationship conversion,

L_DE ²+v_{It passes} ²t²-(L₁+L₂)²-2(x_e-x_d)v_{It passes}T=0 (10)

Formula (6)-formula (9) is substituted into formula (10), is obtained

In section v_max∈[0,v_max1'] in using Numerical Methods Solve equation (11).

2. second working region R1-R2, the S types rate curve of tracks of device there are even braking section, even accelerating sections is not present The at the uniform velocity working region of section, i.e. v_sMake complete triangle acceleration, maximum speed meets v_max∈[v_max1',v_max2']；

In v_eSide will appear time indefinite even braking section, and the specific time calculates as follows：

Then

By displacement relation, accelerating sections displacement is obtained

Braking section displacement

L_EF=L₁+L₂ (18)

Equation can be obtained according to geometrical relationship conversion,

L_DE ²+v_{It passes} ²t²-(L₁+L₂)²-2(x_e-x_d)v_{It passes}T=0 (19)

Formula (15)-formula (18) is substituted into formula (19), is obtained,

In section v_max∈[v_max1',v_max2'] in using Numerical Methods Solve equation (20).

3. third working region R2-R3, the S types rate curve of tracks of device is not there are even accelerating sections and even braking section, deposit In the working region of at the uniform velocity section；Maximum speed meets v_max∈[v_max2',v_com]；

At this point,

t₄=0 (22)

Then

According to the relationship of S curve displacement,

Geometrical relationship obtains according to fig. 2, L_EF=L₁+L₂ (28)

Equation can be obtained according to geometrical relationship conversion,

L_DE ²+v_{It passes} ²t²-(L₁+L₂)²-2(x_e-x_d)v_{It passes}T=0 (29)

Abbreviation obtains, A₃v_max ⁴+B₃v_max ³+C₃v_max ²+D₃v_max+E₃=0 (30)

Wherein,

In section v_max∈[v_max2',v_com] in using Numerical Methods Solve equation (29).

4. the 4th working region R3-R4：There is at the uniform velocity section and/or even accelerating sections, even in the S type rate curves of tracks of device The working region of braking section；That is v_comFor maximum speed, there is at the uniform velocity section.

For each time of S curve, first assume that triangle acceleration can be completed, then

If t₂>0, then t₂In the presence of；

If t₂<=0, then recalculate t₁And t₃, and t₂=0, at this point,

Similarly, if t₆>0, then t₆In the presence of；

If t₆<=0, then t₆=0, recalculate t₅And t₇, at this point,

If accelerating sections distance is L₁, braking section distance is L₂, apart from summation L ", at the uniform velocity section shifting is for accelerating sections and braking section L₃, the total time for accelerating and slowing down is t ", then

L "=L₁+L₂ (43)

T "=t₁+t₂+t₃+t₅+t₆+t₇ (44)

If t " '=t'+t ", then

L₃=v_com(t-t'-t ")=v_com(t-t”') (45)

Geometrical relationship obtains according to fig. 2, L_EF=L "+L₃ (46)

Equation can be obtained according to geometrical relationship conversion,

(L₃+L”)²+2(x_e-x_d)v_{It passes}t-v_{It passes} ²t²-L_DE ²=0 (47)

Abbreviation obtains, A₄t²+B₄+C₄=0 (48)

Wherein A₄=v_com ²-v_{It passes} ² (49)

B₄=2 (v_comL”-v_com ²t”'+(x_e-x_d)v_{It passes}) (50)

C₄=v_com ²(t”')²-2v_comL”t”'+(L”)²-L_DE ² (51)

It uses Numerical Methods Solve equation (47).

