CN112947296A

CN112947296A - Five-axis speed planning method and device, computer equipment and storage medium

Info

Publication number: CN112947296A
Application number: CN202110260963.5A
Authority: CN
Inventors: 盛龙; 阳纯旭
Original assignee: Shenzhen Taida Intelligent Equipment Co ltd
Current assignee: Shenzhen Taida Intelligent Equipment Co ltd
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2021-06-11
Anticipated expiration: 2041-03-10
Also published as: CN112947296B

Abstract

The application relates to a five-axis speed planning method, a five-axis speed planning device, a computer device and a storage medium. The method comprises the following steps: establishing a forward and inverse solution model according to the structural form of the five-axis machine tool; acquiring a preset tool nose point motion track, wherein the tool nose point motion track comprises a plurality of track points and motion track sections; respectively determining initial feeding speeds corresponding to the track points aiming at the track points, and establishing an acceleration and deceleration constraint model under a workpiece coordinate system according to the initial feeding speeds; aiming at each track point, determining corresponding connection front and back points of the track point in a machine tool coordinate system based on a forward and inverse solution model respectively, and establishing a first speed jump constraint model in the machine tool coordinate system according to a speed jump incidence relation between the connection front and back points; and converting the first speed jump constraint model into a second speed jump constraint model in a workpiece coordinate system, and performing optimal speed planning by combining the acceleration and deceleration and the second speed jump constraint model. By adopting the method, the speed planning efficiency can be improved.

Description

Five-axis speed planning method and device, computer equipment and storage medium

Technical Field

The present application relates to the field of power system technologies, and in particular, to a five-axis speed planning method and apparatus, a computer device, and a storage medium.

Background

The five-axis machine tool is a machine tool with high technological content and high precision and specially used for machining complex curved surfaces, and is mainly composed of three orthogonal translational axes and two rotating axes, so that a nonlinear transformation relation exists between the feed motion of a workpiece coordinate system and the axis motion of a machine tool coordinate system.

In the traditional five-axis speed planning, the speed planning is generally carried out according to the synthetic speed of five motion axes under a machine tool coordinate system, so that a machine tool model and a nonlinear transformation relation do not need to be considered, and the planning efficiency is effectively improved. However, when the conventional five-axis speed planning method performs speed planning, the difference of the five-axis machine tools in different forms is not considered, so that the actual feeding speed is obviously uneven and jumped. Therefore, the conventional five-axis speed planning method still has the problem of low speed planning efficiency.

Disclosure of Invention

In view of the above, it is necessary to provide a five-axis velocity planning method, an apparatus, a computer device, and a storage medium capable of improving velocity planning efficiency.

A five-axis velocity planning method, the method comprising:

according to the structural form of a five-axis machine tool, establishing a forward and inverse solution model based on the vector positions of a tool point and a tool shaft under a workpiece coordinate system and the positions of all shafts under a machine tool coordinate system;

acquiring a preset tool nose point motion track, wherein the tool nose point motion track comprises a plurality of track points and a plurality of motion track segments; each motion track segment is determined by two track points adjacent to each other in position;

respectively determining initial feeding speeds corresponding to the track points aiming at the track points, and establishing an acceleration and deceleration constraint model under a workpiece coordinate system according to the initial feeding speeds;

aiming at each track point, respectively determining a corresponding pre-connection point and a corresponding post-connection point of the track point in a machine tool coordinate system based on the forward and inverse solution model, and establishing a first speed jump constraint model in the machine tool coordinate system according to a corresponding speed jump incidence relation between the pre-connection point and the post-connection point; the pre-connection point and the post-connection point both approach to the corresponding track point;

and converting the first speed jump constraint model into a second speed jump constraint model in a workpiece coordinate system, combining the acceleration and deceleration constraint model and the second speed jump constraint model, performing reverse speed iterative computation on the optimal feeding speed correspondingly reached at each track point in the workpiece coordinate system, and outputting a final speed planning result based on each obtained optimal feeding speed.

In one embodiment, the acceleration and deceleration constraint model is used for constraining and enabling the initial feed speed correspondingly reached at the track point to be smaller than the maximum feed speed which can be reached when the acceleration motion is carried out to the track point at the first reference track point at the preset maximum acceleration; the first reference track point is positioned in front of the track point and is adjacent to the track point; the spacing distance between the first reference track point and the track point is greater than the spacing distance between the corresponding pre-connection point and the track point;

and/or the presence of a gas in the gas,

the acceleration and deceleration constraint model is used for constraining and enabling the initial feeding speed correspondingly reached at the track point to be smaller than the maximum feeding speed which can be reached when the initial feeding speed is decelerated and moved to a second reference track point at the track point by the preset maximum deceleration; the second reference track point is positioned behind the track point and is adjacent to the track point; and the spacing distance between the second reference track point and the track point is greater than the corresponding spacing distance between the connection back point and the track point.

In one embodiment, the determining, based on the forward and inverse solution model, corresponding pre-engagement points and post-engagement points of the trajectory points in a machine coordinate system includes:

converting the forward and inverse solution model in a post-processing mode to obtain a corresponding Jacobian matrix;

determining initial connection front points and initial connection rear points corresponding to the track points according to a track continuity rule;

transforming the initial pre-joint point into a corresponding pre-joint point under a machine tool coordinate system through the Jacobian matrix;

and transforming the initial jointed points into corresponding jointed points under a machine tool coordinate system through the Jacobian matrix.

