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CN114035513B - S-shaped speed curve look-ahead planning method and device, storage medium and computing equipment - Google Patents

S-shaped speed curve look-ahead planning method and device, storage medium and computing equipment Download PDF

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CN114035513B
CN114035513B CN202111145153.1A CN202111145153A CN114035513B CN 114035513 B CN114035513 B CN 114035513B CN 202111145153 A CN202111145153 A CN 202111145153A CN 114035513 B CN114035513 B CN 114035513B
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speed
node
shaped
nodes
linked list
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CN114035513A (en
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郭先强
何长安
彭伟
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Suzhou Mou Xun Intelligent Technology Co ltd
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Suzhou Mou Xun Intelligent Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34119—Function generator, filter after interpolator to control position error

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a prospective planning method and device for an S-shaped speed curve, which are used for solving the problem of large calculated amount of continuous speed curve of planning C2. The method comprises the steps of scanning a motion track to establish an S-shaped curve and storing the S-shaped curve in a linked list; marking nodes which cannot be independently S-shaped planned in all nodes in the first state of the linked list as a second state; storing the speed deviation values of the nodes in the second state in the linked list in a deviation table; merging the nodes in the deviation table, and reinserting the nodes which cannot be independently S-shaped planned after merging into the deviation table to execute adjacent node merging again until the deviation table is empty; performing time-optimal speed planning on nodes in the linked list; splitting the nodes which do not meet the preset motion constraint in the linked list into two nodes, and performing S-shaped planning; carrying out endpoint deceleration on the split nodes which cannot be subjected to S-shaped planning; splitting the node which is slowed down by the end point, and repeatedly executing the steps until the nodes in the linked list all meet the preset motion constraint.

Description

S-shaped speed curve look-ahead planning method and device, storage medium and computing equipment
Technical Field
The invention belongs to the technical field of computers, and particularly relates to a look-ahead planning method and device for an S-shaped speed curve, a storage medium and computing equipment.
Background
The feed speed of the numerical control machine tool has close relation with the machining precision, the productivity and the surface roughness of the workpiece. The popular acceleration and deceleration control is S-shaped acceleration and deceleration control, and compared with trapezoidal acceleration and deceleration control and exponential acceleration and deceleration control, the S-shaped acceleration and deceleration control has the advantages of smooth and uniform speed curve, stable movement, no impact and the like.
A velocity profile generally refers to a corresponding curve f=v (t) in a coordinate system with time t on the horizontal axis and velocity V on the vertical axis, the first derivative of which is acceleration (Acc) f '=a (t), the second derivative of which is Jerk (Jerk) f "=j (t), and the third derivative of which is Jerk (Jounce or Snap) f'" =s (t), if they are derivable.
Algebraic polynomials are used as speed curves, and the speed curves can be based on the bang-bang control principle, so that the time optimization is achieved. The acceleration of the continuous C0-order trapezoidal acceleration-deceleration curve is in three step states of (+ Acc,0, -Acc); the continuous C-1 step, which is a S-shaped velocity curve commonly known in the industry, means that the acceleration can be continuous, but the acceleration step is discontinuous, and the acceleration step can be divided into 7 stages at most. The acceleration is continuous, and the C2-order continuous speed curve with controllable acceleration and other speed curves can partially reach the C2-order continuous speed curve, but the C2-order continuous speed curve is usually realized by a trigonometric function, so that the defects of large interpolation calculation amount, influence on real-time performance, non-time optimal control, influence on processing efficiency and the like exist.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide an S-shaped speed curve look-ahead planning method which is used for solving the problems of large calculated amount and influence on real-time performance of the existing continuous speed curve of the planning C2.
In order to achieve the above object, the present invention provides a look-ahead planning method for an S-shaped velocity profile, including:
Scanning a plurality of sections of motion tracks to correspondingly establish a plurality of S-shaped curves and storing the S-shaped curves in a linked list, wherein corresponding nodes of the S-shaped curves are marked in the linked list to be in a first state;
marking nodes which cannot be independently S-shaped planned in all nodes in the first state of the linked list as a second state;
calculating the speed deviation value of each node in the second state in the linked list, and sequentially storing the speed deviation value in a deviation table according to the size;
selecting a corresponding node with the maximum speed deviation value in the deviation table, merging with an adjacent node, and reinserting the merged node which cannot be independently S-shaped planned into the deviation table to execute adjacent node merging again until the deviation table is empty;
Performing time-optimal speed planning on each node capable of being independently S-shaped planned in the linked list;
Splitting the nodes which do not meet the preset motion constraint in the linked list into two nodes, and performing S-shaped planning on the split nodes;
The node which cannot be subjected to S-shaped planning after splitting is subjected to end point deceleration, so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the end point speed after deceleration is equal to the motion path length of the S-shaped curve of the node;
Splitting the nodes which are slowed down by the end points into nodes which only comprise single-segment motion tracks, and repeatedly executing the steps until the nodes in the linked list meet the preset motion constraint so as to complete S-shaped speed curve planning of the plurality of segments of motion tracks.