Step (3)：Judge target object running orbit and tracks of device initial positional relationship, determines that target object runs rail The tracks of device working region that mark passes through, the specific steps are：

Step (3-1)：Judge that target object running orbit works with whether tracks of device initial position distance is more than third Zone radius is less than the 4th working region radius, if target object running orbit is more than third with tracks of device initial position distance Working region radius is less than the 4th working region radius, then the tracks of device working region that target object running orbit passes through is the Four working regions；Otherwise enter in next step；

Step (3-2)：Judge whether target object running orbit is more than the second work with tracks of device initial position distance Zone radius is less than third working region radius, if target object running orbit is more than second with tracks of device initial position distance Working region radius is less than third working region radius, then the tracks of device working region that target object running orbit passes through is successively For the 4th working region, third working region and the 4th working region；Otherwise enter in next step；

Step (3-3)：Judge whether target object running orbit is more than the first work with tracks of device initial position distance Zone radius is less than the second working region, if target object running orbit is more than the first work with tracks of device initial position distance Zone radius is less than the second working region, then the tracks of device working region that target object running orbit passes through is followed successively by the 4th work Make region, third working region, the second working region, third working region and the 4th working region；Otherwise enter in next step；

Step (3-4)：Judge whether target object running orbit is less than the first work with tracks of device initial position distance Zone radius, if target object running orbit is less than the first working region radius, target with tracks of device initial position distance The tracks of device working region that object running orbit passes through is followed successively by the 4th working region, third working region, the second workspace Domain, the first working region, the second working region, third working region and the 4th working region.

Step (4)：The dynamic tracking equations in tracks of device different operating region are built according to geometrical model respectively, and are based on The most short principle of overall time solves dynamic tracking equations, is tracked into Mobile state.

Based on overall time most short principle solve dynamic tracking equations the specific steps are：

Step (4-1)：The dynamic track side for the tracks of device working region that target object running orbit passes through is solved successively Journey,

Step (4-2)：Judge whether the dynamic tracking equations for the tracks of device working region passed through have solution；

Step (4-3)：If the dynamic tracking equations for the tracks of device working region passed through have solution, for tracks of device and mesh The engagement point for marking object is tracked into Mobile state；

Otherwise, continue to solve the dynamic tracking equations of the tracks of device working region of next process；

Step (4-4)：If the dynamic tracking equations for the tracks of device working region that all target object running orbits pass through Without solution, terminate tracking.

In the present embodiment, step (3)-step (4) is described in detail in conjunction with concrete condition, as shown in figure 4, According to the relationship of the location of workpiece in Fig. 4 and S curve working range, tetra- kinds of specific positions of α, β, γ, δ are set, α situations are object Running body track is less than the first working region radius with tracks of device initial position distance, and β situations are target object running orbit It is more than the first working region radius with tracks of device initial position distance and is less than the second working region radius, γ situations is object Running body track is more than the second working region radius with tracks of device initial position distance and is less than third working region radius, δ feelings Condition is that target object running orbit is more than third working region radius less than the 4th workspace with tracks of device initial position distance Domain radius.

Step (3)-step (4) analyzes the crawl campaign of DELTA parallel manipulator distal points according to these four positions respectively Equation, i.e. its dynamic tracking equations.During crawl, the shortest target of overall time should be pursued, to realize grabbing for more multi-work piece It takes, the run duration rather than just DELTA parallel manipulator distal points is most short, is based on the principle, should make the crawl of workpiece Position as possible top.It is analyzed from the angle of workpiece uniform motion, the average crawl time of single workpiece can be reduced in this way.

Assume that tetra- kinds of situations of α, β, γ, δ all exist, i.e., discuss the equation of motion in the case of most complicated in the present embodiment Solution.

Case1：The location of workpiece is in δ situations

At this point, 4. workpiece is constantly in situation in the process of running, i.e. the 4th working region R3-R4 jumps to 4. situation It is calculated.

If equation has solution, and solution then executes crawl in working range, if without solution or solution of equation not in working range It is interior, then it abandons capturing.

Case2：The location of workpiece is in γ situations

γ situations span two kinds of S curve working region, solve the tracking dress that workpiece running orbit passes through successively The dynamic tracking equations for setting working region, the specific steps are：

Should judge the current location of workpiece first, different situation discussion is then divided to capture the time, can be divided into according to Fig. 4 with Lower situation.