In one embodiment, the establishing a first speed jump constraint model in a machine coordinate system according to the corresponding speed jump association relationship between the pre-engagement point and the post-engagement point includes:

in a preset interpolation period, when the point before connection moves to the point after connection, determining corresponding speed jump and acceleration jump, and motion components correspondingly generated on each axis of a machine tool coordinate system;

and constructing a first speed jump constraint model under a machine tool coordinate system according to the speed jump, the acceleration jump and the motion component.

In one embodiment, the performing, in combination with the acceleration and deceleration constraint model and the second speed jump constraint model, a reverse speed iterative calculation on the optimal feeding speed correspondingly reached at each trajectory point in the workpiece coordinate system includes:

aiming at each track point under the workpiece coordinate system, obtaining the optimal feeding speed corresponding to the corresponding track point through the following steps until obtaining the optimal feeding speed corresponding to each track point:

determining a look-ahead track point of the current iteration corresponding to the track point; the forward-looking track point is positioned behind the track point and is adjacent to the track point; the spacing distance between the prospective track point and the track point is greater than the spacing distance between the corresponding connection back point and the track point;

calculating a first estimated maximum feeding speed reached at the current look-ahead track point based on the look-ahead track point of the current iteration by combining the acceleration and deceleration constraint model and the second speed jump constraint model;

back-deriving a target estimated maximum feed speed achieved at the trajectory point based on the first estimated maximum feed speed;

and taking the track point which is behind the current forward-looking track point in the current iteration and is adjacent to the current forward-looking track point as the current forward-looking track point in the next iteration, returning the forward-looking track point based on the current iteration, combining the acceleration and deceleration constraint model and the second speed jump constraint model, calculating the step of the first estimated maximum feed speed reached at the current forward-looking track point, continuing to execute the step until a preset iteration termination condition is reached, stopping the iteration cycle, obtaining a plurality of target estimated maximum feed speeds corresponding to the track point, and determining the optimal feed speed of the track point according to the plurality of target estimated maximum feed speeds.

In one embodiment, the preset iteration end condition comprises a preset maximum number of iterations or a first estimated maximum feed speed reached at the first trajectory point being 0.

A five-axis velocity planning apparatus, the apparatus comprising:

the first model building module is used for building a forward and inverse solution model according to the structural form of the five-axis machine tool and based on the vector positions of a tool point and a tool shaft under a workpiece coordinate system and the positions of all shafts under the machine tool coordinate system;

the acquisition module is used for acquiring a preset tool nose point motion track, and the tool nose point motion track comprises a plurality of track points and a plurality of motion track sections; each motion track segment is determined by two track points adjacent to each other in position;

the second model building module is used for respectively determining the initial feeding speed corresponding to each track point and building an acceleration and deceleration constraint model under a workpiece coordinate system according to the initial feeding speed;

the third model building module is used for determining corresponding pre-connection points and post-connection points of the track points in a machine tool coordinate system respectively based on the forward and inverse solution model aiming at each track point, and building a first speed jump constraint model in the machine tool coordinate system according to a corresponding speed jump incidence relation between the pre-connection points and the post-connection points; the pre-connection point and the post-connection point both approach to the corresponding track point;

and the speed planning module is used for converting the first speed jump constraint model into a second speed jump constraint model in a workpiece coordinate system, performing reverse speed iterative computation on the optimal feeding speed correspondingly reached at each track point in the workpiece coordinate system by combining the acceleration and deceleration constraint model and the second speed jump constraint model, and outputting a final speed planning result based on each obtained optimal feeding speed.

In one embodiment, the speed planning module further includes a first calculation sub-module, a second calculation sub-module, a reverse calculation sub-module, and an iterative optimization sub-module, and the speed planning module is further configured to obtain, through the first calculation sub-module, the second calculation sub-module, the reverse calculation sub-module, and the iterative optimization sub-module, an optimal feed speed corresponding to each trajectory point until an optimal feed speed corresponding to each trajectory point is obtained, where:

the first calculation submodule is used for determining a look-ahead track point of the current iteration corresponding to the track point; the forward-looking track point is positioned behind the track point and is adjacent to the track point; the spacing distance between the prospective track point and the track point is greater than the spacing distance between the corresponding connection back point and the track point;

the second calculation submodule is used for calculating a first estimated maximum feeding speed reached at the current look-ahead track point based on the look-ahead track point of the current iteration by combining the acceleration and deceleration constraint model and the second speed jump constraint model;

a back calculation sub-module for back calculating a target estimated maximum feed speed reached at the trajectory point based on the first estimated maximum feed speed;

and the iteration optimization submodule is used for taking the track point which is behind the current forward-looking track point in the current iteration and is adjacent to the current forward-looking track point as the current forward-looking track point in the next iteration, returning the forward-looking track point based on the current iteration, combining the acceleration and deceleration constraint model and the second speed jump constraint model, calculating the step of the first estimated maximum feed speed reached at the current forward-looking track point and continuing to execute the step until a preset iteration termination condition is reached, stopping an iteration cycle, obtaining a plurality of target estimated maximum feed speeds corresponding to the track point, and determining the optimal feed speed of the track point according to the plurality of target estimated maximum feed speeds.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the five-axis speed planning method, the five-axis speed planning device, the computer equipment and the storage medium, the corresponding initial feeding speed at each track point is respectively determined according to the positive and negative solution model established according to the structural form of the five-axis machine tool, the motion track of the obtained preset tool nose point and each determined track point; and calculating the optimal feeding speed correspondingly reached at each track point under the workpiece coordinate system based on a reverse speed iterative calculation mode. Currently, in the first aspect, a corresponding acceleration and deceleration constraint model may be established according to each determined initial feeding speed, wherein the initial feeding speed correspondingly reached at the corresponding track point is constrained by the established acceleration and deceleration constraint model, so that the finally output speed planning result may meet the actual process requirement. And on the second aspect, a corresponding second speed jump constraint model is established according to the established forward and inverse solution model and the corresponding speed jump incidence relation between the corresponding pre-connection point and the post-connection point, and the speed optimization efficiency can be further improved under the condition of comprehensively considering the dynamic constraint under the machine tool coordinate system. And in the third aspect, based on the actual motion trail of the tool nose point, the optimal speed is calculated by using a reverse speed iterative calculation mode through the established acceleration and deceleration constraint model and the second speed jump constraint model, so that the speed optimization efficiency is effectively improved.

