WO2017113069A1 - S-shaped curve planning method and device, and numerically-controlled machine tool - Google Patents

Abstract

Disclosed are an S-shaped curve planning method and device, and a numerically-controlled machine tool. The method comprises: obtaining a speed limit of each segment to be machined; calculating a first S-shaped curve where the speed rises from a start point to a target speed and then is kept constant; if a position point where the speed exceeds the speed limit exists in the first S-shaped curve, adjusting the first S-shaped curve, such that both the speed and the acceleration of a second S-shaped curve obtained after the adjustment is decreased to zero, the speeds are within the speed limit, and at least one segment has a constant speed position point; taking a part of the second S-shaped curve as a third S-shaped curve, wherein the start point of the third S-shaped curve is the start point of the second S-shaped curve, and the end point of the third S-shaped curve is the first constant speed position point; planning again by using the end point of the third S-shaped curve as the start point; after planning, combining multiple third S-shaped curves to form final S-shaped curve planning data. By means of said approach, the present invention can ensure the maximum machining efficiency.

Description

S-curve planning method, device and numerical control machine tool [Technical Field]

The invention relates to the field of numerical control processing technology, in particular to an S-shaped curve planning method, device and numerical control machine tool.

【Background technique】

The parts machined by CNC machine tools are often irregular in shape, and the machining trajectory of CNC machine tools on these parts is also an irregular curve. In the processing, in order to make the processing speed on the irregular contour contour track smooth, the S-curve is generally selected for speed planning. According to the S-shaped curve, the possible impact is minimized, the speed changes during the feeding process is relatively stable, and it has good flexibility, and is suitable for high-speed, high-precision motion control systems.

The traditional S-curve acceleration/deceleration control is used for high-precision position control on the machining curve. It does not have a forward-looking function. If it is necessary to ensure the accuracy of the small-line corner, it is necessary to use each curve as the control range to achieve symmetrical speed control. . In recent years, the traditional controller algorithm has been improved, and the speed segmentation is performed at the line segment transfer, thus introducing an asymmetric S-curve planning algorithm.

However, since the S-curve velocity planning is the speed planning of the segmentation curve, the current forward-looking algorithm cannot accurately perform the maximum acceleration capability according to the S-curve; because, when performing the S-curve planning of a single line segment, although Symmetrical, but the initial acceleration is still zero. Therefore, the S-shaped curve thus obtained is not the most efficient planning curve.

[Summary of the Invention]

The technical problem mainly solved by the present invention is to provide an S-shaped curve planning method, device and numerical control machine tool, which can ensure the maximum processing efficiency.

In order to solve the above technical problem, a technical solution adopted by the present invention is to provide an S-curve planning method, comprising: obtaining a corresponding limiting speed of a line segment to be processed; calculating an acceleration from a starting point of the line segment to be processed to a desired target of the user. a first S-curve of speed, and then running at a constant speed of the user desired target speed; determining whether the first S-curve has a position at which the speed exceeds the limit speed, and if present, adjusting the first S The curve is such that the second S-shaped curve obtained after the adjustment is finally decelerated to a speed and an acceleration of zero, and the speed on the line segment to be processed does not exceed the respective limit speed, and at least one line segment has a velocity equal to a constant speed position point that limits speed; a portion of the second sigmoid curve becomes a third sigmoid curve, wherein a starting point of the third sigmoid curve is a starting point of the second sigmoid curve, and an ending point is first appearing in the point of the constant velocity position Speed position point; S-shaped curve planning is performed again starting from the end point of the third S-shaped curve; after all the planned line segments are completely planned, the planned plurality of third-segment curves are combined to form a final S Curve planning data.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide an S-curve planning device, the device comprising: a first acquiring module, configured to acquire a corresponding limiting speed of a line segment to be processed; and a calculation module, a first S-shaped curve for calculating acceleration from a starting point of the line segment to be processed to a desired target speed of the user and then running at a target speed of the user desired speed; a determining module for determining the first S-shaped curve Whether there is a position point whose speed exceeds the speed limit; an adjustment module, configured to adjust the first S-shaped curve when the determination result is present, so that the second S-shaped curve obtained after the adjustment is finally decelerated to both speed and acceleration Zero, and the speed on the line segment to be processed does not exceed the respective speed limit, and at least one line segment has a constant speed position point whose speed is equal to the speed limit; and a second acquisition module is configured to take the second S The portion of the profile curve becomes a third sigmoid curve, wherein the starting point of the third sigmoid curve is the starting point of the second sigmoid curve, and the end point is the constant velocity position The first constant velocity position point occurs; the S-curve planning is performed again with the end point of the third S-shaped curve as a starting point; the combination module is used for planning the obtained multi-segment after the entire planned to-be-processed line segment is completed. The combination of the three sigmoidal curves forms the resulting sigmoidal curve planning data.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a numerical control machine tool, including a machine tool body and a numerical control device mounted on the machine tool body, the numerical control device comprising: a processor connected to the bus and a memory; the memory stores a program, the processor is configured to execute the program, and the program includes the following steps: acquiring a speed limit corresponding to each line segment to be processed; calculating from the starting point of the line segment to be processed to the user Determining a target speed, and then a first S-curve running at a constant speed of the user desired target speed; determining whether the first S-curve has a position at which the speed exceeds the limit speed, and if so, adjusting the An S-shaped curve, so that the adjusted second S-shaped curve is finally decelerated to a speed and an acceleration of zero, and the speed on the line segment to be processed does not exceed the respective limit speed, and at least one line segment exists at a speed a constant velocity position point equal to the speed limit; the portion taking the second S-shaped curve becomes a third S-shaped curve, wherein The starting point of the third S-shaped curve is the starting point of the second S-shaped curve, and the ending point is the first constant velocity position point in the constant velocity position point; and the S end is taken as the starting point of the third S-shaped curve. Curve planning; after the entire planned line segment is completed, the planned multi-segment third S-shaped curve combination The resulting S-curve planning data is formed.

The beneficial effects of the present invention are: different from the prior art, the end point of the third curve is the first constant velocity position point, and when planning again, the end point is used as the starting point for planning, that is, When planning again, the acceleration and speed of the starting point are not zero. In this way, the disadvantage that the acceleration of the line segment transfer must be zero in the existing algorithm can be overcome, and the acceleration can be accelerated in the case of acceleration. Deceleration is only required when decelerating, thus ensuring maximum processing efficiency.