In one embodiment, scanning a plurality of motion trajectories to correspondingly establish a plurality of S-shaped curves specifically includes:
scanning from the last section to the first section, initializing the starting point speed of each section of motion trail to be the allowed maximum joint speed, initializing the ending point speed to be the starting point speed of the adjacent section at the corresponding joint point, and recording the path length of each section of motion trail;
scanning from the first section to the last section, and establishing an S-shaped curve for each section of motion track.
In an embodiment, marking a node incapable of independent S-shaped planning among the nodes in the first state of the linked list as a second state specifically includes:
Judging whether the shortest path length required by each node in the first state in the linked list from the low speed to the high speed of the corresponding motion track is not more than the motion path length of the corresponding S-shaped curve, wherein the low speed and the high speed of the motion track are obtained according to the two end point speeds of the motion track which are sequenced; if so, the first and second data are not identical,
And marking the corresponding node in the linked list as a second state.
In an embodiment, calculating a speed deviation value of each node in the second state in the linked list specifically includes:
The speed of each node in the second state in the linked list is reduced by a high-speed endpoint, so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the speed of the reduced endpoint is equal to the motion path length of the S-shaped curve of the node;
And calculating the difference value between the high speed of the corresponding motion track and the speed of the end point after the speed is reduced in each node in the second state in the linked list to obtain a speed deviation value.
In an embodiment, selecting a corresponding node with the largest speed deviation value in the deviation table to be combined with an adjacent node, and reinserting the combined node incapable of being independently S-shaped planned into the deviation table to execute adjacent node combination again until the deviation table is empty, which specifically includes:
selecting a corresponding node with the maximum speed deviation value in the deviation table, and merging with an adjacent node by taking a high-speed end point as a connecting point, wherein the maximum speed value of the node after merging takes a lower value of node constraint before merging; and/or the number of the groups of groups,
Inquiring whether the two nodes are in a second state before merging when merging; if so, the first and second data are not identical,
The two nodes that are merged are deleted from the offset table.
In an embodiment, performing time-optimal speed planning on each node capable of performing independent S-shaped planning in the linked list specifically includes:
D values of all nodes capable of being independently S-shaped planned in the linked list are calculated:
d＝L-L(Vs,Vmax)-L(Ve,Vmax)
Wherein, L is the motion path length of the motion trail corresponding to the node, L (V s,Vmax) is the shortest path length required by the starting point speed V s of the motion trail corresponding to the node to the maximum speed V max allowed, and L (V e,Vmax) is the shortest path length required by the end point speed V e of the motion trail corresponding to the node to the maximum speed V max allowed;
Judging whether the d value of each node is more than or equal to 0; if so, the first and second data are not identical,
Determining that a uniform speed section exists and completing S-shaped planning of a corresponding node; if not, the method comprises the steps of,
The optimal speed V best∈[max{Vs,Ve},Vmax is determined so that the objective function f (V best)＝L-L(Vs,Vbest)-L(Ve,Vbest) of the corresponding node is equal to 0 and the sigmoid programming of the corresponding node is completed.
In an embodiment, splitting the node in the linked list that does not meet the preset motion constraint into two nodes specifically includes:
Sequentially calculating the corresponding speed on the S-shaped planning speed curve according to the length of each section of motion track by the merging nodes in the linked list;
Determining whether the corresponding velocity is not greater than a velocity permitted with its engagement point; if not, the method comprises the steps of,
Splitting the corresponding merging node into two nodes at the position where the speed of the joint point exceeds the maximum.
The invention also provides an S-shaped speed curve look-ahead planning device, which comprises:
the scanning module is used for scanning a plurality of sections of motion tracks to correspondingly establish a plurality of S-shaped curves and storing the S-shaped curves in a linked list, wherein corresponding nodes of the S-shaped curves are marked in the linked list to be in a first state;
the marking module is used for marking the nodes which cannot be independently S-shaped planned in each node in the first state of the linked list as a second state;
The calculation module is used for calculating the speed deviation value of each node in the second state in the linked list and sequentially storing the speed deviation value in the deviation table according to the size;
The merging module is used for selecting a corresponding node with the maximum speed deviation value in the deviation table to be merged with the adjacent nodes, and reinserting the merged node which cannot be independently S-shaped planned into the deviation table to execute the merging of the adjacent nodes again until the deviation table is empty;
the planning module is used for carrying out time-optimal speed planning on each node which can be independently S-shaped planned in the linked list;
the splitting module is used for splitting the nodes which do not meet the preset motion constraint in the linked list into two nodes and performing S-shaped planning on the split nodes;
the speed regulating module is used for carrying out endpoint speed reduction on the split node which cannot be subjected to S-shaped planning so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the speed of the endpoint after speed reduction is equal to the motion path length of the S-shaped curve of the node;
The splitting module is further configured to split the node slowed down by the endpoint into nodes only including a single segment of motion track, and repeatedly execute the above steps until the nodes in the linked list all meet a preset motion constraint, so as to complete the S-shaped speed curve planning of the segments of motion tracks.