1) workpiece is located at γ₁-A₃Or F₃-γ₂Between, i.e. the 4th working region R3-R4；

It should consider first in the 4th working region [R at this time₃,R₄] captured in range, computational methods with situation 4., such as Fruit can not complete to capture, then enter step 2)；

2) workpiece is located at A₃-F₃, i.e. third working region or step 1) can not complete to capture

In this case, considering in third working region without at the uniform velocity section in DELTA parallel manipulator distal point operational process [R₂,R₃] captured in range, computational methods using situation 3.；

Case3：The location of workpiece is in β situations

Beta type spans 3 different working regions, therefore at most needs that 3 kinds of different situations are discussed, concrete analysis is such as Under：

1) workpiece is located at β₁-A₂Or F₂-β₂Between, i.e. the 4th working region R3-R4；

It should consider first in the 4th working region [R at this time₃,R₄] captured in range, computational methods with situation 4., such as Fruit can not complete to capture, then enter step 2)；

2) workpiece is located at A₂-B₂Between, i.e. third working region, or it is located at β₁-A₂But the case where without solution

In this case, considering in [R without at the uniform velocity section in DELTA parallel manipulator distal point operational process₂,R₃] in range into 3. 3) row crawl, computational methods, are entered step using situation if no solution；

3) workpiece is located at B₂-E₂Between, i.e. the second working region or step 1) and step 2) are without solution；

In this case, considering in the second working region [R₁,R₂] captured in range, computational methods using situation 2.；

Case4：The location of workpiece is in α situations

α situations span four different working ranges, therefore at most need that 4 kinds of different situations, concrete analysis are discussed It is as follows：

1) workpiece is located at α₁-A₁Or F₁-α₂Between, i.e. the 4th working region R3-R4；

Considered at this time in the 4th working region [R₃,R₄] captured in range, computational methods with situation 4., if can not Crawl is completed, then is entered step 2)；

2) workpiece is located at A₁-B₁Or E₁-F₁, i.e. third working region or workpiece is located at α₁-A₁But without solution in the region

In this case, considering in third working region without at the uniform velocity section in DELTA parallel manipulator distal point operational process [R₂,R₃] captured in range, 3. 3) computational methods, are entered step using situation if no solution；

3) workpiece is located at B₁-C₁Or D₁-E₁, i.e. the second working region or workpiece are located at α₁-B₁But without solution in the region

In this case, considering in the second working region [R₁,R₂] captured in range, computational methods using situation 2., such as 4) fruit then enters step without solution；

4) workpiece is located at C₁-D₁, i.e. the first working region or workpiece are located at α₁-C₁But without solution in the region

In this case, considering in the first working region [0, R₁] captured in range, computational methods using situation 1..

In the present embodiment, a kind of specific crawl situation is also listed to the moving target entirely based on S curve acceleration and deceleration Dynamic Tracking illustrates, as shown in figure 8, DELTA parallel manipulator distal points rest on E points, it is next to be captured Workpiece is in D points.

A) enter task,

B it) is initialized, judges whether current kinetic parameters change, if changing, using E points as the center of circle, recalculate S songs 1. 2. 3. 4. the radius size R1-R4 in line different operating region, certain situation.

Since each set-point E points are likely to difference, to recalculate every time.

C G point coordinates) is calculated according to DELTA parallel manipulators end point coordinates and the location of workpiece；

D) according to the position of current workpiece and 1. 2. 3. 4. the radius of four kinds of situations judge the location of workpiece belong to α, β, γ, Which kind of situation of δ；

E the crucial intersecting point coordinate everywhere such as A-F) while according to the equation of a circle of working range and α, β, γ, δ is found out, these Intersection point is exactly the value range endpoint of each sub-cases；

4 modules are organized into for tetra- kinds of case of α, β, γ, δ, call module therein to carry out according to the judgement in Step2 It calculates；

Each situation includes again a variety of regions in α, β, γ, δ, corresponds to 4 kinds of situations that Step1 is found out, will 1. 2. 3. 4. Four submodules are organized into, include submodule appropriate in α, β, γ, δ；

F) judge 1. workpiece current location belongs to 2. 3. 4. which kind of in four kinds of situations；

G the bound of the location of current workpiece) is determined；

H) allocating time calculates function and obtains the time, and can determine complete to capture in the working region, if can complete to grab It takes, is transferred to step (J), otherwise, be transferred to step (I)；

I) judge lower section whether also have can capture area, if so, determining range bound, return to step (H) recalculates, Otherwise, it is transferred to step (K)；

J) output crawl time, output can capture flag bit, be transferred to step (L)；

K it) abandons workpiece output to fail to capture flag bit, is transferred to step (L)；

L) task is completed.