[Description of the Drawings]

1 is a flow chart of an embodiment of a S-curve planning method of the present invention;

2 is a schematic diagram of a speed-displacement curve according to a speed limit of each line segment to be processed according to an embodiment of the present invention;

3 is a schematic diagram showing a speed-displacement first S-shaped curve of accelerating from a starting point with a maximum acceleration capability to a user desired target speed and then running at a constant speed at that speed in an embodiment of the present invention;

4 is a flow chart of another embodiment of the S-curve planning method of the present invention;

5 is a schematic diagram of combining an acceleration-time curve and a velocity-displacement curve in an embodiment of the present invention;

6 is a flow chart of still another embodiment of the S-curve planning method of the present invention;

7 is a flow chart of still another embodiment of the S-curve planning method of the present invention;

FIG. 8 is a schematic diagram showing an adjustment process of an S-shaped curve according to an embodiment of the present invention; FIG.

9 is another schematic diagram of an adjustment process of an S-shaped curve according to an embodiment of the present invention;

FIG. 10 is still another schematic diagram of an adjustment process of an S-shaped curve according to an embodiment of the present invention; FIG.

11 is another schematic diagram of an adjustment process of an S-shaped curve according to an embodiment of the present invention;

FIG. 12 is still another schematic diagram of an adjustment process of an S-shaped curve according to an embodiment of the present invention; FIG.

FIG. 13 is still another schematic diagram of an adjustment process of an S-shaped curve according to an embodiment of the present invention; FIG.

Figure 14 is a schematic view of a separate curve 6 of Figure 13;

15 is a schematic diagram of a portion of an image captured by an acquisition data when an actual running track is performed in an embodiment of the present invention;

16 is a schematic structural view of an embodiment of an S-shaped curve planning device of the present invention;

17 is a schematic structural view of another embodiment of the S-curve planning device of the present invention;

18 is a schematic structural view of still another embodiment of the S-curve planning device of the present invention;

19 is a schematic structural view of still another embodiment of the S-curve planning device of the present invention;

20 is a schematic diagram showing the physical structure of an embodiment of a numerically controlled machine tool according to the present invention.

【detailed description】

The invention will now be described in detail in conjunction with the drawings and embodiments.

Referring to FIG. 1, FIG. 1 is a flowchart of an embodiment of a S-curve planning method according to the present invention, where the method includes:

Step S101: Acquire a limit speed corresponding to each line segment to be processed.

In this embodiment, the speed limit is the maximum speed allowed for the line segment to be processed. Most of the segments to be processed are irregularly shaped segments, which makes the maximum speed allowed for each segment to be processed generally different. The value of the limit speed may be the respective curvature limit speed on the line segment to be processed (ie, the maximum speed allowed by the curvature of the line segment), or may be the target speed preset by the user (ie, the user preset target speed).

The size of the corresponding limit speed of the line segments to be processed is the minimum of the preset target speed and the curvature limit speed of the corresponding user on the line segment to be processed. Among them, the curvature limiting speed includes a speed limit caused by curvature and bow height error and a speed limit caused by curvature, acceleration, and jerk. For example, the speed limit caused by the curvature and bow height error can be:

Where F _i is the speed limit of the line segment to be processed, ρ _i is the radius of curvature of the line segment to be processed, δ _i is the bow height error of the line segment to be processed, and T is time. However, by the curvature, acceleration, and speed limit caused by jerk, those skilled in the art can determine the calculation formula according to the type of the curve, which will not be listed here.

After obtaining the corresponding speed limit of the line segments to be processed, a speed-displacement curve can be made for visually visible. For example, referring to FIG. 2, FIG. 2 is a schematic diagram of a limited speed-displacement curve produced according to respective limiting speeds of respective line segments to be processed in an embodiment. In Fig. 2, the abscissa is the displacement and the ordinate is the limiting speed. According to the speed-displacement graph, the speed limit on each line segment to be processed can be clearly seen, which means that the machining speed cannot be exceeded during processing. The speed limit on the line segment to be processed.

Step S102: Calculate a first S-shaped curve that is accelerated from the starting point of the line segment to be processed to the user's desired target speed and then runs at a constant speed at the target speed desired by the user.

Accelerating from the starting point of the line segment to be processed to the desired target speed of the line can be accelerated to the desired target speed by the user in the acceleration mode allowed on the line segment to be processed. In an embodiment, in order to shorten the planning Time can be accelerated to the user's desired target speed with maximum acceleration capability (ie full acceleration). Here, the maximum acceleration capability refers to an acceleration mode that accelerates as much as possible by using the maximum jerk allowed by the system and the maximum acceleration allowed by the system, so as to accelerate to the desired target speed in the shortest time. For example, referring to FIG. 3, FIG. 3 is a velocity-displacement first S-shaped curve which is accelerated from the starting point of the line to be processed with the maximum acceleration capability to the user's desired target speed, and then uniformly operated at the target speed desired by the user. FIG. 3 also includes the limited speed-displacement curve of FIG. 2. According to FIG. 3, it can be visually seen on which line segment the first S-shaped curve exceeds its speed limit.

Step S103: determining whether the first S-shaped curve has a position where the speed exceeds the limit speed, and if present, adjusting the first S-shaped curve, so that the second S-shaped curve obtained after the adjustment is finally decelerated to a speed and an acceleration of zero, and The speeds on the line segments to be processed do not exceed the respective limit speeds, and at least one line segment has a constant velocity position point whose speed is equal to the speed limit.

Each line segment to be processed has its own limiting speed. The speed of the first S-shaped curve on each line segment to be processed cannot exceed the corresponding limiting speed. First, it is determined whether the first S-shaped curve has a position where the speed exceeds the limiting speed. According to the position point, the line segment corresponding to the position point (ie, the overspeed line segment) can be determined, and further, the approximate range in which the first S-shaped curve should start deceleration is known, that is, at least before the line segment corresponding to the position point. The line segment begins to decelerate and is ready to adjust the first S-curve. This step can be obtained intuitively by the schematic diagram of FIG. 3 to obtain a position point in the first S-shaped curve where the speed exceeds the limit speed, and can of course also be obtained by calculation.

Referring to FIG. 3, the first S-shaped curve calculated in step S102 and the limited speed-displacement curve in step S101 are represented together in FIG. 3, and it can be clearly seen from FIG. 3 that the first S-shaped curve is in the first The line segment has already been overspeeded, so the acceleration is too large and the acceleration needs to be reduced.

Adjusting the first S-shaped curve, so that the second S-shaped curve obtained after the adjustment is finally decelerated to zero speed and acceleration, and the speed on the line segment to be processed does not exceed the respective limit speed, and at least one line segment exists at a speed A constant velocity position equal to the speed limit. To achieve this adjustment, many methods can be used, such as dichotomy, interpolation, curve fitting, and the like. Among them, taking the dichotomy as an example to illustrate the specific problem solving steps are:

(1) Calculate the function value f((a+b)/2) of the midpoint of the function f(x) at the interval [a, b], and make the following judgment: if f(a)f((a+b) )/2)<0, go to (2); if f(a)f((a+b)/2)>0, let a=(a+b)/2, go to (1); if f (a) f((a+b)/2)=0, then x=(a+b)/2 is a root.

