CN108748138A - Speed planning method, system, control system, robot and storage medium - Google Patents
Speed planning method, system, control system, robot and storage medium Download PDFInfo
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- CN108748138A CN108748138A CN201810343643.4A CN201810343643A CN108748138A CN 108748138 A CN108748138 A CN 108748138A CN 201810343643 A CN201810343643 A CN 201810343643A CN 108748138 A CN108748138 A CN 108748138A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
A kind of speed planning method of present invention offer, system, control system, robot and storage medium comprising：Locus model is established sequentially in time and constraints is set；The locus model includes end orbit, and it is non-zero to be included at least in the corresponding final kinematic parameter of the end orbit a kind of；According to the locus model, speed planning curve model is established；Based on the speed planning curve model and according to the constraints, optimal motion parameter is obtained by object solving of time optimal；Target velocity, which is generated, according to the optimal motion parameter plans curve.First, the present invention can be not only restricted to the route segment of the arbitrary whole story state progress speed planning whole story parameter value of route segment.Furthermore the present invention can cover all individual paths during S type acceleration and deceleration, greatly improve application range.Finally, speed planning method provided by the invention does not need to distinguish that speed is first restrained or acceleration is first restrained, thus enormously simplifies the process of modeling, and user is helped to promote working efficiency.
Description
Technical field
The present invention relates to industrial robot field, more particularly to speed planning method, system, control system, robot,
And storage medium.
Background technology
Now, the development of artificial intelligence field is like a raging fire, and robot is as a kind of machine of automatic execution task
Device is even more a mostly important branch of artificial intelligence field.
As a kind of movable device, smooth trajectory and real-time during the motion are measurement machines for robot
The important indicator of device people's motion planning performance.In general, to ensure that the smooth trajectory of robot, industrial equipment are advised using S type speed
Draw or high-order speed planning method.
But the speed planning method that existing robot uses, be typically only capable to reply from nought state to nought state or from
The case where non-zero status to nought state.And it is well known that situation more in practical application scene is then from non-zero status
To non-zero status.Therefore, there is an urgent need for a kind of wider array of speed planning methods of application range by user.
Invention content
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of speed planning method, system,
Control system, robot and storage medium, for solving the problems, such as that speed planning is of limited application in the prior art.
In a first aspect, the present invention provides a kind of speed planning method comprising：Locus model is established sequentially in time simultaneously
Constraints is set；The locus model includes end orbit, is at least wrapped in the corresponding final kinematic parameter of the end orbit
It is non-zero to include a kind of；According to the locus model, speed planning curve model is established；Simultaneously based on the speed planning curve model
According to the constraints, optimal motion parameter is obtained by object solving of time optimal；It is given birth to according to the optimal motion parameter
Curve is planned at target velocity.
Second aspect, the present invention provide a kind of speed planning device comprising：Locus model establishes module, for according to
Time sequencing establishes locus model and constraints is arranged；The locus model includes end orbit, and the end orbit corresponds to
Final kinematic parameter in include at least a kind of be non-zero；Speed planning curve model establishes module, for establishing speed planning
Curve model；Processing module, for based on the speed planning curve model and according to the constraints, being with time optimal
Object solving obtains optimal motion parameter, and generates target velocity according to the optimal motion parameter and plan curve.
The third aspect, the present invention provide a kind of control system comprising：Processor and memory；The memory is used for
Computer program is stored, the processor is used to execute the computer program of the memory storage, so that the control system
Execute the speed planning method.
Fourth aspect, the present invention provide a kind of robot, including the control system.
5th aspect, the present invention provide a kind of computer readable storage medium, are stored thereon with computer program, the program
The speed planning method is realized when being executed by processor.