Embodiment 2：

The purpose of the present embodiment 2 is to provide a kind of moving target Dynamic Tracking based on S curve acceleration and deceleration.This implementation Basis of the example based on embodiment 1, increases the method for solving dynamic tracking equations.

The dynamic tracking equations of tracks of device working region can be used physical model and be analyzed, and pass through numerical analysis method It is solved；The solution property analysis that has of dynamic tracking equations is a physical problem, and because formula (11), (20), (29), (51) shape Gesture is complicated, and the distribution that the monotonicity and solution of analystal section are only come from the angle of mathematics is computationally intensive, and more difficult analysis, in order to divide The uniqueness solved in its section is analysed, a kind of physical model simplified based on actual condition and S curve displacement are proposed in the present embodiment The method of time graph analyzes monotonicity of each equation in value range.

The method for solving of the physical model the specific steps are：

Step (1)：Establish the physical model of tracks of device and target object, in the physical model extremely according to tracks of device Target object running orbit is divided into top half and lower half portion by target object running orbit intersection point；

For in embodiment 1 1., 2., 3., 4. in any case, the present embodiment 2 establishes physics mould as shown in Figure 5 Type, in Fig. 5, vertical line segment part be under the bit-type workpiece along conveyer belt motion range [A, B], using intermediate intersection point G as Working region is divided into two parts by cut-point：Top half and lower half portion.

Step (2)：Respectively to top half and lower half portion according to the operation physical significance of tracks of device and target object It establishes displacement time image and solves dynamic tracking equations.

The case where dividing situation discussion solution below.

1) for top half, the i.e. parts AG, the parallel manipulator distal point ends DELTA are moved to the time of AG by E points Moving down and reduce with location of workpiece point；And closer to G points in workpiece motion s in AG sections, the required time is longer.

If the location of workpiece is D when DELTA parallel manipulator distal point setting in motions₁Point, workpiece are at the time of running to G points t₁, it is as shown in Figure 6 to draw t-S images, wherein thick line is workpiece motion s curve, and filament is transported for DELTA parallel manipulator distal points Moving curve.

It can be obtained by Fig. 6, two kinds of curves are all dull, it is understood that there may be two kinds of situations.

Situation 1：If time t of the robot motion to the G point required times less than workpiece motion s to G points₁, then [D1, G] between have a solution, and solve unique, lower half portion does not have to consider.

Situation 2：If situation 1 is invalid, without solution between [D1, G], need to consider that lower half portion solves.

2) for lower half portion, i.e. part [G, B], it is assumed that current workpiece is located at the positions D3, can according to the model of Fig. 4 foundation It observes, within section [D3, B], as workpiece is gradually close to B points, i.e., when the displacement dullness of workpiece increases, robot fortune Dynamic displacement dullness increases, meanwhile, the time t of robot motion also increases in dullness.

The analysis of upper half is copied, can still be analyzed herein by t-S curve, S is position, because of S and t herein Monotonicity it is identical, abscissa S can regard to the displacement of robot motion as, the two is of equal value in section [D3, B].Therefore The relation curve of displacement and time in the short-cut counting method is added and subtracted according to S curve, the t-S curve that can obtain lower half portion is as shown in Figure 7.

It can be obtained by Fig. 7, it is understood that there may be two kinds of situations：

Situation 1：If time t of the robot motion to the B required times less than workpiece motion s to B₂, then [D3, B] it Between have a solution, and solve unique.

Situation 2：If situation 1 is invalid, without solution between [D3, B].

In conclusion for it is above-mentioned 1., 2., 3., 4. in any case, in corresponding section, if Meeting problem has There is only unique solutions by Xie Ze, and next time is carried out if without solution and is calculated.

In the present invention, dynamic tracking equations, the list of analystal section are solved using the Mathematical method of numerical analysis merely The distribution of tonality and solution is computationally intensive, and more difficult analysis；In order to analyze the uniqueness solved in its section, using based on practical work The mode that the physical model that condition simplifies is combined with mathematical displacement temporal image quickly, intuitively analyzes dynamic tracking equations There is solution, and then solves dynamic tracking equations.