Drawings

FIG. 1 is a schematic flow chart diagram of a five-axis velocity planning method in one embodiment;

FIG. 2 is a schematic flow chart illustrating the establishment of a first velocity jump constraint model in one embodiment;

FIG. 3 is a schematic flow chart of an embodiment for iteratively calculating an optimal feed rate via reverse speed;

FIG. 4 is a block diagram of a five-axis velocity planner according to one embodiment;

FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in fig. 1, a five-axis speed planning method is provided, which is described by taking as an example that the method is applied to a computer device (the computer device may specifically be a terminal or a server, and the terminal may specifically be, but is not limited to, various personal computers, laptops, smartphones, tablet computers, and portable wearable devices; the server may be a stand-alone server or a server cluster composed of a plurality of servers), and includes the following steps:

and S102, establishing a forward and inverse solution model based on the vector positions of a tool point and a tool shaft under a workpiece coordinate system and the positions of all shafts under a machine tool coordinate system according to the structural form of the five-axis machine tool.

The five-axis machine tool is mainly composed of three orthogonal translational axes and two rotating axes, so that the five-axis machine tool has a nonlinear transformation relation between the feed motion of a workpiece coordinate system and the axis motion of a machine tool coordinate system.

Step S104, acquiring a preset tool nose point motion track, wherein the tool nose point motion track comprises a plurality of track points and a plurality of motion track sections; wherein, each motion trail section is respectively determined by two adjacent track points.

And S106, respectively determining the corresponding initial feeding speed at the track points aiming at each track point, and establishing an acceleration and deceleration constraint model under a workpiece coordinate system according to the initial feeding speed.

Specifically, the computer device determines an acceleration and deceleration model of each track point under the workpiece coordinate system according to the maximum feed speed reached by accelerating to the corresponding track point at the preset maximum acceleration and/or the maximum feed speed reached by decelerating to the corresponding track point at the preset maximum deceleration at the corresponding reference track point.

In one embodiment, the acceleration and deceleration constraint model is used for constraining and enabling the initial feeding speed correspondingly reached at the track point to be smaller than the maximum feeding speed which can be reached when the acceleration motion is carried out to the track point at the first reference track point by the preset maximum acceleration; the first reference track point is positioned in front of the track point and is adjacent to the track point; the spacing distance between the first reference track point and the track point is greater than the spacing distance between the corresponding connection front point and the track point;

and/or the presence of a gas in the gas,

the acceleration and deceleration constraint model is used for constraining and enabling the initial feeding speed correspondingly reached at the track point to be smaller than the maximum feeding speed which can be reached when the acceleration and deceleration constraint model decelerates to a second reference track point at the track point at a preset maximum deceleration; the second reference track point is positioned behind the track point and is adjacent to the track point; and the spacing distance between the second reference track point and the track point is greater than the spacing distance between the corresponding connection back point and the track point.

In the above embodiment, the initial feeding speed correspondingly reached at the corresponding trajectory point is constrained by the acceleration and deceleration constraint model, so that the finally output speed planning result can meet the actual process requirement.

Step S108, aiming at each track point, determining a corresponding pre-connection point and a corresponding post-connection point of the track point in a machine tool coordinate system based on a forward-inverse solution model respectively, and establishing a first speed jump constraint model in the machine tool coordinate system according to a corresponding speed jump incidence relation between the pre-connection point and the post-connection point; the connecting front point and the connecting back point approach to the corresponding track point.

Specifically, computer equipment combines a track continuous rule and a Jacobian matrix corresponding to a forward and inverse solution model to determine corresponding pre-connection points and post-connection points of each track point in a machine tool coordinate system.

In one embodiment, determining the corresponding pre-joining point and post-joining point of the track point in the machine tool coordinate system based on the forward-inverse solution model includes: converting the forward and inverse solution model in a post-processing mode to obtain a corresponding Jacobian matrix; determining initial connection front points and initial connection rear points corresponding to the track points according to a track continuous rule; transforming the initial pre-joint point into a corresponding pre-joint point under a machine tool coordinate system through a Jacobian matrix; and transforming the initial jointed points into corresponding jointed points in a machine tool coordinate system through a Jacobian matrix.

And step S110, converting the first speed jump constraint model into a second speed jump constraint model in a workpiece coordinate system, performing reverse speed iterative computation on the optimal feeding speed correspondingly reached at each track point in the workpiece coordinate system by combining the acceleration and deceleration constraint model and the second speed jump constraint model, and outputting a final speed planning result based on each obtained optimal feeding speed.

Specifically, the computer device calculates the maximum forward-looking segment number of forward iterations required for each track point according to the preset forward-looking segment number, wherein when the corresponding maximum forward-looking segment number is reached, the optimal feeding speed correspondingly reached at the corresponding track point is 0, namely the motion is stopped.