On the one hand in conjunction with any of the above, in one possible implementation, the kinematic parameter includes acceleration and speed
Degree, locus model slope accelerating sections, at the uniform velocity section and slope braking section, wherein：
The slope accelerating sections may include following track sequentially in time：
1)t∈[t0,t1], even plus accelerating sections, acceleration is from initial value a0Accelerate to the maximum acceleration value actually allowed
A′max, speed is from initial value v0Continue to increase, this section of track estimated used time is ta1；
2)t∈[t1,t2], even accelerating sections, acceleration remains the maximum acceleration value A ' actually allowedmax, speed
Lasting to accelerate, this section of track estimated used time is tca；
3)t∈[t2,t3], even to subtract accelerating sections, acceleration is from the maximum acceleration value A ' actually allowedmaxSubtract and accelerates to
0, speed continues to increase to the maximum speed value V ' actually allowedmax, this section of track estimated used time is ta2；The slope is enabled to accelerate
The estimated used time of section track is tramp_up, tramp_up=ta1+tca+ta2；
The at the uniform velocity section may include following track sequentially in time：
4)t∈[t3,t4], at the uniform velocity section, acceleration remain 0, and speed remains the maximum speed value actually allowed
V′max, this section of track estimated used time is tcv；
The slope braking section includes following track：
5)t∈[t4,t5], even to subtract accelerating sections, acceleration subtracts the maximum deceleration value-D ' for accelerating to and actually allowing from 0
Max, speed is from the maximum speed value V ' actually allowedmaxContinued deceleration, this section of track estimated used time is td1；
6)t∈[t5,t6], even braking section, acceleration remains the maximum deceleration value actually the allowed-D ' max, speed
Continued deceleration is spent, this section of track estimated used time is tcd；
7)t∈[t6,t7], even plus accelerating sections, acceleration adds from the maximum deceleration value actually the allowed-D ' max are even
Speed is to a1, and speed reduction to v1, this section of track estimated used time is td2；The estimated used time of slope braking section track is enabled to be
tramp_down, tramp_down=td1+tcd+td2；
Wherein, the corresponding final kinematic parameter of the end orbit be the track 7) in acceleration value a1 and velocity amplitude
V1, acceleration value a1 ≠ 0, velocity amplitude v1 ≠ 0.
On the one hand in conjunction with any of the above, in one possible implementation, the constraints includes start-stop constraint item
Part, default constraints and physical constraint condition comprising：
The start-stop constraints includes：
Wherein, toFor the initial time of the locus model, the s (t0),The starting is indicated respectively
Moment corresponding path length value, velocity amplitude, acceleration value；tfFor the end time of the locus model, the s (tf),The corresponding path length value of the end time is indicated respectively, and velocity amplitude, acceleration value, S is the length of full track mark
Degree；
The default constraints includes：
Wherein, the Vmax, Amax, Dmax, JmaxRespectively preset maximum speed value, maximum acceleration value, maximum deceleration
Angle value, and maximum jerk value；
The physical constraint condition includes：And ta1, tca, ta2, tcv, td1, tcd, td2 >=0；
Wherein, the V 'max, A 'max, D 'maxThe model object of the respectively described locus model can reach in actual motion
The maximum speed value arrived, maximum acceleration value and maximum deceleration value；The ta1, tca, ta2, tcv, td1, tcd, td2
The estimated used time of respectively each section track.
On the one hand in conjunction with any of the above, in one possible implementation, speed rule are established according to the locus model
Tracing model；Based on the speed planning curve model and according to the constraints, obtained by object solving of time optimal
To optimal motion parameter, specifically include：It is corresponding pre- to solve the slope accelerating sections, at the uniform velocity section and slope braking section
If the time, the summation of each preset time is the total time-consuming of full track mark；With the minimum mesh of total time-consuming of the full track mark
Mark, establishes corresponding object function, solves the optimized parameter according to this；Wherein, the optimized parameter includes maximum speed value
V′max, maximum acceleration value A 'maxAnd maximum deceleration value D 'max。
On the one hand in conjunction with any of the above, in one possible implementation, the slope accelerating sections, at the uniform velocity of solving
Section and the corresponding preset time of slope braking section, the summation of each preset time are the total time-consuming of full track mark,
It specifically includes：The corresponding preset time in each track is respectively ta1, tca and ta2 in the slope accelerating sections, and the slope adds
The corresponding preset time of fast section is tramp_up=ta1+tca+ta2；Wherein：
The corresponding preset time in each track is respectively td1, tcd and td2 in the slope braking section, and the slope subtracts
The corresponding preset time of fast section is tramp_down=td1+tcd+td2；Wherein：
The preset time t cv of the at the uniform velocity section is：Wherein：S is the total length of the full track mark,
Sa is the path length of the slope accelerating sections, and Sd is the path length of slope braking section, and the Sa and Sd are as follows：
Wherein, Pa1, Pa2, Pd1, Pd2 are respectively that the corresponding track described preset time t a1, ta2, td1 and td2 is long
Degree.
On the one hand in conjunction with any of the above, in one possible implementation, minimum with the total time-consuming of the full track mark
Target establishes corresponding object function and solves the optimized parameter according to this, specifically includes：
The object function includes：Min f=tramp1+tramp2+tcv；Wherein, f is the corresponding total time-consuming of the full track mark,
Minf minimum total time-consumings；
The start-stop constraints, default constraints and physical constraint condition can be summarized as following comprehensive constraint item
Part：
The optimal motion parameter can be solved according to the object function and the comprehensive constraint condition：Maximum speed value
V′max, maximum acceleration value A 'maxAnd maximum deceleration value D 'max。
On the one hand in conjunction with any of the above, in one possible implementation, the locus model includes S types track mould
Type, the speed planning curve model include S type speed planning curve models, and the target velocity planning curve includes S type mesh
Mark speed planning curve.