(2) If |a-(a+b)/2|<ε(ε is a predetermined precision), then x=(b+3a)/4 is a root, otherwise let b=(a+b) /2, go to (1).

A dichotomy can be used to find a point in time at which the second S-curve decelerates to zero speed and acceleration, and the speed on the line to be processed does not exceed the respective speed limit, and at least one line segment has a speed. A constant velocity position equal to the speed limit. The so-called constant velocity position point refers to a position point at which the processing speed is equal to the speed limit on the processing line segment. The characteristic of the second S-shaped curve at this time is: in the case of acceleration, try to accelerate, and decelerate when it has to be decelerated, so as to ensure that the machining efficiency can no longer be improved theoretically.

Among them, the second S-shaped curve is finally decelerated to zero speed and acceleration, and can be decelerated to the speed and acceleration of zero in the deceleration mode allowed on the line segment to be processed.

Step S104: taking a portion of the second S-shaped curve to become a third S-shaped curve, wherein the starting point of the third S-shaped curve is the starting point of the second S-shaped curve, and the ending point is the first constant-speed position point in the constant-speed position point.

Step S105: S-curve planning is performed again starting from the end point of the third S-shaped curve.

Step S106: After all the planned line segments are completely planned, the planned plurality of third S-shaped curves are combined to form the final S-shaped curve planning data.

Although the second S-shaped curve obtained after the adjustment is finally decelerated to zero speed and acceleration during the adjustment, the third S-shaped curve does not take the second S-shaped curve to decelerate to the entire curve with zero speed and acceleration. But take part of it, specifically: the part taking the second S-shaped curve becomes the third S-shaped curve, the starting point of the third S-shaped curve is the starting point of the second S-shaped curve, and the end point is the first point in the constant velocity position The same speed position point appears. Because, when planning, the situation changes at any time, usually planning a part of the line to be processed, and then planning another part of the line to be processed, if the third S-shaped curve of a part of the line to be processed is the entire curve with zero speed and acceleration, Then the S-shaped curve of the other part of the line to be processed must be re-planned from the starting point where the speed and acceleration are zero, which obviously reduces the processing efficiency. Therefore, the starting point of the third S-shaped curve is the starting point of the second S-shaped curve, the first constant velocity position point in the end point constant velocity position point, the speed is not zero at this time, and the planning of the other part to be processed is from the third The end point of the S-curve is the starting point for the S-curve planning again, so as to ensure that the processing efficiency is not reduced. After all the planned segments are planned, the planned multi-segment third S-shaped curves are combined to form the final S-curve planning data.

The embodiment of the present invention obtains the corresponding speed limit of the line segments to be processed; calculates a first S-shaped curve that is accelerated from the line segment to be processed to the user's desired target speed, and then runs at a uniform speed desired by the user; and determines whether the first S-shaped curve is There is a position point where the speed exceeds the speed limit, and if present, the first S-shaped curve is adjusted, so that the second S-shaped curve obtained after the adjustment is finally decelerated to zero speed and acceleration, and the speed on the line segment to be processed is not exceeded. Individual speed limit, and at least one line The segment has a velocity equal to the constant velocity position point of the limiting speed, and the portion of the second S-shaped curve becomes the third S-shaped curve, wherein the starting point of the third S-shaped curve is the starting point of the second S-shaped curve, and the ending point is the constant velocity position point. The first constant velocity position appears; the S-curve planning is performed again with the end point of the third S-shaped curve as the starting point; after all the planned segments are completed, the planned multi-segment third S-shaped curves are combined to form the finalized S-curve planning data. Since the end point of the third curve is the first constant velocity position point, when planning again, the end point is used as the starting point for planning, that is, the acceleration and velocity of the starting point are not 0 when planning again. It can overcome the shortcomings that the acceleration of the line segment transfer must be zero in the existing algorithm, and ensure that the acceleration can be accelerated in the case of acceleration, and the deceleration is performed when the speed has to be decelerated, thereby ensuring the maximum processing efficiency.

Wherein, referring to FIG. 4, step S102 may include: sub-step S1021 and sub-step S1022.

Sub-step S1021: determining an operation process of the first S-shaped curve, the operation process includes: an acceleration section, a uniform acceleration section, a deceleration section, and a uniform section.

The acceleration from the starting point of the line segment to be processed is accelerated to the user's desired target speed, and then the user's desired target speed is uniformly operated. This operation generally includes: an acceleration section, a uniform acceleration section, a deceleration section, and a uniform section. Of course, the running process can also be planned as: uniform acceleration section, deceleration section and uniform section, or the operation process is planned as other processes according to actual needs or application and calculation convenience.

Sub-step S1022: calculating acceleration a(τ), velocity f(τ), and displacement l(τ) during operation, wherein acceleration a(τ), velocity f(τ), and displacement l(τ) are:

Where ₀ ≤ t ≤ t ₁ is the acceleration acceleration section, t ₁ ≤ t ≤ t ₂ is the uniform acceleration section, t ₂ ≤ t ≤ t ₃ is the acceleration acceleration section, t ₃ ≤ t ≤ t ₄ is the uniform velocity section, τ ₁ It is the time accumulation of the acceleration section, τ ₂ is the time accumulation of the uniform acceleration section, τ ₃ is the time accumulation of the acceleration section, τ ₄ is the time accumulation of the uniform velocity section, t is the time accumulation of the total operation process, t ₁ , t ₂ , t ₃ , t ₄ are the respective time points in t, J is the maximum jerk allowed by the system, A is the maximum acceleration allowed by the system, a _s is the initial acceleration, f _s is the initial velocity, and l _s is the initial displacement .

The velocity-displacement first S-curve is also easy to calculate with both speed and displacement known. As shown in Fig. 3, Fig. 3 is the calculated velocity-displacement first S-shaped curve.

Referring to FIG. 5, the acceleration-time curve and the velocity-displacement curve are combined together in FIG. 5, the upper half is an acceleration-time curve, the ordinate represents acceleration, the abscissa is time, and the lower half is a velocity-displacement curve. The ordinate represents the velocity and the abscissa represents the displacement.