In one embodiment, the preset number of look-ahead segments may be set to 200 segments, and the calculation process of the reverse speed iteration corresponding to each track point may be implemented by the following steps:

(a) for the ith track point processed currently, setting the terminal point speed reached at the nth track point behind the track point i (namely setting a corresponding number of forward-looking segments which can be reasonably set by combining with actual application requirements) as 0;

(b) defining the iteration number as k (reasonable setting can be carried out by combining with actual application requirements), and setting an iteration initial value as 0;

(c) adding one to the iteration number k;

(d) calculating the maximum feeding speed correspondingly reached at the (i + k) th track point by combining the acceleration and deceleration constraint model and the second speed jump constraint model;

(e) reversely deducing the maximum feeding speed reached at the ith track point based on the maximum feeding speed correspondingly reached at the (i + k) th track point;

and (c) repeating the step (c), stopping the iterative cycle until a preset iteration termination condition is reached, obtaining a plurality of target estimated maximum feeding speeds corresponding to the corresponding track points, and determining the optimal feeding speed of the track point according to the plurality of target estimated maximum feeding speeds.

In the above-described embodiment, the preset iteration end condition includes that the preset maximum number of iterations is reached or that the first estimated maximum feed speed reached at the first locus point is 0.

In the above embodiment, the reverse speed iteration is performed based on the look-ahead preprocessing method, and by setting the feeding speed meeting the actual process requirement, the maximum speed jump and the maximum speed jump on each axis of the actual machine are matched, and by combining a reasonable number of look-ahead stages, the approximate optimal balance between the processing efficiency and the processing effect can be ensured.

According to the five-axis speed planning method, a forward and inverse solution model is established according to the structural form of the five-axis machine tool, and the corresponding initial feeding speed at each track point is respectively determined according to each determined track point through the acquired preset motion track of the tool nose point; and calculating the optimal feeding speed correspondingly reached at each track point under the workpiece coordinate system based on a reverse speed iterative calculation mode. Currently, in the first aspect, a corresponding acceleration and deceleration constraint model may be established according to each determined initial feeding speed, wherein the initial feeding speed correspondingly reached at the corresponding track point is constrained by the established acceleration and deceleration constraint model, so that the finally output speed planning result may meet the actual process requirement. And on the second aspect, a corresponding second speed jump constraint model is established according to the established forward and inverse solution model and the corresponding speed jump incidence relation between the corresponding pre-connection point and the post-connection point, and the speed optimization efficiency can be further improved under the condition of comprehensively considering the dynamic constraint under the machine tool coordinate system. And in the third aspect, based on the actual motion trail of the tool nose point, the optimal speed is calculated by using a reverse speed iterative calculation mode through the established acceleration and deceleration constraint model and the second speed jump constraint model, so that the speed optimization efficiency is effectively improved.

In one embodiment, as shown in fig. 2, establishing a first velocity jump constraint model in a machine coordinate system according to a corresponding velocity jump association relationship between a pre-engagement point and a post-engagement point includes:

step S202, in a preset interpolation period, when the point before connection moves to the point after connection, corresponding speed jump and acceleration jump are determined, and motion components correspondingly generated on each axis of a machine tool coordinate system.

The interpolation is a process enabling a machine tool numerical control system to determine a tool motion track according to a certain method, and the interpolation period is a very short time period.

Specifically, in the machine tool coordinate system, when the pre-joining point Mi1 moves to the post-joining point Mi2 within a given interpolation period and at a certain speed, the computer device calculates the corresponding speed jump and acceleration jump, and the motion components generated correspondingly on each axis of the machine tool coordinate system.

In one embodiment, the pre-engagement point Mi1 can be defined as a first variable Ui1, and the post-engagement point Mi2 can be defined as a second variable Ui 2. Wherein the definition fields of the first variable Ui1 and the second variable Ui2 can be set to [0,1 ].

And step S204, constructing a first speed jump constraint model under a machine tool coordinate system according to the speed jump, the acceleration jump and the motion component.

Specifically, a first speed jump constraint model under a machine tool coordinate system is established by the computer equipment according to the speed jump, the acceleration jump and the motion component.

In one embodiment, first, the maximum speed jump and the maximum acceleration jump limit allowed on each axis are further determined by the computer device according to the speed jump, the acceleration jump, and the motion component. Secondly, when the point Mi1 before the join can be defined as a first variable Ui1 and the point Mi2 after the join can be defined as a second variable Ui2, the maximum value variation expression of the first variable Ui1 and the second variable Ui2 corresponding to each axis is calculated by the computer device. Finally, the maximum feed speed that can be reached at the corresponding trajectory point is determined by the computer device upon determining that the first variable Ui1 approaches 1 and the second variable Ui2 approaches 0, according to the maximum value change value expression of the first variable Ui1 and the second variable Ui 2.

In the current embodiment, the motion parameters to be used when the first speed jump constraint model is constructed are determined based on the fact that the point before the connection moves to the point after the connection, and the optimization efficiency is improved under the condition that the dynamic constraint under the machine tool coordinate system is comprehensively considered.

In one embodiment, as shown in fig. 3, in combination with the acceleration and deceleration constraint model and the second speed jump constraint model, performing a reverse speed iterative computation on the optimal feeding speed correspondingly reached at each trajectory point in the workpiece coordinate system includes:

step S302, determining a look-ahead track point of the current iteration corresponding to the track point; the forward track point is positioned behind the track point and is adjacent to the track point; the spacing distance between the forward track point and the track point is larger than the spacing distance between the corresponding connection back point and the track point.