As described above, speed planning method, system, control system, robot and storage medium of the present invention, tool
There is following advantageous effect：The present invention final velocity amplitude v1 and final acceleration value a1 are non-zero parameter, to realize
Establish the S type rate curve models from non-zero status to non-zero status.Therefore, the present invention, can when establishing speed planning curve
The whole story parameter value of route segment is not only restricted to the route segment progress speed planning of arbitrary whole story state.Furthermore the present invention can
All individual paths, greatly improve application range during covering S type acceleration and deceleration.Finally, speed rule provided by the invention
The method of drawing does not need to distinguish that speed is first restrained or acceleration is first restrained, thus enormously simplifies the process of modeling, helps to use
Family promotes working efficiency.
Description of the drawings
Fig. 1 is shown as the schematic diagram of one embodiment of the invention medium velocity planing method.
Fig. 2 is shown as the schematic diagram of S types locus model in one embodiment of the invention.
Fig. 3 is shown as the schematic diagram of one embodiment of the invention medium velocity device for planning.
Fig. 4 is shown as the schematic diagram of control system in one embodiment of the invention.
Component label instructions
31 locus models establish module
32 speed planning curve models establish module
33 processing modules
41 processors
42 memories
43 displays
44 loaders
45 buses
S101~S104 steps
L1~L8 time lines
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification below by way of specific specific example
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that herein in addition to logical connector " and " other than involved term " and ", only one kind
The incidence relation of affiliated partner is described, indicates may exist three kinds of relationships, for example, A and B, can indicate：Individualism A, simultaneously
There are A and B, these three situations of individualism B.In addition, character "/" herein, it is a kind of to typically represent forward-backward correlation object
The relationship of "or".When the application refers to ordinal numbers such as " first ", " second ", " third " or " the 4th ", unless according to upper and lower
The meaning of its literary certain order of representation, it is appreciated that being only to distinguish to be used.
In addition, the diagram provided in following embodiment only illustrates the basic conception of the present invention, then schema in a schematic way
In only display drawn with related component in the present invention rather than component count, shape and size when according to actual implementation, in fact
Kenel, quantity and the ratio of border each component when implementing can be a kind of random change, and its assembly layout kenel may also be more
It is complicated.
The present invention provides speed planning method, system, control system, robot and storage medium, for fortune such as robots
Dynamic device plans rate curve for the telecontrol equipment, and the speed to reduce telecontrol equipment is jumped, and ensures that the track of telecontrol equipment is flat
It is sliding.It should be noted that the speed planning curve of present invention meaning can be S types planning curve, can also be that T-type planning is bent
Line is not construed as limiting this.
As shown in Figure 1, the schematic diagram of displaying one embodiment of the invention medium velocity planing method.The speed planning method is used
It is suitable for the speed planning curve from non-zero status to non-zero status in foundation.The method specifically includes：
S101：Locus model is established sequentially in time and constraints is set；The locus model includes end orbit,
It is non-zero to be included at least in the corresponding final kinematic parameter of the end orbit a kind of.
Specifically, the locus model can be divided into slope accelerating sections, at the uniform velocity section sequentially in time and slope is slowed down
Section.Wherein, the slope accelerating sections can also be subdivided into the following three stage：
1)t∈[t0,t1], even plus accelerating sections, acceleration is from initial value a0Accelerate to the maximum acceleration value actually allowed
A′max, speed is from initial value v0Continue to increase, this section of track estimated used time is ta1；
2)t∈[t1,t2], even accelerating sections, acceleration remains the maximum acceleration value A ' actually allowedmax, speed
Lasting to accelerate, this section of track estimated used time is tca；
3)t∈[t2,t3], even to subtract accelerating sections, acceleration is from the maximum acceleration value A ' actually allowedmaxSubtract and accelerates to
0, speed continues to increase to the maximum speed value V ' actually allowedmax, this section of track estimated used time is ta2.
The at the uniform velocity section includes following track：
4)t∈[t3,t4], at the uniform velocity section, acceleration remain 0, and speed remains the maximum speed value actually allowed
V′max, this section of track estimated used time is tcv.
The slope braking section can also be subdivided into the following three stage：
5)t∈[t4,t5], even to subtract accelerating sections, acceleration subtracts the maximum deceleration value-D ' for accelerating to and actually allowing from 0
Max, speed is from the maximum speed value V ' actually allowedmaxContinued deceleration, this section of track estimated used time is td1；
6)t∈[t5,t6], even braking section, acceleration remains the maximum deceleration value actually the allowed-D ' max, speed
Continued deceleration is spent, this section of track estimated used time is tcd；
7) even plus accelerating sections, acceleration accelerate to a1, speed from the maximum deceleration value actually the allowed-D ' max are even
It is decelerated to v1, this section of track estimated used time is td2；Wherein, acceleration value a1 ≠ 0, velocity amplitude v1 ≠ 0.
