CN108748138A - Speed planning method, system, control system, robot and storage medium - Google Patents
Speed planning method, system, control system, robot and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
A kind of speed planning method of present invention offer, system, control system, robot and storage medium comprising：Locus model is established sequentially in time and constraints is set；The locus model includes end orbit, and it is non-zero to be included at least in the corresponding final kinematic parameter of the end orbit a kind of；According to the locus model, speed planning curve model is established；Based on the speed planning curve model and according to the constraints, optimal motion parameter is obtained by object solving of time optimal；Target velocity, which is generated, according to the optimal motion parameter plans curve.First, the present invention can be not only restricted to the route segment of the arbitrary whole story state progress speed planning whole story parameter value of route segment.Furthermore the present invention can cover all individual paths during S type acceleration and deceleration, greatly improve application range.Finally, speed planning method provided by the invention does not need to distinguish that speed is first restrained or acceleration is first restrained, thus enormously simplifies the process of modeling, and user is helped to promote working efficiency.
Description
Technical Field
The present invention relates to the field of industrial robots, and in particular to a speed planning method, system, control system, robot, and storage medium.
Background
Nowadays, the development of the field of artificial intelligence is very popular, and a robot as a machine device for automatically executing a work task is one of the most important branches of the field of artificial intelligence.
The robot is a movable device, and the smoothness and the real-time performance of the track of the robot in the movement process are important indexes for measuring the movement planning performance of the robot. Generally, to ensure the smooth trajectory of the robot, the industrial equipment adopts S-type velocity planning or high-order velocity planning methods.
However, the speed planning method adopted by the existing robot generally can only deal with the situation from the zero state to the zero state or from the non-zero state to the zero state. It is well known that more often than not in real application scenarios, the non-zero state is changed to the non-zero state. Therefore, a speed planning method with a wider application range is urgently needed by users.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a speed planning method, system, control system, robot, and storage medium, which are used to solve the problem of limited application range of speed planning in the prior art.
In a first aspect, the present invention provides a speed planning method, which includes: establishing a track model according to a time sequence and setting constraint conditions; the track model comprises a tail end track, and at least one of final motion parameters corresponding to the tail end track is nonzero; establishing a speed planning curve model according to the track model; solving by taking time optimum as a target to obtain an optimum motion parameter based on the speed planning curve model and according to the constraint condition; and generating a target speed planning curve according to the optimal motion parameters.
In a second aspect, the present invention provides a speed planning apparatus, comprising: the track model building module is used for building a track model according to the time sequence and setting constraint conditions; the track model comprises a tail end track, and at least one of final motion parameters corresponding to the tail end track is nonzero; the speed planning curve model establishing module is used for establishing a speed planning curve model; and the processing module is used for solving by taking time optimum as a target to obtain an optimum motion parameter based on the speed planning curve model and according to the constraint condition, and generating a target speed planning curve according to the optimum motion parameter.
In a third aspect, the present invention provides a control system comprising: a processor and a memory; the memory is configured to store a computer program and the processor is configured to execute the computer program stored by the memory to cause the control system to perform the speed planning method.
In a fourth aspect, the invention provides a robot comprising the control system.
In a fifth aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the speed planning method.
With reference to any one of the above aspects, in a possible implementation manner, the motion parameters include acceleration and speed, and the trajectory model includes a slope acceleration section, a uniform velocity section, and a slope deceleration section, where:
the ramp acceleration section may include the following trajectories in time order:
1)t∈[t0,t1]uniformly applying acceleration segments, acceleration from an initial value a0Adding acceleration to actual allowable maximum acceleration value A'maxVelocity from an initial value v0Continuously increasing, the trajectory of this segment is expected to be ta 1;
2)t∈[t1,t2]a uniform acceleration section, acceleration being maintained at said actual allowable maximum acceleration value A'maxThe speed is continuously accelerated, and the predicted use time of the track of the section is tca;
3)t∈[t2,t3]a homodyne acceleration segment, acceleration being from said actual allowable maximum acceleration value A'maxDeceleration acceleration to 0, speed continuously increasing to the actual allowable maximum speed value V'maxThe segment of the trajectory is expected to be ta 2; order toThe predicted time of the track of the slope acceleration section is tramp_up，tramp_up＝ta1+tca+ta2；
The uniform speed segment may include the following tracks in time order:
4)t∈[t3,t4]in the constant speed section, the acceleration is kept at 0, and the speed is kept at the actually allowed maximum speed value V'maxThe segment of the trajectory is expected to be tcv;
the slope deceleration section comprises the following tracks:
5)t∈[t4,t5]a homogenous deceleration acceleration section for decelerating acceleration from 0 to an actually allowable maximum deceleration value-D 'max, from which the speed is V'maxContinuously decelerating, wherein the track of the segment is predicted to be td 1;
6)t∈[t5,t6]a uniform deceleration section, wherein the acceleration is kept at the actually allowed maximum deceleration value-D' max, the speed is continuously decelerated, and the track of the section is predicted to be used for tcd;
7)t∈[t6,t7]a uniform acceleration section, wherein the acceleration is uniformly accelerated from the actually allowed maximum deceleration value-D' max to a1, the speed is decelerated to v1, and the track of the section is predicted to be td 2; let the predicted time of the track of the slope deceleration section be tramp_down，tramp_down＝td1+tcd+td2；
The final motion parameters corresponding to the tail end track are an acceleration value a1 and a speed value v1 in the track 7), wherein the acceleration value a1 is not equal to 0, and the speed value v1 is not equal to 0.