On the acceleration-time curve of Fig. 5, the running process of starting planning includes: acceleration section (time period is 0-t ₁ ), uniform acceleration section (time period is t ₁ -t ₂ ), deceleration section (time period) It is t ₂ -t ₃ ) and four processes of uniform velocity (time period is t ₃ -t ₄ ), and the calculation formula of the acceleration of these four processes can be obtained. According to the relationship between acceleration and speed, the calculation formula of the speed of these four processes can be obtained. According to the relationship between velocity and displacement, the calculation formula of the displacement of these four processes can be obtained. On the velocity-displacement curve of Fig. 5, the accelerating section (time period is 0-t ₁ ), the uniform acceleration section (time period is t ₁ -t ₂ ), and the deceleration section (time period is t ₂ -) The velocity-displacement curve corresponding to t ₃ ) and the uniform velocity section (time period is t ₃ -t ₄ ) has a curve composed of curve segments 1, 2, and 3 as follows.

In the above embodiment, the operation process of the first S-shaped curve includes: an acceleration section, a uniform acceleration section, a deceleration section, and a uniform velocity section. According to common physical knowledge, calculation formulas of acceleration, velocity, and displacement can be respectively obtained. This way, the process can be simplified and the time required for planning can be shortened.

Referring to FIG. 6, in step S103, the step of determining whether the first S-curve has a position where the speed exceeds the limit speed may include: sub-step S201, sub-step S202, and sub-step S203.

Sub-step S201: by f (τ), the speed limit of the line segment L _i F _i determined time limit is reached required speed F _i t _i, l and thus determining the displacement reaches the limit when the speed and acceleration F _i a.

The speed limit of the line segment is known, and the time t _i at which the speed limit is reached can be determined by the speed formula f(τ), and then the displacement l and the acceleration a when the speed limit F _i is reached can be further determined.

Sub-step S202: If a>0, and l<l _i+1 , it is determined that the first S-curve line segment L _i has a speed point exceeding the limit speed F _i , and l _i+1 is the end point of the line segment L _i The distance to the starting point of the line segment to be processed.

If a>0, and l<l _i+1 , it means that when the speed reaches the limit speed F _i of the line segment L _i , the processed displacement has not reached the end point of the line segment L _i , but the acceleration is greater than zero and is still accelerating. position, then when the displacement reaches the end point of the line segment L _i, the line speed is definitely beyond the limit speed L _i, F _i, therefore, determined that the first S-curve the line segment L _i present speed exceeds the speed limit of F _i, point. If a>0, and l>l _i+1 , it means that when the speed reaches the limit speed F _i of the line segment L _i , the processed displacement has exceeded the end point of the line segment L _i , the acceleration is greater than zero, and is still accelerating, but displacement beyond the end of the line segment L _i, even still accelerating, and has the line segment L _i, F _i the speed limit does not matter, in the processed line segment L _i, the speed is less than the limit velocity of F _i. If a> 0, and l = l _{i + 1,} described in the speed reaches the speed limit of the line segment L _{i i,} F., Just reaching the processed displacement of the end of the line segment L _i, acceleration is greater than zero, it is accelerating, but displacement L _i has reached the end of the line segment, even if is accelerating, and the line segment L has a speed limit of F _{i i} no relationship, processed on the line segment L _i when the speed is less than or equal to the limit speed F _i When the end point of the line segment L _i is reached, the speed just reaches the limit speed F _i .

Sub-step S203: If a<0, and l>l _i , it is determined that the first S-curve line segment L _i has a position where the speed exceeds the limit speed F _i , and l _i is the starting point of the line segment L _i to the line segment to be processed The starting point of the distance.

If a <0, and l> l _i, be described in the speed reaches the line segment L limit speed _i, F. _I, processed displacement has reached the start point and beyond the line L _i, and has not yet reached the end, acceleration is less than zero, In the deceleration phase, the speed first rises and then falls, and the speed necessarily exceeds the limit speed F _{i of} the line segment L _i . Therefore, it is determined that the first S-curve line segment L _i has a position point where the speed exceeds the limit speed F _i . If a<0, and l<l _i , it means that when the speed reaches the limit speed F _i of the line segment L _i , the processed displacement has not reached the starting point of the line segment L _i , the acceleration is less than zero, and the speed decreases during the deceleration phase. when reaching the start point of the line segment L _i, the speed must be smaller than the limit speed F _i. If a<0, and l=l _i , it means that when the speed reaches the limit speed F _i of the line segment L _i , the processed displacement just reaches the starting point of the line segment L _i , the acceleration is less than zero, and in the deceleration phase, the speed decreases. When the end point of the line segment L _i is reached, the speed must be less than the speed limit F _i .

Referring to FIG. 7, in step S103, the first S-shaped curve is adjusted, so that the second S-shaped curve obtained after the adjustment is finally decelerated to a speed and an acceleration of zero, and the speeds on the line segments to be processed are not exceeded. The step of limiting the speed and having at least one line segment having a constant speed position point equal to the speed limit may include: sub-step S301, sub-step S302, sub-step S303, sub-step S304, sub-step S305, sub-step S306, sub-step S307 and sub-step S308.

Sub-step S301: determining a first time point t _S and a second time point t _E , wherein the first time point t _S is a starting time t ₀ of the first S-shaped curve, and the second time point t _E is a first S-shaped The starting time point of the acceleration section in the curve.

Since it is judged that the first S-shaped curve has a position where the speed exceeds the limit speed, the start time point of the deceleration is too late. Therefore, in the present embodiment, the first S-curve can be adjusted by using the dichotomy, and the adjusted time interval is first determined: the first time point t _S and the second time point t _E , and the first time point t _S is the first S The starting point of the curve is t ₀ , and the second time is the starting time of the first S-curve minus the acceleration segment.

Sub-step S302: determining a third time point t _M , wherein the third time point t _M is an intermediate time point t _M between the first time point t _S and the second time point t _E ,

Sub-step S303: adjusting the first S-shaped curve such that the starting time point T of the deceleration section is adjusted to the third time point t _M , and then decelerating as fast as possible to the acceleration and the speed drop to 0 after the adjustment, after the adjustment The curve obtained is the fourth sigmoid curve.

It should be noted that “deceleration as fast as possible” in the present embodiment refers to decelerating as much as possible by using the maximum deceleration (which may be equal to the maximum jerk) and the maximum deceleration (which may be equal to the maximum acceleration) allowed by the system. Deceleration to acceleration and speed drop to zero in the shortest time. In this way, the time required can be reduced, and the processing efficiency of the planned S-shaped curve can be improved.

Determining that the first S-shaped curve has a speed exceeding the limit speed, indicating that the start time point of the deceleration section is too late, therefore, adjusting the start time point of the deceleration section to the third time point, at the second time point Before t _E.

Sub-step S304: determining whether the fourth sigmoid curve has a position point where the speed exceeds the speed limit, and if so, performing sub-step S306, otherwise performing sub-step S305.