And step S304, calculating a first estimated maximum feeding speed reached at the current look-ahead track point based on the current look-ahead track point by combining the acceleration and deceleration constraint model and the second speed jump constraint model.

Specifically, the computer device is combined with the acceleration and deceleration constraint model and the second speed jump constraint model to calculate a first estimated maximum feeding speed reached at the current forward-looking track point, and the maximum speed jump and the maximum acceleration jump on each axis of the actual machine table are matched by setting the feeding speed meeting the actual process requirement, so that the approximate optimal balance of the machining efficiency and the machining effect is ensured.

Step S306, back-reckoning the target estimated maximum feed speed reached at the trajectory point based on the first estimated maximum feed speed.

Specifically, the target estimated maximum feed speed reached at the locus point is back-calculated by the computer device based on the first estimated maximum feed speed. Currently, on one hand, the target estimated maximum feeding speed obtained by reverse calculation takes into account the acceleration and deceleration constraint model and the approximate optimal feeding speed under the second speed jump constraint model. On the other hand, the actual feed motion track is considered, the optimal speed is calculated by using a forward-looking speed planning mode through a kinematic model of the actual track, and the optimization efficiency is effectively improved.

Step S308, judging whether the current iteration reaches an iteration termination condition.

And S310, if the iteration termination condition is not reached, taking the track point which is behind the current look-ahead track point in the current iteration and is adjacent to the current look-ahead track point as the current look-ahead track point in the next iteration, and returning to the step S304 to continue executing.

And step S312, if the iteration termination condition is reached, stopping the iteration cycle to obtain a plurality of target estimated maximum feeding speeds corresponding to the track point, and determining the optimal feeding speed of the track point according to the plurality of target estimated maximum feeding speeds.

Wherein the preset iteration end condition comprises a preset maximum number of iterations or a first estimated maximum feed speed reached at the first trajectory point being 0.

Specifically, the computer device screens out a minimum value item from the obtained multiple target estimated maximum feed speeds according to a minimum value screening mode, and uses the target estimated maximum feed speed corresponding to the minimum value item as the optimal feed speed of the track point.

In one embodiment, on one hand, the computer device screens out a minimum value item from the obtained multiple target estimated maximum feeding speeds through a minimum value screening mode such as a dichotomy or a bubbling method, and uses the target estimated maximum feeding speed corresponding to the minimum value item as the optimal feeding speed of the track point; it should be noted that other minimum value screening algorithms may also be selected in the current embodiment, and the embodiment of the present application is not limited thereto. And on the other hand, the computer equipment calculates interpolation points corresponding to each interpolation period in the workpiece coordinate system according to the complete velocity curve of the track in the workpiece coordinate system. According to the established forward and inverse solution model, axis motion interpolation points corresponding to each interpolation axis period in a machine tool coordinate system can be obtained, and accordingly five-axis adaptive speed planning interpolation motion is achieved.

In the embodiment, the reasonable number of the forward-looking segments is set, and the actual feed motion track is considered, so that the processing efficiency and the processing effect can reach an approximately optimal balance state.

It should be understood that although the various steps in the flow charts of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in FIG. 4, a five axis velocity planning apparatus 400 is provided, comprising: a first model building module 401, an obtaining module 402, a second model building module 403, a third model building module 404 and a velocity planning module 405, wherein:

the first model building module 401 is configured to build a forward and inverse solution model according to a structural form of the five-axis machine tool and based on vector positions of a tool tip point and a tool axis in a workpiece coordinate system and positions of each axis in a machine tool coordinate system.

An obtaining module 402, configured to obtain a preset tool nose point motion trajectory, where the tool nose point motion trajectory includes multiple trajectory points and multiple motion trajectory segments; wherein, each motion trail section is respectively determined by two adjacent track points.

And a second model building module 403, configured to determine, for each track point, an initial feeding speed corresponding to the track point, and build an acceleration/deceleration constraint model in a workpiece coordinate system according to the initial feeding speed.

A third model building module 404, configured to determine, for each track point, a pre-joining point and a post-joining point of the track point in a machine tool coordinate system based on the forward-inverse solution model, respectively, and build a first speed jump constraint model in the machine tool coordinate system according to a corresponding speed jump association relationship between the pre-joining point and the post-joining point; the connecting front point and the connecting back point approach to the corresponding track point.

And the speed planning module 405 is configured to convert the first speed jump constraint model into a second speed jump constraint model in the workpiece coordinate system, perform reverse speed iterative computation on the optimal feeding speed correspondingly reached at each trajectory point in the workpiece coordinate system by combining the acceleration and deceleration constraint model and the second speed jump constraint model, and output a final speed planning result based on the obtained optimal feeding speeds.

The five-axis speed planning device respectively determines the corresponding initial feeding speed at each track point according to each determined track point through the acquired preset motion track of the tool nose point and the acquired positive and negative solution model established according to the structural form of the five-axis machine tool; and calculating the optimal feeding speed correspondingly reached at each track point under the workpiece coordinate system based on a reverse speed iterative calculation mode. Currently, in the first aspect, a corresponding acceleration and deceleration constraint model may be established according to each determined initial feeding speed, wherein the initial feeding speed correspondingly reached at the corresponding track point is constrained by the established acceleration and deceleration constraint model, so that the finally output speed planning result may meet the actual process requirement. And on the second aspect, a corresponding second speed jump constraint model is established according to the established forward and inverse solution model and the corresponding speed jump incidence relation between the corresponding pre-connection point and the post-connection point, and the speed optimization efficiency can be further improved under the condition of comprehensively considering the dynamic constraint under the machine tool coordinate system. And in the third aspect, based on the actual motion trail of the tool nose point, the optimal speed is calculated by using a reverse speed iterative calculation mode through the established acceleration and deceleration constraint model and the second speed jump constraint model, so that the speed optimization efficiency is effectively improved.