In summary, in the slope accelerating sections, speed is from initial value v0Continue to increase to the maximum speed actually allowed
Angle value V 'max, acceleration value is from initial value a0Increase to the maximum acceleration value A ' actually allowedmax0 is reduced to again.In at the uniform velocity section
Then keep maximum speed V 'maxIt is constant.In the braking section of slope, speed is from maximum speed value V 'maxIt is lasting to reduce to final speed
Angle value v1, acceleration value become final acceleration value a1 from 0.
Wherein, the maximum speed value actually allowed and maximum acceleration value refer to that modeling object is real during the motion
The maximum value that border can reach.By taking robot as an example, robot is during the motion since the limitation of movenent performance certainly exists
The maximum speed value and maximum acceleration value that can actually reach.
As shown in Fig. 2, showing the schematic diagram of S type locus models in one embodiment of the invention.4 are shared in figure is with the time
The longitudinal axis parameter of the curve of horizontal axis parameter, 4 curves is respectively acceleration Jerk, acceleration A cceleration, speed
Velocity and path length trajectory.Wherein, acceleration Jerk is also known as jerk, becomes for describing acceleration
Change speed, is the parameter of a mutation.
8 dotted lines are identified in figure altogether, respectively：L1, L2, L3, L4, L5, L6, L7 and L8.Wherein, L1 and L2 it
Between be even plus accelerating sections in the slope accelerating sections, the corresponding period is the t ∈ [t0,t1], add in this section of track
Acceleration Jerk is mutated to numerical value 100, and acceleration A cceleration is linearly increasing to greatest measure 20 from initial value a0 therewith,
Speed Velocity, which is in, continues to increase state.It is the even accelerating sections in the slope accelerating sections between L2 and L3, it is corresponding
Period is the t ∈ [t1,t2], acceleration Jerk is mutated to numerical value 0, acceleration A cceleration in this section of track
It is constant that it is maintained at greatest measure 20 therewith, speed Velocity is still in continuing to increase state.It is described oblique between L3 and L4
Even in the accelerating sections of slope subtracts accelerating sections, and the corresponding period is the t ∈ [t2,t3], acceleration Jerk is anti-in this section of track
To mutation to numerical value -100, acceleration A cceleration is linearly down to numerical value 0 therewith, speed Velocity is then increased to most
Big value.
It is the at the uniform velocity section between L4 and L5, the corresponding period is the t ∈ [t3,t4], in this section of track plus add
Speed Jerk keeps numerical value 0, acceleration A cceleration that numerical value 0, speed Velocity is also kept then to be maintained at maximum value.
It is that the even of the slope braking section subtracts accelerating sections between L5 and L6, the corresponding period is the t ∈ [t4,t5],
Acceleration Jerk is mutated to numerical value -100 in this section of track, and acceleration A cceleration is linearly down to reversely most therewith
Big value -20, speed Velocity is persistently reduced.It is the even braking section of the slope braking section between L6 and L7, when corresponding
Between section be the t ∈ [t5,t6], acceleration Jerk is mutated to numerical value 0 in this section of track, acceleration A cceleration with
Holding numerical value -20 it is constant, speed Velocity is still persistently reduced.It is that the even of the slope braking section adds between L7 and L8
Accelerating sections, corresponding period are the t ∈ [t6,t7], acceleration Jerk is mutated to numerical value 100 in this section of track, is accelerated
Degree Acceleration increases to final acceleration value a1 therewith, and speed Velocity is still decrease continuously to final speed value v1.
It should be noted that the concrete numerical value of the acceleration used in above-described embodiment, acceleration and speed is as just explanation
Illustrate, not defining or limiting for the present invention.
It is worth noting that, speed planning method provided by the invention, the corresponding kinematic parameter of final state includes non-
Zero parameter, specifically can refer to track 7) even plus accelerating sections, final velocity amplitude v1 and final acceleration value a1 are non-
Zero parameter, to realize the S type rate curve models established from non-zero status to non-zero status.Therefore, the present invention is establishing speed
When metric tracing, the whole story parameter of route segment can be not only restricted to the route segment of arbitrary whole story state progress speed planning
Value.Furthermore the present invention can cover all individual paths during S type acceleration and deceleration, greatly improve application range.Finally, originally
The speed planning method that invention provides does not need to distinguish that speed is first restrained or acceleration is first restrained, thus enormously simplifies and build
The process of mould helps user to promote working efficiency.