The present invention also provides a computing device comprising:
At least one processor; and
A memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the method as described above.
The present invention also provides a machine-readable storage medium storing executable instructions that, when executed, cause the machine to perform a method as described above.
Compared with the prior art, according to the S-shaped speed curve look-ahead planning method, C2 continuity can be obtained, namely speed, acceleration and acceleration are continuous and limited, acceleration steps are added but limited, and at most 15 curve stages can be divided, so that the obtained speed curve is smoother and the movement is smoother; in an actual application scene, the fast look-ahead planning can be performed on 2048 segments or more segments of continuous paths, real-time performance is not affected even in an ARM platform with relatively weak calculation power, and the method has obvious advantages in high-speed and high-precision machining.
Drawings
FIG. 1 is a diagram of a logic architecture for one embodiment of a S-shaped velocity profile look-ahead planning method according to the present invention;
FIG. 2 is a flow chart of an embodiment of a look-ahead planning method for S-shaped velocity curves according to the present invention;
FIG. 3 is a block diagram of an embodiment of an S-shaped velocity profile look-ahead planning apparatus according to the present invention;
FIG. 4 is a hardware block diagram of one embodiment of an S-shaped velocity profile look-ahead planning computing device in accordance with the present invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
The S-shaped speed curve planning of the invention is a planning for determining a motion trail for a plurality of segments (k=1, 2, …, n). Maximum speed V max, maximum acceleration a max, maximum jerk J max, maximum jerk S max, maximum allowable bow-height error epsilon, and interpolation period T 0 allowed by the system are set. The goal of the planning is to conduct a speed look-ahead planning on these motion trajectories so that they satisfy the speed curve C2 continuity.
Referring to FIG. 1, motion constraints can be set for each segment of motion trail, and the motion constraint parameters are combined intoAnd, can also set upWhere ρ is the minimum radius of curvature of the segment motion trajectory to ensure that the interpolated trajectory does not exceed the bow height error ε.
For the starting point of the first-segment motion track and the ending point of the last-segment motion track, corresponding motion parameters can be setAndIs fixed. Initial velocity of first-stage motion trailOther than 0 is allowed, all others should be 0. Here, the initial velocityWhen the current planning end position is not 0, the current planning end position can be ensured to be decelerated to a stop state, and overshoot phenomenon can not occur because the current planning end position is more backward by using the speed to decelerate to 0 at a designated point.
When k is more than 1, the motion constraint parameters can be further set at the connection position of the starting points of the motion tracks. Specifically, define the deflection angle θ of the tangent line at the point of engagement with the previous segment of motion trajectory, and the endpoint tangent line vector of the previous segment of motion trajectory isThe tangent vector of the starting point of the current segment motion trail isCan pass throughOr (b)The deflection angle is calculated. At this juncture, assuming the direction deflection is completed within one instruction cycle, then the result is thatObtaining the starting point speed of the motion trailIn the same way, can obtain For the engagement speed, further constraint is required by bow-height error, and the result is:
For the motion constraint parameters at the end positions of the motion trajectories of the sections, except for the final motion trajectory Can be all zero, and the motion trail of other sectionsI.e. equal to the start constraint of the next motion profile.
The above is a process of setting the overall constraint and speed limit (determining the speed sensitive area and the upper limit of the allowed motion parameters of each area), and on the basis of the above setting, a specific implementation mode of the S-shaped speed curve look-ahead planning method of the present invention is described with reference to fig. 1 and 2. In this embodiment, the method includes:
S11, scanning a plurality of sections of motion tracks to correspondingly establish a plurality of S-shaped curves, and storing the S-shaped curves in a linked list.
The scanning here corresponds to an initialized process. Specifically, the method includes scanning from the last segment to the first segment of a plurality of segments of curves, initializing the starting speed of each segment of motion trail to be the allowed maximum connection speed, initializing the ending speed to be the starting speed of the adjacent segment at the corresponding connection point, and recording the path length of each segment of motion trail; then scanning from the first section to the last section, and establishing an S-shaped curve for each section of motion track.
The established S-shaped curves are stored in a linked list form, and the corresponding nodes of the S-shaped curves are marked as a first state INIT.
S12, marking nodes which cannot be independently S-shaped planned in all nodes in the first state of the linked list as second states.
Corresponding here is the process of exploring whether sigmoid planning is possible. Specifically, the current S-shaped planning constraint (a max,Jmax,Smax) is firstly adopted to sequence the speeds of two end points of the corresponding motion track from the low speed V low to the high speed V high, and the start-stop acceleration and the acceleration are both 0, so that the time-optimal speed curve is planned, and the shortest path length L (V low,Vhigh) required for accelerating from the low speed V low to the high speed V high is obtained.