In one embodiment, the second model building module 403 is further configured to constrain and make the initial feeding speed correspondingly reached at the track point smaller than the maximum feeding speed that can be reached when the first reference track point is accelerated to the track point at the preset maximum acceleration; the first reference track point is positioned in front of the track point and is adjacent to the track point; the spacing distance between the first reference track point and the track point is greater than the spacing distance between the corresponding connection front point and the track point;

and/or the presence of a gas in the gas,

constraining and enabling the initial feeding speed correspondingly reached at the track point to be smaller than the maximum feeding speed which can be reached when the initial feeding speed is decelerated to move to a second reference track point at the track point by the preset maximum deceleration; the second reference track point is positioned behind the track point and is adjacent to the track point; and the spacing distance between the second reference track point and the track point is greater than the spacing distance between the corresponding connection back point and the track point.

In one embodiment, the third model building module 404 is further configured to perform a conversion process on the forward/inverse solution model through a post-processing manner to obtain a corresponding jacobian matrix; determining initial connection front points and initial connection rear points corresponding to the track points according to a track continuous rule; transforming the initial pre-joint point into a corresponding pre-joint point under a machine tool coordinate system through a Jacobian matrix; and transforming the initial jointed points into corresponding jointed points in a machine tool coordinate system through a Jacobian matrix.

In one embodiment, the third model building module 404 is further configured to determine a corresponding velocity jump and an acceleration jump when moving from a pre-joining point to a post-joining point within a preset interpolation period, and motion components generated correspondingly on each axis of the machine coordinate system; and constructing a first speed jump constraint model under a machine tool coordinate system according to the speed jump, the acceleration jump and the motion component.

In one embodiment, the speed planning module further includes a first calculation sub-module, a second calculation sub-module, a reverse calculation sub-module, and an iterative optimization sub-module, and the speed planning module is further configured to obtain, through the first calculation sub-module, the second calculation sub-module, the reverse calculation sub-module, and the iterative optimization sub-module, an optimal feed speed corresponding to each track point until an optimal feed speed corresponding to each track point is obtained, where:

the first calculation submodule is used for determining the prospective track point of the current iteration corresponding to the track point; the forward track point is positioned behind the track point and is adjacent to the track point; the spacing distance between the forward track point and the track point is larger than the spacing distance between the corresponding connection back point and the track point.

And the second calculation submodule is used for calculating the first estimated maximum feeding speed reached at the current look-ahead track point based on the look-ahead track point of the current iteration by combining the acceleration and deceleration constraint model and the second speed jump constraint model.

And the backward calculation operator module is used for performing backward calculation on the target estimated maximum feeding speed reached at the locus point according to the first estimated maximum feeding speed.

And the iteration optimization submodule is used for taking the track point which is behind the current forward-looking track point in the current iteration and is adjacent to the current forward-looking track point as the current forward-looking track point in the next iteration, returning the track point which is based on the current iteration in the second calculation submodule, combining the acceleration and deceleration constraint model and the second speed jump constraint model, calculating the step of the first estimated maximum feeding speed reached at the current forward-looking track point, continuously executing the step until a preset iteration termination condition is reached, stopping the iteration cycle, obtaining a plurality of target estimated maximum feeding speeds corresponding to the track point, and determining the optimal feeding speed of the track point according to the plurality of target estimated maximum feeding speeds.

In one embodiment, the speed planning module is further configured to determine a preset iteration termination condition when the preset maximum number of iterations or the first estimated maximum feed speed reached at the first trajectory point is 0.

For specific limitations of the five-axis speed planning apparatus, reference may be made to the above limitations of the five-axis speed planning method, which are not described herein again. The modules in the five-axis speed planning device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal or a server, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a five-axis velocity planning method.

Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: according to the structural form of a five-axis machine tool, establishing a forward and inverse solution model based on the vector positions of a tool point and a tool shaft under a workpiece coordinate system and the positions of all shafts under a machine tool coordinate system; acquiring a preset tool nose point motion track, wherein the tool nose point motion track comprises a plurality of track points and a plurality of motion track segments; each motion track segment is determined by two track points adjacent to each other in position; respectively determining initial feeding speeds corresponding to the track points aiming at the track points, and establishing an acceleration and deceleration constraint model under a workpiece coordinate system according to the initial feeding speeds; aiming at each track point, determining a corresponding pre-connection point and a corresponding post-connection point of the track point in a machine tool coordinate system based on a forward-inverse solution model respectively, and establishing a first speed jump constraint model in the machine tool coordinate system according to a corresponding speed jump incidence relation between the pre-connection point and the post-connection point; the connection front point and the connection back point are both close to the corresponding track point; and converting the first speed jump constraint model into a second speed jump constraint model in a workpiece coordinate system, performing reverse speed iterative computation on the optimal feeding speed correspondingly reached at each track point in the workpiece coordinate system by combining the acceleration and deceleration constraint model and the second speed jump constraint model, and outputting a final speed planning result based on each obtained optimal feeding speed.