Optionally, the constraints referred in the method S101 include start-stop constraints, default constraints and
Physical constraint condition, it is specific as follows：
The start-stop constraints includes：
Wherein, toFor the initial time of the locus model, the s (t0),The starting is indicated respectively
Moment corresponding path length value, velocity amplitude, acceleration value；tfFor the end time of the locus model, the s (tf),The corresponding path length value of the end time is indicated respectively, and velocity amplitude, acceleration value, S is the length of full track mark
Degree.The total length that so-called full track mark namely model object move during the motion.
It should be noted that it is non-zero to be included at least in the corresponding final kinematic parameter of end orbit a kind of.That is, described
Start-stop constraints can incite somebody to actionWithIt is set as non-zero, can also be incited somebody to actionWithIn one of which be set as non-zero and
Another is set as zero, and this is not limited by the present invention.
The default constraints includes：
Wherein, the Vmax, Amax, Dmax, JmaxRespectively preset maximum speed value, maximum acceleration value, maximum deceleration
Angle value, and maximum jerk value.So-called default constraints refers to the instruction condition being arranged for model object, with robot
For, it is that robot pre-sets speed command maximum value, acceleration instruction when planning curve for robot calculating speed
Maximum value, the constraints such as deceleration maximum value and acceleration maximum value to the more conducively control of system and ensure robot
It will not lead to damage or the reduction in service life because of too fast exercise parameter.
The physical constraint condition includes：And ta1, tca, ta2, tcv, td1, tcd, td2 >=0；
Wherein, the V 'max, A 'max, D 'maxThe model object of the respectively described locus model can reach in actual motion
The maximum speed value arrived, maximum acceleration value and maximum deceleration value；The ta1, tca, ta2, tcv, td1, tcd, td2
The estimated used time of respectively each section track.
S102：According to the locus model, speed planning curve model is established.
Optionally, the speed planning curve model includes the estimated used time of each section of track namely the slope accelerating sections
Even plus accelerating sections estimated used time ta1, even accelerating sections estimated used time tca, even braking section estimated used time ta2；At the uniform velocity section is estimated
Used time tcv；The even of the slope braking section subtracts accelerating sections estimated used time td1, even braking section estimated used time tcd, even plus accelerating sections
It is expected that used time td2.Wherein, total estimated used time of the slope accelerating sections is：tramp_up=ta1+tca+ta2, slope braking section
Total estimated used time be：tramp_down=td1+tcd+td2.
It should be noted that in slope accelerating sections, speed is from initial v0Smoothly accelerate to the maximum speed actually allowed
V′max, the estimated used time of each track and the specific algorithm of total used time are as follows in the slope accelerating sections：
The estimated used time of each track and the specific algorithm of total used time are as follows in the slope braking section：
It is S to enable the length of full track mark, and the path length of the slope accelerating sections is Sa, and the track of the slope braking section is long
Degree is Sd, then the path length of the at the uniform velocity section is：S—(Sa+Sd).Therefore, the estimated used time of the at the uniform velocity sectionWherein, the specific algorithm of the Sa and Sd is as follows：
Wherein, described Pa1, Pa2, Pd1, Pd2 are respectively the corresponding track described preset time t a1, ta2, td1 and td2
Length.
S103：Based on the speed planning curve model and according to the constraints, using time optimal as object solving
Obtain optimal motion parameter.
Optionally, described optimal motion parameter is obtained as object solving using time optimal to may include：With the full track mark S's
The minimum target of total time-consuming, establishes corresponding object function, solves the optimized parameter according to this.The optimized parameter includes maximum
Velocity amplitude V 'max, maximum acceleration value A 'maxAnd maximum deceleration value D 'max。
Specifically, the total time-consuming of the full track mark S is the time-consuming, at the uniform velocity section time-consuming and oblique of the slope accelerating sections
The time-consuming summation of slope braking section.The total time-consuming of the full track mark S is indicated with f, then the object function is：
Min f=tramp1+tramp2+tcv；
In addition, to solve above-mentioned object function minf, by the start-stop constraints, default constraints and reality
The following Nonlinear Constraints of constraints comprehensive improvement：
The optimal motion parameter can be obtained according to above-mentioned object function and Nonlinear Constraints：Maximum speed value
V′max, maximum acceleration value A 'maxAnd maximum deceleration value D 'max.In turn, it can be solved according to the optimal motion parameter
To each section of track corresponding estimated used time ta1, tca, ta2, tcv, td1, tcd and td2.It should be noted that if this seven sections
Any one section of track corresponding estimated used time in track is zero, then illustrates that this section of track not actually exists.
S104：Target velocity, which is generated, according to the optimal motion parameter plans curve.According to S type curve speeds planning side
Journey exports the state of given time, you can formation speed plans curve.The speed planning curve includes that acceleration planning is bent
Line, acceleration planning curve and speed planning curve, to obtain the position of any time, speed, acceleration, Yi Jijia
The parameter information of acceleration.