Sub-step S305: determining whether the fourth sigmoid curve has at least one line segment having a constant speed position point whose speed is equal to the speed limit, and if so, performing sub-step S308, otherwise performing sub-step S307.

Sub-step S306: making the value of the second time point t _E equal to the third time point t _M and returning to sub-step S302.

The fourth S-curve has a position where the speed exceeds the limit speed, indicating that the start time of the deceleration section decelerates at t _m point a little late, and needs to be decelerated earlier, and the fourth S-curve deceleration start time of the acceleration section Point before t _M , that is, between t _S and t _M. At this time, the intermediate time point should be

In connection with the problem of calculating the cycle, the value of the second time point t _E is here recorded as equal to the third time point t _M , so returning to sub-step S302, the overall formula is kept consistent.

Sub-step S307: making the value of the first time point t _S equal to the third time point t _M and returning to sub-step S302.

If the fourth sigmoid curve does not have at least one line segment having the same speed position point whose speed is equal to the speed limit, that is, the speed is less than the corresponding speed limit, no speeding is exceeded, indicating that the starting time point of the speed reduction section is decelerated at t _M point. Early, need to slow down again, the starting point of the fourth S-curve reduction acceleration section is after t _M , that is, between t _M and t _E. At this time, the intermediate time point should be

In connection with the problem of the calculation cycle, the value of the first time point t _S is recorded here to be equal to the third time point t _M , so the sub-step S302 is returned to keep the overall formula consistent.

Sub-step S308: determining that the fourth sigmoid curve is the second sigmoid curve.

Referring to Figure 5, on the acceleration-time curve, the time point t _{g is} found, and the full force deceleration from the time point t _g until the acceleration and velocity are zero (at the time point t ₅ ', the acceleration and the speed are both zero), from the time The acceleration-time curve after point t _g is shown by the dashed line in the figure; corresponding to the speed-displacement curve, the adjusted S curve is the curve composed of curve segments 1, 4.

Referring to FIG. 8 to FIG. 14 , FIG. 8 to FIG. 14 show an adjustment process of the S-shaped curve in an embodiment (only the velocity-displacement curve is drawn in the figure), and FIG. 14 is an adjusted S-shaped curve (ie, a diagram). Curve 6) in 11, for the convenience of explanation and explanation, it is considered that curve 1 represents the first adjusted S-shaped curve (curve 1 is actually an S-shaped curve that does not overspeed on the a-line segment after multiple adjustments) Curve 2 represents the second adjusted S-curve, curve 3 represents the third adjusted S-curve, curve 4 represents the fourth adjusted S-curve, and curve 5 represents the fifth adjusted S-curve. The curve, curve 6 represents the sixth adjusted S-curve; a, b, c, d, e, f, g respectively represent the line segment.

In Fig. 8, curve 1 is the first adjusted S-shaped curve. It can be seen that when the velocity and acceleration both decrease to 0, the line segment a just does not overspeed, and the line segments b and c do not overspeed. The line segments d, e, and f are overspeeded, indicating that the starting time point of the adjusted deceleration section should be before the start time of the curve 1 deceleration section.

In Fig. 9, when the velocity and the acceleration both decrease to 0, the curve 2 does not overspeed on the line segments a, b, and c. The overspeed on the line segments d and e indicates that the starting time point of the adjusted deceleration section should continue to advance, and should be before the start time of the acceleration section of curve 2.

In Fig. 10, when the velocity and acceleration both decrease to 0, the line segments a, b, c, d, and e do not overspeed, indicating that the starting time of the curve 3 minus the acceleration segment is too early, and the acceleration needs to be delayed. The starting time point of the segment, that is, the starting time point of the adjusted deceleration segment should be between the start time point of the curve 3 minus the acceleration segment and the start time point of the curve 2 deceleration segment.

In Fig. 11, when the speed and the acceleration decrease to 0, the curve 4 does not overspeed on the line segments a, b, c, and d. There is a little overspeed on the line segment e, and there is no case of not overspeeding. Continue to adjust and adjust. The direction is such that the adjusted S-curve has just reached the limit speed of the line segment e on the line segment e, that is, it does not just overspeed.

In Fig. 12, when the speed and the acceleration both fall to 0, the line segments a, b, c, and d do not overspeed, and the line segment e is slightly over-speeded, and there is no case of not overspeeding. Continue to adjust and adjust. The direction is such that the adjusted S-curve has just reached the limit speed of the line segment e on the line segment e, that is, it does not just overspeed.

In Fig. 13, when the velocity and the acceleration both decrease to 0, the line segments a, b, c, and d do not overspeed, and the line segment e does not just overspeed. Therefore, the second S-curve curve obtained after adjustment is online. The segments a, b, c, d, and e are satisfactory, and it is the result of the adjustment of the present invention.

Figure 14 is a schematic view of a separate curve 6 of Figure 13, taking the portion of the second S-shaped curve 6 into a third S-shaped curve, the starting point of the third S-shaped curve being point A, and the ending point being point B (in the constant velocity position point) The first constant velocity position point, in this embodiment, the end point is the starting point of the line segment e).

In the next step, the S-curve plan can be performed again on the remaining line segments starting from point B.

Referring to Figure 15, Figure 15 is a portion of an image captured by the acquisition data when the trajectory is actually traversed in an embodiment of the present invention. Among them, the given parameters are: maximum acceleration of the system: 5m/s ² , maximum jerk: 5000m/s ³ .

In Fig. 15, from top to bottom, the first picture is a velocity-displacement image, the horizontal axis is the distance, and the vertical axis is the speed, wherein the solid line is the speed limit corresponding to each line segment, and the broken line is the actual running speed; the second picture For the acceleration image, the horizontal axis is the distance and the vertical axis is the acceleration, wherein the broken line is the composite value of each axis acceleration, the solid line is the acceleration of the tangential direction of the running track; the third picture is the jerk value, the horizontal axis is the distance, and the vertical axis is The jerk, wherein the broken line is the composite value of the acceleration of each axis, and the solid line is the jerk value generated by the acceleration change of the tangential direction of the track. In this embodiment, the processing efficiency of the method of the present invention is increased by 10 to 14% over the processing efficiency of the prior art.

Referring to FIG. 16, FIG. 16 is a schematic structural diagram of an embodiment of an S-shaped curve planning device according to the present invention. The device in the embodiment of the present invention may perform the foregoing method. For related content in the device in this embodiment, refer to the detailed description in the foregoing method, and details are not described herein. The device includes: a first obtaining module 101, a calculating module 102, a determining module 103, an adjusting module 104, a second obtaining module 105, and a combining module 106.

The first obtaining module 101 is configured to acquire a speed limit corresponding to each line segment to be processed.