The present invention can not only use the numerical analysis in embodiment 1 and physical model in embodiment 2 solve dynamic with The well known method for solving equation of other skilled in the art also can be used, for example, dichotomy, Newton iteration method in track equation Deng.

Embodiment 3：

The purpose of the present embodiment 3 is to provide a kind of computer readable storage medium.

To achieve the goals above, the present invention is using a kind of following technical solution：

A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device Reason device loads and executes following processing：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to mesh The engagement point position of object is marked, geometrical model is built；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, meter Calculate working region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines what target object running orbit passed through Tracks of device working region；The dynamic tracking equations in tracks of device different operating region, and base are built according to geometrical model respectively Dynamic tracking equations are solved in the most short principle of overall time, are tracked into Mobile state.

In the present embodiment, the example of computer readable recording medium storing program for performing include magnetic storage medium (for example, ROM, RAM, USB, Floppy disk, hard disk etc.), optical record medium (for example, CD-ROM or DVD), PC interfaces are (for example, PCI, PCI-Expres, WiFi Deng) etc..However, various aspects of the disclosure is without being limited thereto.

Embodiment 4：

The purpose of the present embodiment 4 is to provide a kind of moving target dynamic tracking apparatus based on S curve acceleration and deceleration.

To achieve the goals above, the present invention is using a kind of following technical solution：

A kind of moving target dynamic tracking apparatus based on S curve acceleration and deceleration, using a kind of computing terminal equipment, including place Device and computer readable storage medium are managed, processor is for realizing each instruction；Computer readable storage medium is a plurality of for storing Instruction, described instruction are suitable for being loaded by processor and executing following processing：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to mesh The engagement point position of object is marked, geometrical model is built；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, meter Calculate working region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines what target object running orbit passed through Tracks of device working region；The dynamic tracking equations in tracks of device different operating region, and base are built according to geometrical model respectively Dynamic tracking equations are solved in the most short principle of overall time, are tracked into Mobile state.

It will be understood by those skilled in the art that each module of the above invention or each step can use general computer Device realizes that optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are deposited Storage be performed by computing device in the storage device, either they are fabricated to each integrated circuit modules or by it In multiple modules or step be fabricated to single integrated circuit module to realize.The present invention is not limited to any specific hardware With the combination of software.

Embodiment 5：

The purpose of the present embodiment 5 is to provide a kind of moving target dynamic tracking system based on S curve acceleration and deceleration.

To achieve the goals above, the present invention is using a kind of following technical solution：

A kind of moving target dynamic tracking system based on S curve acceleration and deceleration, including：

Target object and target object parameter acquisition devices, the target object parameter acquisition devices are for acquiring object The parameter of body includes the position and speed of target object, and the parameter of target object is transmitted to the fortune based on S curve acceleration and deceleration Moving-target dynamic tracking apparatus；

Tracks of device and tracks of device parameter acquisition devices, the tracks of device are described for dynamically tracking target object Tracks of device parameter acquisition devices are used to acquire the parameter of tracks of device, include the position and speed of tracks of device, and will tracking The parameter of device is transmitted to the moving target dynamic tracking apparatus based on S curve acceleration and deceleration；

Moving target dynamic tracking apparatus based on S curve acceleration and deceleration, is used for：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to mesh The engagement point position of object is marked, geometrical model is built；According to the working region of S curve acceleration and deceleration algorithm partition tracks of device, meter Calculate working region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines what target object running orbit passed through Tracks of device working region；The dynamic tracking equations in tracks of device different operating region, and base are built according to geometrical model respectively Dynamic tracking equations are solved in the most short principle of overall time, are tracked into Mobile state.