As shown in figure 3, the schematic diagram of the speed planning device in displaying one embodiment of the invention.The speed planning device
Including：Locus model establishes module 31, for establishing locus model sequentially in time and constraints being arranged；The track mould
Type includes end orbit, and it is non-zero to be included at least in the corresponding final kinematic parameter of the end orbit a kind of；Speed planning is bent
Line model establishes module 32, for establishing speed planning curve model；Processing module 33, for being based on the speed planning curve
Model and according to the constraints, obtains optimal motion parameter, and according to the optimal fortune by object solving of time optimal
Dynamic parameter generates target velocity and plans curve.
It should be noted that it should be understood that the modules of apparatus above division be only a kind of division of logic function,
It can completely or partially be integrated on a physical entity in actual implementation, it can also be physically separate.And these modules can be with
All realized in the form of software is called by processing element；It can also all realize in the form of hardware；It can also part mould
Block calls the form of software to realize by processing element, and part of module is realized by the form of hardware.For example, the processing module
33 can be the processing element individually set up, and can also be integrated in some chip of above-mentioned apparatus and realize, in addition it is also possible to
It is stored in the memory of above-mentioned apparatus in the form of program code, is called and executed by some processing element of above-mentioned apparatus
The function of the above processing module.The realization of other modules is similar therewith.In addition these modules can completely or partially be integrated in one
It rises, can also independently realize.Processing element described here can be a kind of integrated circuit, the processing capacity with signal.?
During realization, each step of the above method or more modules can pass through the integration logic of the hardware in processor elements
The instruction of circuit or software form is completed.
For example, the above module can be arranged to implement one or more integrated circuits of above method, such as：
One or more specific integrated circuits (ApplicationSpecificIntegratedCircuit, abbreviation ASIC), or, one
Or multi-microprocessor (digitalsingnalprocessor, abbreviation DSP), or, one or more field-programmable gate array
It arranges (FieldProgrammableGateArray, abbreviation FPGA) etc..For another example, when some above module is dispatched by processing element
When the form of program code is realized, which can be general processor, such as central processing unit
(CentralProcessingUnit, abbreviation CPU) or it is other can be with the processor of caller code.For another example, these modules can
To integrate, realized in the form of system on chip (system-on-a-chip, abbreviation SOC).
As shown in figure 4, showing the schematic diagram of control system in one embodiment of the invention.The control system includes processor
41, memory 42, display 43, loader 44 and bus 45；The memory 42 is for storing computer program, the processing
Device 41 is used to execute the computer program of the storage of the memory 42, so that the control system executes the speed planning side
Method, the display 43 are used to show the implementing result of the processor 41, and the loader 44 is for inputting external information, institute
Bus 45 is stated for the information exchange between the processor 41, memory 42, display 43 and loader 44.
System bus mentioned above can be Peripheral Component Interconnect standard
(PeripheralPomponentInterconnect, abbreviation PCI) bus or expanding the industrial standard structure
(ExtendedIndustryStandardArchitecture, abbreviation EISA) bus etc..The system bus can be divided into address
Bus, data/address bus, controlling bus etc..It for ease of indicating, is only indicated with a thick line in figure, it is not intended that only one total
Line or a type of bus.Communication interface is for realizing database access device and other equipment (such as client, read-write library
And read-only library) between communication.Memory may include random access memory (RandomAccessMemory, abbreviation RAM),
May also further include nonvolatile memory (non-volatilememory), a for example, at least magnetic disk storage.
Above-mentioned processor can be general processor, including central processing unit (CentralProcessingUnit, letter
Claim CPU), network processing unit (NetworkProcessor, abbreviation NP) etc.；It can also be digital signal processor
(DigitalSignalProcessing, abbreviation DSP), application-specific integrated circuit
(ApplicationSpecificIntegratedCircuit, abbreviation ASIC), field programmable gate array (Field-
ProgrammableGateArray, abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic device
Part, discrete hardware components.
The present invention also provides a kind of robot, including the control system, the specific implementation mode of the robot and institute
The embodiment for stating control system is similar, and so it will not be repeated.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of computer program is crossed to complete.Based on this understanding, the technical solution in the application is substantially right in other words
The part that the prior art contributes can be expressed in the form of software products, which can be stored in
In storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are used so that a computer equipment (can be
People's computer, server either vpn gateway etc.) it executes described in certain parts of each embodiment of the present invention or embodiment
Method.