Then judging whether the shortest path length L (V low,Vhigh) is not greater than the motion path length L corresponding to the S-shaped curve; if yes, the corresponding node in the linked list can be marked as a state TRY_PASS; if not, the corresponding node in the linked list may be marked as a second state TRY_FAIL.
S13, calculating the speed deviation value of each node in the second state in the linked list, and sequentially storing the speed deviation value in the deviation list according to the size.
Specifically, the speed of each node in the second state in the linked list may be reduced by the high-speed endpoint, so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the speed of the end point after the speed reduction is equal to the motion path length of the S-shaped curve of the node, and then the difference between the high speed of the corresponding motion track and the speed of the end point after the speed reduction is calculated in each node in the second state in the linked list, so as to obtain the speed deviation value.
In one embodiment, a proper speed V try between a low speed and a high speed (V low,Vhigh) can be obtained through an iterative algorithm, so that the shortest path length L (V low,Vtry) required for accelerating from the low speed V low to the low speed V try is exactly equal to the motion path length L of the corresponding S-shaped curve, and Δv=v high- Vtry is recorded as the speed deviation value of the non-S-shaped speed planning node and recorded in a deviation table. The deviation table can always sort the deviation values from large to small, and associate the node information of the linked list as the basis of the dynamic merging sequence of the next step.
S14, selecting the corresponding node with the maximum speed deviation value in the deviation table to be combined with the adjacent nodes, and reinserting the combined node which cannot be independently S-shaped planned into the deviation table to execute adjacent node combination again until the deviation table is empty.
If the deviation table itself is empty, it indicates that the second linked list starts, i.e., there is no node in the second state try_fail (node that is not S-speed planable). If the deviation table is not empty, it indicates that the second linked list has the node of the second state try_fail, and the process of obtaining the deviation table through speed reduction in the step S13 is the basis for merging the nodes to convert the node of the second state try_fail in the linked list into the state try_pass.
Specifically, a corresponding node with the largest speed deviation value in the deviation table may be selected, and the node with the largest speed deviation value is merged with the neighboring node by using the high-speed end point as the junction point. The path length of the new node after combination is the sum of the path lengths of the two nodes before combination; the starting and stopping endpoint speeds are the starting and stopping endpoint speeds of the two nodes before combination; the lower values of the original two node constraints are taken by the V max,Amax,Jmax,Smax, and the last three variables (A max,Jmax,Smax) are further adjusted to meet the motion constraints at the junction (as the junction transitions from the end point into the new S-shaped curve segment). It should be noted that, at this time, the maximum speed V max of the S-shape of the new node may be temporarily not limited by the speed of the engagement point, otherwise, the overall speed may be seriously reduced, and whether the overall speed exceeds the standard or not may be checked and described in detail in the following steps.
During merging, whether the two nodes are in the second state TRY_FAIL or not should be inquired firstly; if yes, deleting the two combined nodes from the deviation table. If the combined node can be independently S-shaped, the heuristic process in the step S12 can be called, and if the combined node corresponds to the TRY_PASS, the combined node can be independently S-shaped; if the node is in the second state TRY_FAIL, the node after merging still cannot be independently S-shaped planned, the speed deviation value of the node needs to be calculated again, and the node can be inserted into the proper position in the deviation table again according to the size sequence.
It can be seen that the dynamic combination of the nodes which cannot be planned in the S shape can be realized by gradually combining every two nodes in the deviation table and combining with the dynamic update of the deviation table until the deviation table is emptied.
S15, performing time-optimal speed planning on each node capable of being independently S-shaped in the linked list.
Corresponding to the construction process, the node correspondences in the deviation table are all states try_pass. Specifically, it is assumed that each node in the linked list that can be independently S-shaped planned can reach a maximum speed V max, and a d value is calculated:
d＝L-L(Vs,Vmax)-L(Ve,Vmax)
Wherein L is the motion path length of the motion track corresponding to the node, L (V s,Vmax) is the shortest path length required for the starting speed V s of the motion track corresponding to the node to accelerate to the allowable maximum speed V max, and L (V e,Vmax) is the shortest path length required for the ending speed V e of the motion track corresponding to the node to accelerate to the allowable maximum speed V max. The algorithm of the modules L (V s,Vmax) and L (V e,Vmax) may be implemented by the same module, and is not related to a specific technology, and thus will not be described herein.
Secondly, judging whether the d value of each node is more than or equal to 0; if yes, determining that a uniform speed section exists and completing S-shaped planning of a corresponding node; if not, determining that the constant speed section does not exist.
In the case that there is no constant speed segment, since the node state is try_pass, the optimal speed V best∈[max{Vs,Ve},Vmax is continuously determined so that the objective function f (V best)＝L- L(Vs,Vbest)-L(Ve,Vbest) of the corresponding node is equal to 0, and the S-shaped planning of the corresponding node is completed. The specific process of determining the optimal speed may be implemented, for example, by a newton iterative algorithm.
For nodes that have completed the sigmoid plan, it may be marked as state MADE.