The calculation module 102 is configured to calculate a first S-shaped curve that accelerates from the starting point of the line segment to be processed to the user's desired target speed and then runs at a constant speed at the target speed desired by the user.

The determining module 103 is configured to determine whether the first S-shaped curve has a position point whose speed exceeds the limiting speed.

The adjusting module 104 is configured to adjust the first S-shaped curve when the determination result is present, so that the second S-shaped curve obtained after the adjustment is finally decelerated to a speed and an acceleration of zero, and the speed on the line segment to be processed is not exceeded. The respective speed limits, and at least one line segment has a constant speed position point whose speed is equal to the speed limit.

The second obtaining module 105 is configured to take the portion of the second S-shaped curve to become a third S-shaped curve, wherein the starting point of the third S-shaped curve is the starting point of the second S-shaped curve, and the ending point is the first occurrence in the constant-speed position, etc. Speed position point.

The S-curve plan is again performed starting from the end point of the third S-shaped curve and returned to the calculation module 102.

The combination module 106 is configured to combine the plurality of third sigmoid curves obtained by the planning to form the finally obtained S-curve planning data after all the planned segments are planned.

The size of the corresponding limit speed of the line segments to be processed is the minimum of the preset target speed and the curvature limit speed of the corresponding user on the line segment to be processed. Among them, the curvature limiting speed includes a speed limit caused by curvature and bow height error and a speed limit caused by curvature, acceleration, and jerk.

The calculation module 102 is specifically configured to calculate a first S-shaped curve that is accelerated from the starting point of the line segment to be processed to the user's desired target speed with the maximum acceleration capability, and then runs at the target speed that is desired by the user.

Referring to FIG. 17, the calculation module 102 includes: a first determining unit 1021 and a first calculating unit 1022.

The first determining unit 1021 is configured to determine an operation process of the first S-shaped curve, and the running process includes: an acceleration section, a uniform acceleration section, a deceleration section, and a uniform section.

The first calculating unit 1022 is configured to calculate the acceleration a(τ), the velocity f(τ), and the displacement l(τ) during the operation, the acceleration a(τ), the velocity f(τ), and the displacement l(τ) are respectively:

Where ₀ ≤ t ≤ t ₁ is the acceleration acceleration section, t ₁ ≤ t ≤ t ₂ is the uniform acceleration section, t ₂ ≤ t ≤ t ₃ is the acceleration acceleration section, t ₃ ≤ t ≤ t ₄ is the uniform velocity section, τ ₁ It is the time accumulation of the acceleration section, τ ₂ is the time accumulation of the uniform acceleration section, τ ₃ is the time accumulation of the acceleration section, τ ₄ is the time accumulation of the uniform velocity section, t is the time accumulation of the total operation process, t ₁ , t ₂ , t ₃ , t ₄ are the respective time points in t, J is the maximum jerk allowed by the system, A is the maximum acceleration allowed by the system, a _s is the initial acceleration, f _s is the initial velocity, and l _s is the initial displacement . After that, the velocity-displacement first sigmoid curve can be easily calculated by the velocity f(τ) and the displacement l(τ).

Referring to FIG. 18, the determining module 103 includes: a second determining unit 1031 and a first result unit 1032.

A second determining unit 1031 via f (τ), the speed limit line F _i L _i to determine the time limit is reached required speed F _i t _i, l and thus determining the displacement reaches the limit when the speed and acceleration F _i a. The first result unit 1032 is configured to determine, when a>0, and l<l _i+1 , that the first S-curve line segment L _i has a speed exceeding a limit speed F _i , and l _i+1 is a line segment L The distance from the end point of _i to the starting point of the line segment to be processed; or, if a<0, and l>l _i , it is determined that the first S-curve line segment L _i has a speed exceeding the limit speed F _i , l _i It is the distance from the starting point of the line segment L _{i to} the starting point of the line segment to be processed.

Referring to FIG. 19, the adjustment module 104 includes: a third determining unit 1041, a fourth determining unit 1042, an adjusting unit 1043, a first determining unit 1044, a second determining unit 1045, a first executing unit 1046, and a second executing unit 1047. And a fifth determining unit 1048.

The third determining unit 1041 is configured to determine a first time point t _S and a second time point t _E , wherein the first time point t _S is a starting time t ₀ of the first S-shaped curve, and the second time point t _E is the first time point The starting time point of the acceleration section is reduced in an S-shaped curve. The fourth determining unit 1042 is configured to determine a third time point t _M , where the third time point t _M is an intermediate time point t _M between the first time point t _S and the second time point t _E ,

The adjusting unit 1043 is configured to adjust the first S-shaped curve such that the starting time point T of the deceleration section is adjusted to the third time point t _M , and then decelerate as quickly as possible to the acceleration and the speed drop to 0, and adjust The resulting curve is the fourth sigmoid curve. The first determining unit 1044 is configured to determine whether the fourth S-shaped curve has a position where the speed exceeds the limiting speed, and if so, enters the first executing unit 1046, and otherwise enters the second determining unit 1045. The second determining unit 1045 is configured to determine whether the fourth S-shaped curve has at least one line segment having a constant speed position point whose speed is equal to the limiting speed, and if so, enters the fifth determining unit 1048, and otherwise enters the second executing unit 1047. The first execution unit 1046 is configured to make the value of the second time point t _E equal to the third time point t _M and return to the fourth determining unit. The second execution unit 1047 is for causing the value of the first time point t _S to be equal to the third time point t _M and returning to the fourth determining unit. The fifth determining unit 1048 is configured to determine that the fourth S-shaped curve is a second S-shaped curve.

Referring to FIG. 20, the present invention further provides a numerical control machine tool including a machine tool body and a numerical control device mounted on the machine body. The numerical control device can perform the steps in the above method. For details of the related content, please refer to the method part. I will not repeat it here.

The numerical control device includes a processor 11 and a memory 12 connected to the bus 13. The memory 12 stores a program, and the processor 11 is configured to execute a program. The program includes the following steps: acquiring a speed limit corresponding to each line segment to be processed; calculating a speed from a starting point of the line segment to be processed to a desired target speed of the user, and then using the user The first S-shaped curve of the target speed is expected to run at a constant speed; determining whether the first S-shaped curve has a position where the speed exceeds the limit speed, and if present, adjusting the first S-shaped curve, so that the second S-shaped curve obtained after the adjustment is finally decelerated The speed and acceleration are both zero, and the speed on the line segment to be processed does not exceed the respective speed limit, and at least one line segment has a constant speed position point whose speed is equal to the speed limit; the portion of the second S-shaped curve becomes the first The three S-shaped curve, wherein the starting point of the third S-shaped curve is the starting point of the second S-shaped curve, the ending point is the first constant velocity position point in the constant velocity position point; and the end point of the third S-shaped curve is taken as the starting point again. Curve planning; after all the planned segments are planned, the planned multi-segment third sigmoid curves are combined to form the final S-shaped curve gauge. Data.

An embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores a program. The program is executed by a computer processor to run an S-curve planning method, the method comprising: obtaining a respective limiting speed of the line segments to be processed; calculating a speed from a starting point of the line segment to be processed to a desired target speed of the user, and then using the user The first S-shaped curve of the target speed is expected to run at a constant speed; determining whether the first S-shaped curve has a position where the speed exceeds the limit speed, and if present, adjusting the first S-shaped curve, so that the second S-shaped curve obtained after the adjustment is finally decelerated The speed and acceleration are both zero, and the speed on the line segment to be processed does not exceed the respective speed limit, and at least one line segment has a constant speed position point whose speed is equal to the speed limit; the portion of the second S-shaped curve becomes the first The three S-shaped curve, wherein the starting point of the third S-shaped curve is the starting point of the second S-shaped curve, the ending point is the first constant velocity position point in the constant velocity position point; and the end point of the third S-shaped curve is taken as the starting point again. Curve planning; after all the planned segments are planned, the planned multi-section third sigmoid curves are combined to form the final S-shaped curve plan. data.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (15)

1. An S-curve planning method, comprising:

   Obtaining a corresponding speed limit of each line segment to be processed;

   Calculating a first S-shaped curve that accelerates from a starting point of the line segment to be processed to a user desired target speed and then runs at a constant speed at the target speed desired by the user;

   Determining whether the first S-shaped curve has a position where the speed exceeds the limit speed, and if present, adjusting the first S-shaped curve, so that the second S-shaped curve obtained after the adjustment is finally decelerated to both speed and acceleration Zero, and the speed on the line segment to be processed does not exceed the respective speed limit, and at least one line segment has a constant speed position point whose speed is equal to the speed limit;

   Taking a portion of the second S-shaped curve into a third S-shaped curve, wherein a starting point of the third S-shaped curve is a starting point of the second S-shaped curve, and an ending point is first appearing in the constant-speed position point Constant velocity position point;

   S-curve planning is performed again starting from the end point of the third S-shaped curve;

   After all the planned line segments are completely planned, the planned plurality of third S-shaped curves are combined to form the final S-shaped curve planning data.
2. The method of claim 1 wherein said calculating a first sigmoid curve that accelerates from a starting point of said line segment to be processed to a user desired target speed and then operates at said user desired target speed at a uniform speed comprises :

   A first S-shaped curve is calculated that is accelerated from the starting point of the line segment to be processed with a maximum acceleration capability to a user desired target speed, and then runs at a constant speed at the target speed desired by the user.
3. The method according to claim 1, wherein the size of the respective limiting speeds of the line segments to be processed is the minimum of the user-preset target speed and the curvature limiting speed of the respective corresponding line segments on the line to be processed.
4. The method of claim 3 wherein said curvature limiting speed comprises a speed limit caused by curvature and bow height errors and a speed limit caused by curvature, acceleration and jerk.
5. The method according to claim 2, wherein said calculating a first acceleration from a starting point of said line segment to be accelerated with a maximum acceleration capability to a user desired target speed and then running at a constant speed of said user desired target speed The steps of the S-curve include:

   Determining an operation process of the first S-shaped curve, the operation process comprising: an acceleration section, a uniform acceleration section, a deceleration section, and a uniform section;

   Calculating the acceleration a(τ), the velocity f(τ), and the displacement l(τ) during the operation, the acceleration a(τ), the velocity f(τ), and the displacement l(τ) are respectively:

   

   

   

   Where ₀ ≤ t ≤ t ₁ is the acceleration acceleration section, t ₁ ≤ t ≤ ≤ t ₂ is the uniform acceleration section, and t ₂ ≤ t ≤ t ₃ is the deceleration acceleration section, t ₃ ≤ t ≤ t ₄ is the uniform velocity section, τ ₁ is the time accumulation of the acceleration acceleration section, τ ₂ is the time accumulation of the uniform acceleration section, τ ₃ is the time accumulation of the deceleration acceleration section, and τ ₄ is the uniform velocity section. Time accumulation, t is the time accumulation of the total running process, t ₁ , t ₂ , t ₃ , t ₄ are the respective time points in t, J is the maximum jerk allowed by the system, and A is the maximum acceleration allowed by the system. a _s is the initial acceleration, f _s is the initial velocity, and l _s is the initial displacement.
6. The method according to claim 5, wherein the step of determining whether the first S-curve has a position point whose speed exceeds the limit speed comprises:

   By the f (τ), the speed limit of the line segment L _i F _i is determined to reach the limit time required velocity F _i t _i, l and thus determining the displacement reaches the limit when the speed and acceleration F _i a;

   If a>0, and l<l _i+1 , it is determined that the first S-shaped curve has a speed at which the line segment L _i exceeds the limit speed F _i , and the l _i+1 is Determining the distance from the end point of the line segment L _i to the starting point of the line segment to be processed; or, if a<0, and l>l _i , determining that the first S-shaped curve has a speed exceeding the line segment L _i said speed limit position of the point F _i of the l _i L _i is the starting point of the line segment from the starting point of the line segment to be processed.
7. The method according to claim 1 or 2, wherein said adjusting said first sigmoid curve such that the adjusted second sigmoid curve is finally decelerated to a speed and an acceleration of zero, and The speeds on the line segments to be processed do not exceed the respective limit speeds, and at least one line segment has a step of a speed equal to the constant speed position point of the speed limit, including:

   A1, determining a first time point t _S and a second time point t _E , wherein the first time point t _S is a starting time t ₀ of the first S-shaped curve, and the second time point t _E is Deducing a starting time point of the acceleration section in the first S-shaped curve;

   A2. Determine a third time point t _M , where the third time point t _M is an intermediate time point t _M between the first time point t _S and the second time point t _E ,

   

   A3. Adjusting the first S-shaped curve so that the starting time point T of the deceleration section is adjusted to the third time point t _M , and then decelerating as fast as possible to an acceleration and a speed drop of 0, The adjusted curve is the fourth sigmoid curve;

   A4, determining whether the fourth S-curve has a speed point beyond the speed limit, if yes, executing A6, otherwise executing A5;

   A5, determining whether the fourth S-shaped curve has at least one line segment having a constant speed position point equal to the speed limit, if yes, executing A8, otherwise executing A7;

   A6, making the value of the second time point t _E equal to the third time point t _M , and returning to A2;

   A7, the value of the first time point t _S is equal to the third time point t _M , and returns to A2;