The present invention also provides a kind of computer program products, including one or more computer instructions.On computers plus
When carrying and executing the computer program instructions, entirely or partly generate according to the flow or work(described in the embodiment of the present invention
Energy.The computer can be all-purpose computer, special purpose computer, computer network or other programmable devices.The meter
The instruction of calculation machine can store in a computer-readable storage medium, or from a computer readable storage medium to another calculating
Machine readable storage medium storing program for executing transmits, for example, the computer instruction can be from a web-site, computer, server or data
Centrally through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) side
Formula is transmitted to another web-site, computer, server or data center.The computer readable storage medium can be with
It is in any usable medium that computer can store or the server integrated comprising one or more usable mediums, data
The data storage devices such as the heart.The usable medium can be magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (example
Such as, DVD) or semiconductor medium (such as solid state disk Solid State Disk (SSD)) etc..
In conclusion speed planning method, system, control system, robot and storage medium provided by the invention,
Final velocity amplitude v1 and final acceleration value a1 is non-zero parameter, is established from non-zero status to non-zero shape to realize
The S type rate curve models of state.Therefore, the present invention, can be to the route segment of arbitrary whole story state when establishing speed planning curve
It carries out speed planning and is not only restricted to the whole story parameter value of route segment.Furthermore the present invention owns during can covering the acceleration and deceleration of S types
Individual path, greatly improve application range.Finally, speed planning method provided by the invention does not need to distinguish speed first by about
Beam or acceleration are first restrained, thus enormously simplify the process of modeling, and user is helped to promote working efficiency.So this hair
It is bright effectively to overcome various shortcoming in the prior art and have high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (11)
1. a kind of speed planning method, which is characterized in that including：
Locus model is established sequentially in time and constraints is set；The locus model includes end orbit, the end
It is non-zero to be included at least in the corresponding final kinematic parameter in track a kind of；
According to the locus model, speed planning curve model is established；
Based on the speed planning curve model and according to the constraints, optimal fortune is obtained by object solving of time optimal
Dynamic parameter；
Target velocity, which is generated, according to the optimal motion parameter plans curve.
2. according to the method described in claim 1, it is characterized in that, the final kinematic parameter includes acceleration and speed, institute
Locus model slope accelerating sections, at the uniform velocity section and slope braking section are stated, wherein：
The slope accelerating sections may include following track sequentially in time：
1)t∈[t0,t1], even plus accelerating sections, acceleration is from initial value a0Accelerate to the maximum acceleration value A actually allowed
′max, speed is from initial value v0Continue to increase, this section of track estimated used time is ta1；
2)t∈[t1,t2], even accelerating sections, acceleration remains the maximum acceleration value A ' actually allowedmax, speed is lasting
Accelerate, this section of track estimated used time is tca；
3)t∈[t2,t3], even to subtract accelerating sections, acceleration is from the maximum acceleration value A ' actually allowedmaxSubtract and accelerates to 0, speed
Degree continues to increase to the maximum speed value V ' actually allowedmax, this section of track estimated used time is ta2；Enable the slope accelerating sections rail
The estimated used time of mark is tramp_up, tramp_up=ta1+tca+ta2；
The at the uniform velocity section includes following track：
4)t∈[t3,t4], at the uniform velocity section, acceleration remain 0, and speed remains the maximum speed value V ' actually allowedmax,
This section of track estimated used time is tcv；
The slope braking section may include following track sequentially in time：
5)t∈[t4,t5], even to subtract accelerating sections, acceleration subtracts the maximum deceleration value-D ' max for accelerating to and actually allowing from 0, speed
It spends from the maximum speed value V ' actually allowedmaxContinued deceleration, this section of track estimated used time is td1；
6)t∈[t5,t6], even braking section, acceleration remains the maximum deceleration value actually the allowed-D ' max, and speed is held
Continuous to slow down, this section of track estimated used time is tcd；
7)t∈[t6,t7], even plus accelerating sections, D ' max are even accelerates to from the maximum deceleration value actually allowed-for acceleration
A1, speed reduction to v1, this section of track estimated used time is td2；The estimated used time of slope braking section track is enabled to be
tramp_down, tramp_down=td1+tcd+td2；
Wherein, the corresponding final kinematic parameter of the end orbit be the track 7) in acceleration value a1 and velocity amplitude v1,
Acceleration value a1 ≠ 0, velocity amplitude v1 ≠ 0.
3. according to the method described in claim 2, it is characterized in that, the constraints includes start-stop constraints, presets about
Beam condition and physical constraint condition comprising：
The start-stop constraints includes：
Wherein, toFor the initial time of the locus model, the s (t0),The initial time is indicated respectively
Corresponding path length value, velocity amplitude, acceleration value；tfFor the end time of the locus model, the s (tf),The corresponding path length value of the end time is indicated respectively, and velocity amplitude, acceleration value, S is the length of full track mark
Degree；
The default constraints includes：
Wherein, the Vmax, Amax, Dmax, JmaxRespectively preset maximum speed value, maximum acceleration value, maximum deceleration value,
And maximum jerk value；
The physical constraint condition includes：And ta1, tca, ta2, tcv, td1, tcd, td2 >=0；
Wherein, the V 'max, A 'max, D 'maxWhat the model object of the respectively described locus model can reach in actual motion
Maximum speed value, maximum acceleration value and maximum deceleration value；The ta1, tca, ta2, tcv, td1, tcd, td2 difference
For the estimated used time of each section of track.