In one embodiment, the processor, when executing the computer program, further performs the steps of: constraining and enabling the initial feeding speed correspondingly reached at the track point to be smaller than the maximum feeding speed which can be reached when the initial feeding speed is accelerated to the track point at the first reference track point at the preset maximum acceleration; the first reference track point is positioned in front of the track point and is adjacent to the track point; the spacing distance between the first reference track point and the track point is greater than the spacing distance between the corresponding connection front point and the track point; and/or the acceleration and deceleration constraint model is used for constraining and enabling the initial feeding speed correspondingly reached at the track point to be smaller than the maximum feeding speed which can be reached when the acceleration and deceleration constraint model decelerates to a second reference track point at the track point by a preset maximum deceleration; the second reference track point is positioned behind the track point and is adjacent to the track point; and the spacing distance between the second reference track point and the track point is greater than the spacing distance between the corresponding connection back point and the track point.

In one embodiment, the processor, when executing the computer program, further performs the steps of: converting the forward and inverse solution model in a post-processing mode to obtain a corresponding Jacobian matrix; determining initial connection front points and initial connection rear points corresponding to the track points according to a track continuous rule; transforming the initial pre-joint point into a corresponding pre-joint point under a machine tool coordinate system through a Jacobian matrix; and transforming the initial jointed points into corresponding jointed points in a machine tool coordinate system through a Jacobian matrix.

In one embodiment, the processor, when executing the computer program, further performs the steps of: in a preset interpolation period, when a point before connection moves to a point after connection, determining corresponding speed jump and acceleration jump, and motion components correspondingly generated on each axis of a machine tool coordinate system; and constructing a first speed jump constraint model under a machine tool coordinate system according to the speed jump, the acceleration jump and the motion component.

In one embodiment, the processor, when executing the computer program, further performs the steps of: aiming at each track point under the workpiece coordinate system, obtaining the optimal feeding speed corresponding to the corresponding track point through the following steps until obtaining the optimal feeding speed corresponding to each track point:

determining a look-ahead track point of the current iteration corresponding to the track point; the forward track point is positioned behind the track point and is adjacent to the track point; the spacing distance between the forward track point and the track point is greater than the spacing distance between the corresponding connection back point and the track point; based on the look-ahead track point of the current iteration, calculating a first estimated maximum feeding speed reached at the current look-ahead track point by combining the acceleration and deceleration constraint model and the second speed jump constraint model; reverse reckoning a target estimated maximum feed speed reached at the trajectory point based on the first estimated maximum feed speed; and taking the track point which is behind the current forward-looking track point in the current iteration and is adjacent to the current forward-looking track point as the current forward-looking track point in the next iteration, returning the forward-looking track point based on the current iteration, combining the acceleration and deceleration constraint model and the second speed jump constraint model, calculating the step of the first estimated maximum feed speed reached at the current forward-looking track point, continuing to execute the step, stopping the iteration cycle until a preset iteration termination condition is reached, obtaining a plurality of target estimated maximum feed speeds corresponding to the track point, and determining the optimal feed speed of the track point according to the plurality of target estimated maximum feed speeds.

In one embodiment, the processor, when executing the computer program, further performs the steps of: and determining a preset iteration termination condition when the first estimated maximum feeding speed reached at the first track point is 0 or according to the preset maximum iteration times.

The computer equipment respectively determines the corresponding initial feeding speed at each track point according to each determined track point through the acquired preset motion track of the tool nose point and the acquired positive and negative solution model established according to the structural form of the five-axis machine tool; and calculating the optimal feeding speed correspondingly reached at each track point under the workpiece coordinate system based on a reverse speed iterative calculation mode. Currently, in the first aspect, a corresponding acceleration and deceleration constraint model may be established according to each determined initial feeding speed, wherein the initial feeding speed correspondingly reached at the corresponding track point is constrained by the established acceleration and deceleration constraint model, so that the finally output speed planning result may meet the actual process requirement. And on the second aspect, a corresponding second speed jump constraint model is established according to the established forward and inverse solution model and the corresponding speed jump incidence relation between the corresponding pre-connection point and the post-connection point, and the speed optimization efficiency can be further improved under the condition of comprehensively considering the dynamic constraint under the machine tool coordinate system. And in the third aspect, based on the actual motion trail of the tool nose point, the optimal speed is calculated by using a reverse speed iterative calculation mode through the established acceleration and deceleration constraint model and the second speed jump constraint model, so that the speed optimization efficiency is effectively improved.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: according to the structural form of a five-axis machine tool, establishing a forward and inverse solution model based on the vector positions of a tool point and a tool shaft under a workpiece coordinate system and the positions of all shafts under a machine tool coordinate system; acquiring a preset tool nose point motion track, wherein the tool nose point motion track comprises a plurality of track points and a plurality of motion track segments; each motion track segment is determined by two track points adjacent to each other in position; respectively determining initial feeding speeds corresponding to the track points aiming at the track points, and establishing an acceleration and deceleration constraint model under a workpiece coordinate system according to the initial feeding speeds; aiming at each track point, determining a corresponding pre-connection point and a corresponding post-connection point of the track point in a machine tool coordinate system based on a forward-inverse solution model respectively, and establishing a first speed jump constraint model in the machine tool coordinate system according to a corresponding speed jump incidence relation between the pre-connection point and the post-connection point; the connection front point and the connection back point are both close to the corresponding track point; and converting the first speed jump constraint model into a second speed jump constraint model in a workpiece coordinate system, performing reverse speed iterative computation on the optimal feeding speed correspondingly reached at each track point in the workpiece coordinate system by combining the acceleration and deceleration constraint model and the second speed jump constraint model, and outputting a final speed planning result based on each obtained optimal feeding speed.