   A8. Determine that the fourth S-shaped curve is the second S-shaped curve.
8. An S-curve planning device, characterized in that the device comprises:

   a first obtaining module, configured to acquire a corresponding limiting speed of the line segments to be processed;

   a calculation module, configured to calculate a first S-shaped curve that accelerates from a starting point of the line segment to be processed to a desired target speed of the user, and then runs at a constant speed of the target speed desired by the user;

   a judging module, configured to determine whether the first S-shaped curve has a position point whose speed exceeds the limit speed;

   And an adjustment module, configured to adjust the first S-shaped curve when the determination result is present, so that the second S-shaped curve obtained after the adjustment is finally decelerated to a speed and an acceleration of zero, and on the line segment to be processed The speeds do not exceed the respective speed limit, and at least one line segment has a constant speed position point whose speed is equal to the speed limit;

   a second acquiring module, configured to take a portion of the second S-shaped curve to become a third S-shaped curve, wherein The starting point of the third S-shaped curve is the starting point of the second S-shaped curve, and the ending point is the first constant velocity position point in the constant velocity position; the end point of the third S-shaped curve is used as the starting point. Perform S-shaped curve planning;

   The combination module is configured to combine the plurality of third sigmoid curves obtained by the planning to form the final S-shaped curve planning data after all the planned segments are planned.
9. The apparatus according to claim 8, wherein the calculation module is specifically configured to calculate acceleration from a starting point of the line segment to be processed with a maximum acceleration capability to a desired target speed of the user, and then to the target speed desired by the user. The first S-curve running at a constant speed.
10. The apparatus according to claim 8, wherein the magnitude of the respective limiting speeds of the line segments to be processed is a minimum of the respective preset target speeds and curvature limiting speeds of the respective users on the line segment to be processed.
11. The apparatus of claim 10 wherein said curvature limiting speed comprises a speed limit caused by curvature and bow height errors and a speed limit caused by curvature, acceleration and jerk.
12. The device according to claim 9, wherein the calculation module comprises:

    a first determining unit, configured to determine an operation process of the first S-shaped curve, the operating process includes: an acceleration segment, a uniform acceleration segment, a deceleration segment, and a uniform velocity segment;

    a first calculating unit, configured to calculate an acceleration a(τ), a speed f(τ), and a displacement l(τ) during the running, the acceleration a(τ), the speed f(τ), and the displacement l(τ ) are:

    

    

    

    Where ₀ ≤ t ≤ t ₁ is the acceleration acceleration section, t ₁ ≤ t ≤ t ₂ is the uniform acceleration section, and t ₂ ≤ t ≤ t ₃ is the deceleration acceleration section, t ₃ ≤ t ≤ t ₄ Is the uniform velocity segment, τ ₁ is the time accumulation of the acceleration acceleration segment, τ ₂ is the time accumulation of the uniform acceleration segment, τ ₃ is the time accumulation of the deceleration acceleration segment, and τ ₄ is the uniform velocity segment Time accumulation, t is the time accumulation of the total running process, t ₁ , t ₂ , t ₃ , t ₄ are the respective time points in t, J is the maximum jerk allowed by the system, A is the maximum acceleration allowed by the system, a _s is the initial acceleration, f _s is the initial velocity, and l _s is the initial displacement.
13. The device according to claim 12, wherein the determining module comprises:

    Second determining unit, configured to use the f (τ), the speed limit of the line segment L _i F _i is determined to reach the limit velocity F _i of time required t _i, thus determining the speed limit reached when F _i Displacement l and acceleration a;

    a first result unit, configured to determine, when a>0, and l<l _i+1 , that the first sigmoid curve has a speed at which the line segment L _i exceeds the limit speed F _i l l ₊₁ is the distance from the end point of the line segment L _i to the starting point of the line segment to be processed; or, if a < 0, and l > l _i , it is determined that the first sigmoid curve is in the The line segment L _i has a position point at which the speed exceeds the limit speed F _i , and the distance l _i is the distance from the start point of the line segment L _{i to} the start point of the line segment to be processed.
14. The apparatus according to claim 8 or 9, wherein the adjustment module comprises:

    a third determining unit, configured to determine a first time point t _S and a second time point t _E , wherein the first time point t _S is a starting time t ₀ of the first S-shaped curve, and the second The time point t _E is the starting time point of the deceleration section in the first S-shaped curve;

    a fourth determining unit, configured to determine a third time point t _M , wherein the third time point t _M is an intermediate time point t _M between the first time point t _S and the second time point t _E ,

    

    And an adjusting unit, configured to adjust the first S-shaped curve such that a starting time point T of the deceleration section is adjusted to the third time point t _M , and then decelerate to an acceleration and a speed drop as soon as possible thereafter 0, the curve obtained after adjustment is the fourth sigmoid curve;

    a first determining unit, configured to determine whether the fourth S-shaped curve has a position where the speed exceeds the limiting speed, if yes, enter the first execution unit, otherwise enter the second determining unit;

    a second determining unit, configured to determine whether the fourth S-shaped curve has at least one line segment having a constant speed position point equal to the speed limit, if yes, entering the fifth determining unit, and otherwise entering the second executing unit;

    a first execution unit, configured to make the value of the second time point t _E equal to the third time point t _M and return to the fourth determining unit;

    a second execution unit, configured to make the value of the first time point t _S equal to the third time point t _M , and return to the fourth determining unit;

    And a fifth determining unit, configured to determine that the fourth S-shaped curve is the second S-shaped curve.
15. A numerical control machine tool, comprising: a machine tool body and a numerical control device mounted on the machine tool body, the numerical control device comprising: a processor and a memory connected to the bus;

    The memory stores a program, the processor is configured to execute the program, and the program includes the following steps when executed:

    Obtaining a corresponding speed limit of each line segment to be processed;

    Calculating a first S-shaped curve that accelerates from a starting point of the line segment to be processed to a user desired target speed and then runs at a constant speed at the target speed desired by the user;

    Determining whether the first S-shaped curve has a position where the speed exceeds the limit speed, and if present, adjusting the first S-shaped curve, so that the second S-shaped curve obtained after the adjustment is finally decelerated to both speed and acceleration Zero, and the speed on the line segment to be processed does not exceed the respective speed limit, and at least one line segment has a constant speed position point whose speed is equal to the speed limit;

    Taking a portion of the second S-shaped curve into a third S-shaped curve, wherein a starting point of the third S-shaped curve is a starting point of the second S-shaped curve, and an ending point is first appearing in the constant-speed position point Constant velocity position point;

    S-curve planning is performed again starting from the end point of the third S-shaped curve;

    After all the planned line segments are completely planned, the planned plurality of third sigmoid curves are combined to form the final S-shaped curve planning data.

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