4. according to the method described in claim 3, it is characterized in that, establishing speed planning curvilinear mold according to the locus model
Type；Based on the speed planning curve model and according to the constraints, optimal fortune is obtained by object solving of time optimal
Dynamic parameter, specifically includes：
The slope accelerating sections, at the uniform velocity section and the corresponding preset time of slope braking section are solved, it is each described default
The summation of time is the total time-consuming of full track mark；
With the minimum target of total time-consuming of the full track mark, corresponding object function is established, solves the optimized parameter according to this；Its
In, the optimized parameter includes maximum speed value V 'max, maximum acceleration value A 'maxAnd maximum deceleration value D 'max。
5. according to the method described in claim 4, it is characterized in that, the slope accelerating sections, at the uniform velocity section and tiltedly of solving
The corresponding preset time of slope braking section, the summation of each preset time are the total time-consuming of full track mark, are specifically included：
The corresponding preset time in each track is respectively ta1, tca and ta2, the slope accelerating sections in the slope accelerating sections
Corresponding preset time is tramp_up=ta1+tca+ta2；Wherein：
The corresponding preset time in each track is respectively td1, tcd and td2, the slope braking section in the slope braking section
Corresponding preset time is tramp_down=td1+tcd+td2；Wherein：
The preset time t cv of the at the uniform velocity section is：Wherein：S is the total length of the full track mark, and Sa is
The path length of the slope accelerating sections, Sd are the path length of slope braking section, and the Sa and Sd are as follows：
Wherein, Pa1, Pa2, Pd1, Pd2 are respectively the corresponding path length of described preset time t a1, ta2, td1 and td2.
6. according to the method described in claim 4, it is characterized in that, with the minimum target of total time-consuming of the full track mark, establish
Corresponding object function solves the optimized parameter according to this, specifically includes：
The object function includes：Minf=tramp1+tramp2+tcv；Wherein, f is the corresponding total time-consuming of the full track mark, minf
Minimum total time-consuming；
The start-stop constraints, default constraints and physical constraint condition can be summarized as following comprehensive constraint condition：
The optimal motion parameter can be solved according to the object function and the comprehensive constraint condition：Maximum speed value V
′max, maximum acceleration value A 'maxAnd maximum deceleration value D 'max。
7. according to method according to any one of claims 1 to 6, which is characterized in that the locus model includes S types track mould
Type, the speed planning curve model include S type speed planning curve models, and the target velocity planning curve includes S type mesh
Mark speed planning curve.
8. a kind of speed planning device, which is characterized in that including：
Locus model establishes module, for establishing locus model sequentially in time and constraints being arranged；The locus model
Including end orbit, it is non-zero to be included at least in the corresponding final kinematic parameter of the end orbit a kind of；
Speed planning curve model establishes module, for establishing speed planning curve model；
Processing module, for being based on the speed planning curve model and according to the constraints, using time optimal as target
Solution obtains optimal motion parameter, and generates target velocity according to the optimal motion parameter and plan curve.
9. a kind of control system, which is characterized in that including：Processor and memory；
The memory is used to execute the computer journey of the memory storage for storing computer program, the processor
Sequence, so that the control system executes the speed planning method as described in any one of claim 1 to 7.
10. a kind of robot, which is characterized in that including control system as claimed in claim 9.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The speed planning method described in any one of claim 1 to 7 is realized when execution.
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| CN113524181B (en) * | 2021-07-09 | 2023-03-10 | 东莞市李群自动化技术有限公司 | Online speed adjustment method, device, unit, robot and storage medium |
| CN113867175A (en) * | 2021-10-08 | 2021-12-31 | 清华大学 | Rail transit model creation method, device, computer equipment and storage medium |
| CN113867175B (en) * | 2021-10-08 | 2023-10-24 | 清华大学 | Rail transit model creation method, device, computer equipment and storage medium |
| CN114212094B (en) * | 2021-11-29 | 2023-09-29 | 东风商用车有限公司 | Vehicle acceleration management method based on MPC control |
| CN114212094A (en) * | 2021-11-29 | 2022-03-22 | 东风商用车有限公司 | Vehicle acceleration management method based on MPC control |
| CN116277038A (en) * | 2023-05-23 | 2023-06-23 | 极限人工智能(北京)有限公司 | Mechanical arm track planning method and system for given time and initial and final speeds |
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