With reference to any one of the above aspects, in a possible implementation manner, the constraint conditions include a start-stop constraint condition, a preset constraint condition, and an actual constraint condition, and include:
the start-stop constraint conditions include:
wherein, toFor the start time of the trajectory model, s (t)0)，Respectively representing a track length value, a speed value and an acceleration value corresponding to the starting moment; t is tfS (t) is the termination time of the trajectory modelf)，Respectively representing the length value, the speed value and the acceleration value of the track corresponding to the termination time, wherein S is the length of the full track;
the preset constraint conditions comprise:
wherein, the Vmax，Amax，Dmax，JmaxRespectively setting a preset maximum speed value, a maximum acceleration value, a maximum deceleration value and a maximum acceleration value;
the actual constraints include:and ta1, tca, ta2, tcv, td1, tcd, td2 is more than or equal to 0;
wherein, the V'max，A′max，D′maxThe maximum speed value, the maximum acceleration value and the maximum deceleration value which can be reached by the model object of the track model in actual motion are respectively; the ta1, tca, ta2, tcv, td1, tcd, td2 are the predicted time of use of each segment track.
With reference to any one of the above aspects, in one possible implementation, a speed planning curve model is established according to the trajectory model; merging roots based on the velocity planning curve modelAccording to the constraint conditions, solving by taking time optimization as a target to obtain an optimal motion parameter, which specifically comprises the following steps: solving preset time respectively corresponding to the slope acceleration section, the constant speed section and the slope deceleration section, wherein the sum of the preset time is the total time consumption of the full track; establishing a corresponding objective function by taking the total time consumption minimum of the full track as a target so as to solve the optimal parameter; wherein the optimum parameter comprises a maximum speed value V'maxMaximum acceleration value A'maxAnd a maximum deceleration value D'max。
With reference to any one of the foregoing aspects, in a possible implementation manner, the solving of the preset times corresponding to the slope acceleration section, the constant speed section, and the slope deceleration section respectively, where a sum of the preset times is a total time consumption of a full trajectory specifically includes: the preset time corresponding to each track in the slope acceleration section is respectively ta1, tca and ta2, and the preset time corresponding to the slope acceleration section is tramp_upTa1+ tca + ta 2; wherein:
the preset time corresponding to each track in the slope deceleration section is td1, tcd and td2 respectively, and the preset time corresponding to the slope deceleration section is tramp_downTd1+ tcd + td 2; wherein:
at a constant speedThe preset time for the segment tcv is:wherein: s is the total length of the full track, Sa is the track length of the slope acceleration section, Sd is the track length of the slope deceleration section, and the Sa and Sd are as follows:
the Pa1, the Pa2, the Pd1 and the Pd2 are track lengths corresponding to the preset times ta1, ta2, td1 and td2 respectively.