In one embodiment, the computer program when executed by the processor further performs the steps of: constraining and enabling the initial feeding speed correspondingly reached at the track point to be smaller than the maximum feeding speed which can be reached when the initial feeding speed is accelerated to the track point at the first reference track point at the preset maximum acceleration; the first reference track point is positioned in front of the track point and is adjacent to the track point; the spacing distance between the first reference track point and the track point is greater than the spacing distance between the corresponding connection front point and the track point; and/or the acceleration and deceleration constraint model is used for constraining and enabling the initial feeding speed correspondingly reached at the track point to be smaller than the maximum feeding speed which can be reached when the acceleration and deceleration constraint model decelerates to a second reference track point at the track point by a preset maximum deceleration; the second reference track point is positioned behind the track point and is adjacent to the track point; and the spacing distance between the second reference track point and the track point is greater than the spacing distance between the corresponding connection back point and the track point.

In one embodiment, the computer program when executed by the processor further performs the steps of: converting the forward and inverse solution model in a post-processing mode to obtain a corresponding Jacobian matrix; determining initial connection front points and initial connection rear points corresponding to the track points according to a track continuous rule; transforming the initial pre-joint point into a corresponding pre-joint point under a machine tool coordinate system through a Jacobian matrix; and transforming the initial jointed points into corresponding jointed points in a machine tool coordinate system through a Jacobian matrix.

In one embodiment, the computer program when executed by the processor further performs the steps of: in a preset interpolation period, when a point before connection moves to a point after connection, determining corresponding speed jump and acceleration jump, and motion components correspondingly generated on each axis of a machine tool coordinate system; and constructing a first speed jump constraint model under a machine tool coordinate system according to the speed jump, the acceleration jump and the motion component.

In one embodiment, the computer program when executed by the processor further performs the steps of: aiming at each track point under the workpiece coordinate system, obtaining the optimal feeding speed corresponding to the corresponding track point through the following steps until obtaining the optimal feeding speed corresponding to each track point:

In one embodiment, the computer program when executed by the processor further performs the steps of: and determining a preset iteration termination condition when the first estimated maximum feeding speed reached at the first track point is 0 or according to the preset maximum iteration times.

The storage medium is used for respectively determining the corresponding initial feeding speed at each track point according to the determined track point through the acquired preset motion track of the tool nose point and the acquired positive and negative solution model established according to the structural form of the five-axis machine tool; and calculating the optimal feeding speed correspondingly reached at each track point under the workpiece coordinate system based on a reverse speed iterative calculation mode. Currently, in the first aspect, a corresponding acceleration and deceleration constraint model may be established according to each determined initial feeding speed, wherein the initial feeding speed correspondingly reached at the corresponding track point is constrained by the established acceleration and deceleration constraint model, so that the finally output speed planning result may meet the actual process requirement. And on the second aspect, a corresponding second speed jump constraint model is established according to the established forward and inverse solution model and the corresponding speed jump incidence relation between the corresponding pre-connection point and the post-connection point, and the speed optimization efficiency can be further improved under the condition of comprehensively considering the dynamic constraint under the machine tool coordinate system. And in the third aspect, based on the actual motion trail of the tool nose point, the optimal speed is calculated by using a reverse speed iterative calculation mode through the established acceleration and deceleration constraint model and the second speed jump constraint model, so that the speed optimization efficiency is effectively improved.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A five-axis velocity planning method, the method comprising:

2. The method according to claim 1, wherein the acceleration and deceleration constraint model is used for constraining and enabling the initial feed speeds correspondingly reached at the track points to be smaller than the maximum feed speed which can be reached when the acceleration motion is carried out to the track points at the first reference track point at the preset maximum acceleration; the first reference track point is positioned in front of the track point and is adjacent to the track point; the spacing distance between the first reference track point and the track point is greater than the spacing distance between the corresponding pre-connection point and the track point;

and/or the presence of a gas in the gas,

3. The method of claim 1, wherein determining the corresponding pre-engagement points and post-engagement points of the trajectory points in the machine coordinate system based on the forward and inverse solution model comprises:

4. The method according to claim 1, wherein the establishing a first speed jump constraint model in a machine coordinate system according to the corresponding speed jump association relationship between the pre-engagement point and the post-engagement point comprises:

5. The method of claim 1, wherein the performing a reverse velocity iterative computation on the optimal feeding velocity correspondingly reached at each trajectory point in the workpiece coordinate system in combination with the acceleration-deceleration constraint model and the second velocity-jump constraint model comprises:

and taking the track point which is behind the current forward-looking track point in the current iteration and is adjacent to the current forward-looking track point as the current forward-looking track point in the next iteration, returning the forward-looking track point based on the current iteration, combining the acceleration and deceleration constraint model and the second speed jump constraint model, calculating a first estimated maximum feeding speed step reached at the current forward-looking track point and continuing to execute the step until a preset iteration termination condition is reached, stopping iteration circulation, obtaining a plurality of target estimated maximum feeding speeds corresponding to the track point, and determining the optimal feeding speed of the track point according to the plurality of target estimated maximum feeding speeds.

6. The method according to claim 5, wherein the preset iteration end condition comprises a preset maximum number of iterations or a first estimated maximum feed speed reached at the first trajectory point being 0.

7. A five-axis velocity planning apparatus, the apparatus comprising:

8. The device according to claim 7, wherein the speed planning module further comprises a first calculation submodule, a second calculation submodule, a back calculation submodule and an iterative optimization submodule, and the speed planning module is further configured to obtain the optimal feeding speed corresponding to each trajectory point through the first calculation submodule, the second calculation submodule, the back calculation submodule and the iterative optimization submodule until the optimal feeding speed corresponding to each trajectory point is obtained, wherein:

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.