Beneficial effects of the present invention：

1, a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration of the present invention, fill Divide the working space using tracks of device, the different working region of tracks of device is gone out according to S curve acceleration and deceleration algorithm partition, according to The different motion conditions of tracks of device that S type rate curves embody analyze the working region of tracks of device one by one, due to every time with The initial position of tracks of device may be different before track, recalculate determining working region parameter before dynamic tracks, ensure dynamic The accuracy of tracking；And it ensure that tracks of device moves as the plus-minus short-cut counting method of tracks of device using the S curve plus-minus short-cut counting method Continuity, be suitble to relatively long distance movement；

2, a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration of the present invention, root Different from tracks of device position relationship according to target object running orbit, the difference of the tracks of device working region of process judges mesh Object running orbit and tracks of device position relationship are marked, determines at least one tracks of device that target object running orbit passes through Working region determines the value range of required variable dynamic tracking equations corresponding with structure tracks of device different operating region, Dynamic tracking equations are solved respectively and realize dynamic following, improve dynamic property and crawl efficiency；

3, a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration of the present invention, root According to S type rate curves in the S curve plus-minus short-cut counting method are with the presence or absence of even accelerating sections, even braking section and/or at the uniform velocity section is incited somebody to action in horizontal plane Tracking process is divided, and the working space of tracks of device is divided in detail, makes full use of the work of tracks of device empty Between, to improve tracking efficiency；

4, a kind of moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration of the present invention are The uniqueness for analyzing solution in its section, is mutually tied using the physical model simplified based on actual condition and mathematical displacement temporal image The mode of conjunction, quickly, intuitively analysis dynamic tracking equations has solution, and then solves dynamic tracking equations.

The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.Therefore, the present invention is not intended to be limited to this These embodiments shown in text, and it is to fit to widest range consistent with the principles and novel features disclosed in this article.

Claims (10)

1. a kind of moving target Dynamic Tracking based on S curve acceleration and deceleration, which is characterized in that this method includes：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to object The engagement point position of body builds geometrical model；According to S curve add and subtract the short-cut counting method in S type rate curves with the presence or absence of even accelerating sections, Even braking section and/or at the uniform velocity section divide tracks of device in the working region of horizontal plane, evaluation work region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines the tracking that target object running orbit passes through Device working region；The dynamic tracking equations in tracks of device different operating region are built according to geometrical model respectively, and based on whole The body time, most short principle solved dynamic tracking equations, was tracked into Mobile state.

2. the method as described in claim 1, which is characterized in that the tracks of device tracks to the tracking of target object engagement point Process operation track is door shape track, wherein the horizontal movement stage during tracking adds and subtracts the short-cut counting method using S curve, and By the working region of the horizontal movement divided stages tracks of device during tracking.

3. method as claimed in claim 2, which is characterized in that the working region of the tracks of device includes that tracks of device is initial The first working region, the second working region, third working region and the 4th working region that position radiates from inside to outside；

First working region is that there is no even accelerating sections, even braking section and at the uniform velocity sections for the S type rate curves of tracks of device Working region；

Second working region be tracks of device S types rate curve there are even braking section, there is no even accelerating sections and at the uniform velocity The working region of section；

The third working region be tracks of device S types rate curve there are even accelerating sections and even braking section, there is no at the uniform velocity The working region of section；

4th working region is that the S type rate curves of tracks of device have at the uniform velocity section and/or even accelerating sections, even braking section Working region.

4. method as claimed in claim 3, which is characterized in that the working region initiation parameter includes working region half Diameter；

The working region radius is displacement when tracks of device is moved to the working region peripheral boundary by initial position, including First working region radius, the second working region radius, third working region radius and the 4th working region radius.

5. method as claimed in claim 4, which is characterized in that the judgement target object running orbit and tracks of device are initial Position relationship, determine target object running orbit pass through tracks of device working region the specific steps are：

If target object running orbit is less than the first working region radius, target object fortune with tracks of device initial position distance The tracks of device working region that row track is passed through is followed successively by the 4th working region, third working region, the second working region, first Working region, the second working region, third working region and the 4th working region；

If target object running orbit is more than the first working region radius with tracks of device initial position distance and is less than the second work Region, then target object running orbit pass through tracks of device working region be followed successively by the 4th working region, third working region, Second working region, third working region and the 4th working region；

It works less than third if target object running orbit is more than the second working region radius with tracks of device initial position distance Zone radius, then the tracks of device working region that target object running orbit passes through are followed successively by the 4th working region, third work Region and the 4th working region；

If target object running orbit is more than third working region radius with tracks of device initial position distance and is less than the 4th work Zone radius, then the tracks of device working region that target object running orbit passes through are the 4th working region.