S16, splitting the nodes which do not meet the preset motion constraint in the linked list into two nodes, and performing S-shaped planning on the split nodes.
Before splitting the nodes, the nodes in state MADE in the linked list are checked. If the node itself is a single segment motion trajectory, it already satisfies all motion constraints and may be further marked as a state check_pass; if the nodes are multi-segment motion trajectories, then it is further determined whether the speed of the inter-motion trajectory junctions satisfies the motion constraints, as described above.
In one embodiment, the merging nodes in the linked list can be sequentially calculated according to the length of each section of motion track, so that the corresponding speed on the S-shaped planning speed curve is calculated; determining whether the corresponding speed is not greater than the speed allowed by the joint point; if not, indicating that the speed of the joint point is over-limit, marking the joint point as a state check_fail, and recording the position with the maximum over-limit value in the merging node.
Then, the corresponding merging node can be split into two nodes at the position where the speed of the joint point exceeds the maximum. The two split nodes consist of respective corresponding motion trajectories and are re-marked as the first state INIT.
It should be noted that, in some alternative embodiments, the node may be split without being split at the position where the speed of the engagement point exceeds the maximum, and these alternative embodiments are also within the scope of the present invention.
And S17, carrying out end point deceleration on the split node which cannot be subjected to S-shaped planning, so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the end point speed after deceleration is equal to the motion path length of the S-shaped curve of the node.
For the split node, the "heuristic" process in step S12 may be continuously invoked, and if the corresponding state is a state try_pass, it is stated that the split node may be independently S-shaped planned; if the node is in the second state TRY_FAIL, the split node is still unable to be independently S-shaped.
At this time, the endpoint speed of the corresponding node may be reduced, for example, by an iterative algorithm, a certain speed V try between the endpoint high speed V high and the low speed V low may be obtained, so that the shortest path length L (V low,Vtry) required for the corresponding node to accelerate from V low to V try is exactly equal to L, and then the endpoint speed V high with the higher speed is forcedly adjusted down to V try. It should be noted that, since this involves one engagement speed, the start-stop end speed of the motion track of the adjacent segment at the engagement point needs to be adjusted at the same time, and the smaller value of the two is taken as the new engagement end speed after the adjustment.
S18, splitting the nodes slowed down by the end points into nodes only comprising single-segment motion tracks, and repeatedly executing the steps until the nodes in the linked list meet the preset motion constraint so as to complete S-shaped speed curve planning of the plurality of segments of motion tracks.
The splitting process is corresponding to the process, and after splitting the node slowed down by the endpoint into nodes only comprising a single-segment motion track and re-marking the state as the first state INIT, a new round of loop execution is carried out. The split-cycle process herein may achieve higher process efficiencies.
And after all nodes in the linked list meet the preset motion constraint (the state is CHECK_PASS), the S-shaped speed curve planning of a plurality of sections of motion tracks is completed. The speed curves planned by the nodes in the linked list can be mapped to corresponding motion segments to be stored, and the state is marked as application.
By the S-shaped speed curve look-ahead planning method in the embodiment, C2 is continuous, namely speed, acceleration and acceleration are continuous and limited, acceleration steps are added but limited, and 15 curve stages can be divided at most, so that the obtained speed curve is smoother and the movement is smoother. That is, there may be 15 Stage information per motion segment, and each Stage structure will store initial velocity, initial acceleration, and corresponding duration and path length, which may provide sufficient motion information for subsequent interpolation. In interpolation, the motion information and the geometric information can be combined to calculate the motion quantity in a single instruction period of each motion axis, and the related instructions can be output to the equipment in time sequence.
In general, the S-shaped velocity profile obtained by the above embodiment is a globally time-optimal solution, namely: one path motion, possibly comprising multiple stages of an S-shape; one S-shaped stage (C2 consecutive S-shaped, 15 stages total) may also involve multi-segment path motion. That is, at each engagement point, an acceleration or deceleration interval is possible, without the prior art algorithm requiring an additional definition of 0 acceleration at the engagement point, thereby affecting the processing efficiency.
In an actual application scene, the S-shaped speed curve look-ahead planning method can carry out fast look-ahead planning on 2048 sections of continuous paths, does not influence real-time even in an ARM platform with relatively weak calculation power, and has obvious advantages in high-speed and high-precision machining.
Referring to fig. 3, the present invention further provides an embodiment of an S-shaped speed curve look-ahead planning apparatus. The S-shaped speed curve look-ahead planning device comprises a scanning module, a marking module, a calculating module, a merging module, a planning module and a speed regulating module.
The scanning module is used for scanning a plurality of sections of motion tracks to correspondingly establish a plurality of S-shaped curves and storing the S-shaped curves in a linked list, wherein corresponding nodes of the S-shaped curves are marked in the linked list to be in a first state;
The marking module is used for marking the nodes which cannot be independently S-shaped planned in each node in the first state of the linked list as a second state;
The calculation module is used for calculating the speed deviation value of each node in the second state in the linked list and sequentially storing the speed deviation value in the deviation table according to the size;
The merging module is used for selecting a corresponding node with the maximum speed deviation value in the deviation table to be merged with the adjacent nodes, and reinserting the merged node which cannot be independently S-shaped planned into the deviation table to execute the adjacent node merging again until the deviation table is empty;
the planning module is used for carrying out time-optimal speed planning on each node which can be independently S-shaped planned in the linked list;
the splitting module is used for splitting the nodes which do not meet the preset motion constraint in the linked list into two nodes and performing S-shaped planning on the split nodes;
The speed regulating module is used for carrying out endpoint speed reduction on the split node which cannot be subjected to S-shaped planning, so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the speed of the endpoint after speed reduction is equal to the motion path length of the S-shaped curve of the node;
The splitting module is further configured to split the node slowed down by the endpoint into nodes only including a single segment of motion track, and repeatedly execute the above steps until the nodes in the linked list all meet a preset motion constraint, so as to complete the S-shaped speed curve planning of the segments of motion tracks.
The scanning module is specifically used for: scanning from the last section to the first section, initializing the starting point speed of each section of motion trail to be the allowed maximum joint speed, initializing the ending point speed to be the starting point speed of the adjacent section at the corresponding joint point, and recording the path length of each section of motion trail; scanning from the first section to the last section, and establishing an S-shaped curve for each section of motion track.
The marking module is specifically used for: judging whether the shortest path length required by each node in the first state in the linked list from the low speed to the high speed of the corresponding motion track is not more than the motion path length of the corresponding S-shaped curve, wherein the low speed and the high speed of the motion track are obtained according to the two end point speeds of the motion track which are sequenced; if yes, marking the corresponding node in the linked list as a second state.
The computing module is specifically used for: the speed of each node in the second state in the linked list is reduced by a high-speed endpoint, so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the speed of the reduced endpoint is equal to the motion path length of the S-shaped curve of the node; and calculating the difference value between the high speed of the corresponding motion track and the speed of the end point after the speed is reduced in each node in the second state in the linked list to obtain a speed deviation value.
The merging module is specifically used for: selecting a corresponding node with the maximum speed deviation value in the deviation table, and merging with an adjacent node by taking a high-speed end point as a connecting point, wherein the maximum speed value of the node after merging takes a lower value of node constraint before merging; and/or, inquiring whether the two nodes are in the second state before merging when merging; if yes, deleting the two combined nodes from the deviation table.
The planning module is specifically used for: d values of all nodes capable of being independently S-shaped planned in the linked list are calculated:
d＝L-L(Vs,Vmax)-L(Ve,Vmax)
Wherein, L is the motion path length of the motion trail corresponding to the node, L (V s,Vmax) is the shortest path length required by the starting point speed V s of the motion trail corresponding to the node to the maximum speed V max allowed, and L (V e,Vmax) is the shortest path length required by the end point speed V e of the motion trail corresponding to the node to the maximum speed V max allowed;
Judging whether the d value of each node is more than or equal to 0; if so, the first and second data are not identical,
Determining that a uniform speed section exists and completing S-shaped planning of a corresponding node; if not, the method comprises the steps of,
The optimal speed V best∈[max{Vs,Ve},Vmax is determined so that the objective function f (V best)＝L-L(Vs,Vbest)-L(Ve,Vbest) of the corresponding node is equal to 0 and the sigmoid programming of the corresponding node is completed.
The splitting module is specifically used for: sequentially calculating the corresponding speed on the S-shaped planning speed curve according to the length of each section of motion track by the merging nodes in the linked list; determining whether the corresponding velocity is not greater than a velocity permitted with its engagement point; if not, splitting the corresponding merging node into two nodes at the position where the speed of the joint point exceeds the maximum.
Fig. 4 shows a hardware block diagram of a computing device 30 for S-shaped speed profile look-ahead planning in accordance with an embodiment of the present description. As shown in fig. 4, computing device 30 may include at least one processor 301, memory 302 (e.g., non-volatile memory), memory 303, and communication interface 304, and at least one processor 301, memory 302, memory 303, and communication interface 304 are connected together via bus 305. The at least one processor 301 executes at least one computer readable instruction stored or encoded in memory 302.
It should be appreciated that the computer-executable instructions stored in memory 302, when executed, cause at least one processor 301 to perform the various operations and functions described above in connection with fig. 1-2 in various embodiments of the present specification.
In embodiments of the present description, computing device 30 may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile computing devices, smart phones, tablet computers, cellular phones, personal Digital Assistants (PDAs), handsets, messaging devices, wearable computing devices, consumer electronic devices, and the like.
According to one embodiment, a program product, such as a machine-readable medium, is provided. The machine-readable medium may have instructions (i.e., elements described above implemented in software) that, when executed by a machine, cause the machine to perform the various operations and functions described above in connection with fig. 1-2 in various embodiments of the specification. In particular, a system or apparatus provided with a readable storage medium having stored thereon software program code implementing the functions of any of the above embodiments may be provided, and a computer or processor of the system or apparatus may be caused to read out and execute instructions stored in the readable storage medium.