6. the method as described in claim 1, which is characterized in that described to solve dynamic track side based on the most short principle of overall time Journey the specific steps are：

The dynamic tracking equations for the tracks of device working region that target object running orbit passes through are solved successively,

If the dynamic tracking equations of tracks of device working region passed through have solution, for meeting for tracks of device and target object Point is tracked into Mobile state；

Otherwise, continue to solve the dynamic tracking equations of the tracks of device working region of next process；

If the dynamic tracking equations for the tracks of device working region that all target object running orbits pass through without solution, terminate with Track.

7. the method as described in claim 1, which is characterized in that number can be used in the dynamic tracking equations of tracks of device working region Value is analyzed or physical model is solved；

The method for solving of the physical model the specific steps are：

The physical model of tracks of device and target object is established, according to tracks of device initial position to target in the physical model Target object running orbit is divided into top half and lower half portion by object running orbit intersection point；

Displacement time is established according to the operation physical significance of tracks of device and target object to top half and lower half portion respectively Image solves dynamic tracking equations.

8. a kind of computer readable storage medium, wherein being stored with a plurality of instruction, which is characterized in that described instruction is suitable for by terminal The processor of equipment loads and executes following processing：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to object The engagement point position of body builds geometrical model；According to S curve add and subtract the short-cut counting method in S type rate curves with the presence or absence of even accelerating sections, Even braking section and/or at the uniform velocity section divide tracks of device in the working region of horizontal plane, evaluation work region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines the tracking that target object running orbit passes through Device working region；The dynamic tracking equations in tracks of device different operating region are built according to geometrical model respectively, and based on whole The body time, most short principle solved dynamic tracking equations, was tracked into Mobile state.

9. a kind of moving target dynamic tracking apparatus based on S curve acceleration and deceleration, using computing terminal equipment, including processor and Computer readable storage medium, processor is for realizing each instruction；Computer readable storage medium is used to store a plurality of instruction, It is characterized in that, described instruction is suitable for being loaded by processor and executing following processing：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to object The engagement point position of body builds geometrical model；According to S curve add and subtract the short-cut counting method in S type rate curves with the presence or absence of even accelerating sections, Even braking section and/or at the uniform velocity section divide tracks of device in the working region of horizontal plane, evaluation work region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines the tracking that target object running orbit passes through Device working region；The dynamic tracking equations in tracks of device different operating region are built according to geometrical model respectively, and based on whole The body time, most short principle solved dynamic tracking equations, was tracked into Mobile state.

10. a kind of moving target dynamic tracking system based on S curve acceleration and deceleration, which is characterized in that including：

Target object and target object parameter acquisition devices, the target object parameter acquisition devices are for acquiring target object Parameter includes the position and speed of target object, and the parameter of target object is transmitted to the movement mesh based on S curve acceleration and deceleration Mark dynamic tracking apparatus；

Tracks of device and tracks of device parameter acquisition devices, the tracks of device is for dynamically tracking target object, the tracking Device parameter harvester is used to acquire the parameter of tracks of device, includes the position and speed of tracks of device, and by tracks of device Parameter be transmitted to the moving target dynamic tracking apparatus based on S curve acceleration and deceleration；

Moving target dynamic tracking apparatus based on S curve acceleration and deceleration, is used for：

Obtain the target object initial position and tracks of device initial position of synchronization, predicting tracing device tracking to object The engagement point position of body builds geometrical model；According to S curve add and subtract the short-cut counting method in S type rate curves with the presence or absence of even accelerating sections, Even braking section and/or at the uniform velocity section divide tracks of device in the working region of horizontal plane, evaluation work region initiation parameter；

Judge target object running orbit and tracks of device initial positional relationship, determines the tracking that target object running orbit passes through Device working region；The dynamic tracking equations in tracks of device different operating region are built according to geometrical model respectively, and based on whole The body time, most short principle solved dynamic tracking equations, was tracked into Mobile state.