In this case, the program code itself read from the readable medium may implement the functions of any of the above embodiments, and thus the machine-readable code and the readable storage medium storing the machine-readable code form part of the present specification.
Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or cloud by a communications network.
It will be appreciated by those skilled in the art that various changes and modifications can be made to the embodiments disclosed above without departing from the spirit of the invention. Accordingly, the scope of protection of this specification should be limited by the attached claims.
It should be noted that not all the steps and units in the above flowcharts and the system configuration diagrams are necessary, and some steps or units may be omitted according to actual needs. The order of execution of the steps is not fixed and may be determined as desired. The apparatus structures described in the above embodiments may be physical structures or logical structures, that is, some units may be implemented by the same physical client, or some units may be implemented by multiple physical clients, or may be implemented jointly by some components in multiple independent devices.
In the above embodiments, the hardware units or modules may be implemented mechanically or electrically. For example, a hardware unit, module or processor may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware unit or processor may also include programmable logic or circuitry (e.g., a general purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The particular implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
The detailed description set forth above in connection with the appended drawings describes exemplary embodiments, but does not represent all embodiments that may be implemented or fall within the scope of the claims. The term "exemplary" used throughout this specification means "serving as an example, instance, or illustration," and does not mean "preferred" or "advantageous over other embodiments. The detailed description includes specific details for the purpose of providing an understanding of the described technology. However, the techniques may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the described embodiments.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. An S-shaped speed curve look-ahead planning method, comprising: scanning a plurality of sections of motion tracks to correspondingly establish a plurality of S-shaped curves and storing the S-shaped curves in a linked list, wherein corresponding nodes of the S-shaped curves are marked in the linked list to be in a first state; marking nodes which cannot be independently S-shaped planned in all nodes in the first state of the linked list as a second state; calculating the speed deviation value of each node in the second state in the linked list, and sequentially storing the speed deviation value in a deviation table according to the size; selecting a corresponding node with the maximum speed deviation value in the deviation table, merging with an adjacent node, and inserting the merged node which cannot be independently S-shaped planned into the deviation table to execute adjacent node merging again until the deviation table is empty; performing time-optimal speed planning on each node capable of being independently S-shaped planned in the linked list; splitting the nodes which do not meet the preset motion constraint in the linked list into two nodes, and performing S-shaped planning on the split nodes; the node which cannot be subjected to S-shaped planning after splitting is subjected to end point deceleration, so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the end point speed after deceleration is equal to the motion path length of the S-shaped curve of the node; splitting the nodes subjected to end point deceleration into nodes only comprising single-segment motion tracks, and repeatedly executing the steps until the nodes in the linked list meet preset motion constraints so as to complete S-shaped speed curve planning of the multiple segments of motion tracks;
Marking nodes which cannot be independently S-shaped planned in all nodes in the first state of the linked list as a second state, wherein the method specifically comprises the following steps: judging whether the shortest path length required by each node in the first state in the linked list from the low speed to the high speed of the corresponding motion track is not more than the motion path length of the corresponding S-shaped curve, wherein the low speed and the high speed of the motion track are obtained according to the two end point speeds of the motion track which are sequenced; if yes, marking the corresponding node in the linked list as a second state, and performing time-optimal speed planning on each node capable of independently performing S-shaped planning in the linked list, wherein the method specifically comprises the following steps: d values of all nodes capable of being independently S-shaped planned in the linked list are calculated: d=l L(Vs,Vmax)L(Ve,Vmax)
Wherein L is the length of the motion path of the motion trail corresponding to the node, L (V s,Vmax) is the starting point speed of the motion trail corresponding to the node
The shortest path length required for the velocity Vs to accelerate to the maximum allowable velocity Vmax, and L (V e ,Vmax) is the shortest path length required for the velocity Ve of the endpoint of the motion trail corresponding to the node to accelerate to the maximum allowable velocity Vmax;
Judging whether the d value of each node is more than or equal to 0; if so, the first and second data are not identical,
Determining that a uniform speed section exists and completing S-shaped planning of a corresponding node; if not, the method comprises the steps of,
The optimal speed V best∈[max{Vs ,Ve},Vmax is determined so that the objective function f (V best) =l of the corresponding nodeL(Vs ,Vbest)L (V e,Vbest) is equal to 0, and the S-shaped programming of the corresponding node is completed.
2. The S-shaped velocity profile look-ahead planning method according to claim 1, wherein scanning a plurality of motion trajectories to correspondingly establish a plurality of S-shaped profiles comprises: scanning from the last section to the first section, initializing the starting point speed of each section of motion trail to be the allowed maximum joint speed, initializing the ending point speed to be the starting point speed of the adjacent section at the corresponding joint point, and recording the path length of each section of motion trail; scanning from the first section to the last section, and establishing an S-shaped curve for each section of motion track.
3. The S-shaped speed curve look-ahead planning method according to claim 2, wherein calculating the speed deviation value of each node in the second state in the linked list specifically includes:
The speed of each node in the second state in the linked list is reduced by a high-speed endpoint, so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the speed of the reduced endpoint is equal to the motion path length of the S-shaped curve of the node;
And calculating the difference value between the high speed of the corresponding motion track and the speed of the end point after the speed is reduced in each node in the second state in the linked list to obtain a speed deviation value.
4. The S-shaped speed curve look-ahead planning method according to claim 1, wherein selecting a corresponding node with the largest speed deviation value in the deviation table to be combined with an adjacent node, and reinserting a node which cannot be independently S-shaped planned after combination into the deviation table to execute adjacent node combination again until the deviation table is empty, specifically comprising:
selecting a corresponding node with the maximum speed deviation value in the deviation table, and merging with an adjacent node by taking a high-speed end point as a connecting point, wherein the maximum speed value of the node after merging takes a lower value of node constraint before merging; and/or the number of the groups of groups,
Inquiring whether the two nodes are in a second state before merging when merging; if yes, deleting the two combined nodes from the deviation table.
5. The S-shaped speed curve look-ahead planning method according to claim 1, wherein splitting the nodes in the linked list that do not meet the preset motion constraint into two nodes specifically comprises:
Sequentially calculating the corresponding speed on the S-shaped planning speed curve according to the length of each section of motion track by the merging nodes in the linked list;
Determining whether the corresponding velocity is not greater than a velocity permitted with its engagement point; if not, the method comprises the steps of,
Splitting the corresponding merging node into two nodes at the position where the speed of the joint point exceeds the maximum.
6. An S-shaped speed profile look-ahead planning apparatus, comprising: the scanning module is used for scanning a plurality of sections of motion tracks to correspondingly establish a plurality of S-shaped curves and storing the S-shaped curves in a linked list, wherein corresponding nodes of the S-shaped curves are marked in the linked list to be in a first state; the marking module is used for marking the nodes which cannot be independently S-shaped planned in each node in the first state of the linked list as a second state; the method specifically comprises the following steps: judging whether the shortest path length required by each node in the first state in the linked list from the low speed to the high speed of the corresponding motion track is not more than the motion path length of the corresponding S-shaped curve, wherein the low speed and the high speed of the motion track are obtained according to the two end point speeds of the motion track which are sequenced; if yes, marking the corresponding node in the linked list as a second state, and calculating the speed deviation value of each node in the second state in the linked list by a calculation module, and sequentially storing the speed deviation value in a deviation table according to the size; the merging module is used for selecting a corresponding node with the maximum speed deviation value in the deviation table to be merged with the adjacent nodes, and inserting the merged node which cannot be independently S-shaped planned into the deviation table to execute adjacent node merging again until the deviation table is empty; the planning module is used for carrying out time-optimal speed planning on each node which can be independently S-shaped planned in the linked list; the method specifically comprises the following steps:
d values of all nodes capable of being independently S-shaped planned in the linked list are calculated: d=l L(Vs,Vmax)L(Ve,Vmax)
Wherein L is the length of the motion path of the motion trail corresponding to the node, L (V s,Vmax) is the starting point speed of the motion trail corresponding to the node
The shortest path length required for the velocity Vs to accelerate to the maximum allowable velocity Vmax, and L (V e ,Vmax) is the shortest path length required for the velocity Ve of the endpoint of the motion trail corresponding to the node to accelerate to the maximum allowable velocity Vmax;
Judging whether the d value of each node is more than or equal to 0; if so, the first and second data are not identical,
Determining that a uniform speed section exists and completing S-shaped planning of a corresponding node; if not, the method comprises the steps of,
The optimal speed V best∈[max{Vs ,Ve},Vmax is determined so that the objective function f (V best) =l of the corresponding nodeL(Vs ,Vbest)L (V e,Vbest) is equal to 0, and S-shaped planning of the corresponding node is completed;
the splitting module is used for splitting the nodes which do not meet the preset motion constraint in the linked list into two nodes and performing S-shaped planning on the split nodes;
The speed regulating module is used for carrying out endpoint speed reduction on the split node which cannot be subjected to S-shaped planning so that the shortest path length required when the node is accelerated from the low speed of the corresponding motion track to the speed of the endpoint after speed reduction is equal to the motion path length of the S-shaped curve of the node; the splitting module is further configured to split the node slowed down by the endpoint into nodes only including a single segment of motion track, and repeatedly execute the above steps until the nodes in the linked list all meet a preset motion constraint, so as to complete the S-shaped speed curve planning of the segments of motion tracks.
7. A computing device, comprising: at least one processor; and
A memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the method of any of claims 1-5.
8. A machine-readable storage medium storing executable instructions that when executed cause the machine to perform the method of any one of claims 1 to 5.
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