With reference to any one of the above aspects, in a possible implementation manner, establishing a corresponding objective function to solve the optimal parameter with a goal of minimizing the total time consumption of the full trajectory, specifically includes:
the objective function includes: min f ═ tramp1+tramp2+tcv(ii) a Wherein f is the total time consumption corresponding to the full track, and minf minimum total time consumption;
the start-stop constraint condition, the preset constraint condition and the actual constraint condition can be summarized as the following comprehensive constraint conditions:
and solving the optimal motion parameter according to the objective function and the comprehensive constraint condition: maximum speed value V'maxMaximum acceleration value A'maxAnd a maximum deceleration value D'max。
With reference to any one of the above aspects, in one possible implementation manner, the trajectory model includes an S-shaped trajectory model, the speed planning curve model includes an S-shaped speed planning curve model, and the target speed planning curve includes an S-shaped target speed planning curve.
As described above, the speed planning method, system, control system, robot, and storage medium according to the present invention have the following advantageous effects: the final speed value v1 and the final acceleration value a1 are all non-zero parameters, so that an S-shaped speed curve model from a non-zero state to a non-zero state is established. Therefore, when the speed planning curve is established, the speed planning can be carried out on the path segment in any starting and ending state without being limited by the starting and ending parameter values of the path segment. Moreover, the invention can cover all branch paths in the S-type acceleration and deceleration process, thereby greatly improving the application range. Finally, the speed planning method provided by the invention does not need to distinguish whether the speed is firstly constrained or the acceleration is firstly constrained, thereby greatly simplifying the modeling process and helping a user to improve the working efficiency.
Drawings
Fig. 1 is a schematic diagram of a speed planning method according to an embodiment of the invention.
FIG. 2 is a diagram illustrating an S-shaped trajectory model according to an embodiment of the invention.
Fig. 3 is a schematic diagram of a speed planning apparatus according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a control system according to an embodiment of the invention.
Description of the element reference numerals
31 track model building module
32 speed planning curve model building module
33 processing module
41 processor
42 memory
43 display
44 input device
45 bus
S101 to S104
Line marked from L1 to L8
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the term "and" referred to herein in addition to the logical connector "and" is only one kind of association relationship describing the associated object, and means that there may be three relationships, for example, a and B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. When the present application refers to the ordinal numbers "first", "second", "third" or "fourth", etc., it should be understood that this is done for differentiation only, unless it is clear from the context that the order is actually expressed.
In addition, the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, number and proportion of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
The invention provides a speed planning method, a speed planning system, a control system, a robot and a storage medium, which are used for moving devices such as robots and the like, and plan a speed curve for the moving devices so as to reduce the speed jump of the moving devices and ensure the smooth track of the moving devices. It should be noted that the speed planning curve referred to in the present invention may be an S-shaped planning curve or a T-shaped planning curve, which is not limited to this.
Fig. 1 shows a schematic diagram of a speed planning method according to an embodiment of the invention. The speed planning method is used for establishing a speed planning curve suitable for a non-zero state to a non-zero state. The method specifically comprises the following steps:
s101: establishing a track model according to a time sequence and setting constraint conditions; the track model comprises a terminal track, and at least one of final motion parameters corresponding to the terminal track is nonzero.
Specifically, the trajectory model may be divided into a ramp acceleration section, a constant velocity section, and a ramp deceleration section in time order. Wherein, the ramp acceleration section can be further subdivided into the following three stages:
1)t∈[t0,t1]uniformly applying acceleration segments, acceleration from an initial value a0Adding acceleration to actual allowable maximum acceleration value A'maxVelocity from an initial value v0Continuously increasing, the trajectory of this segment is expected to be ta 1;
2)t∈[t1,t2]a uniform acceleration section, acceleration being maintained at said actual allowable maximum acceleration value A'maxThe speed is continuously accelerated, and the predicted use time of the track of the section is tca;
3)t∈[t2,t3]a homodyne acceleration segment, acceleration being from said actual allowable maximum acceleration value A'maxDeceleration acceleration to 0, speed continuously increasing to the actual allowable maximum speed value V'maxThe segment trajectory is expected to be ta 2.
The uniform velocity segment comprises the following tracks:
4)t∈[t3,t4]in the constant speed section, the acceleration is kept at 0, and the speed is kept at the actually allowed maximum speed value V'maxThe segment trajectory is expected to be tcv.
The ramp deceleration section can be further subdivided into the following three stages:
5)t∈[t4,t5]a homogenous deceleration acceleration section for decelerating acceleration from 0 to an actually allowable maximum deceleration value-D 'max, from which the speed is V'maxContinuously decelerating, wherein the track of the segment is predicted to be td 1;
6)t∈[t5,t6]a uniform deceleration section, wherein the acceleration is kept at the actually allowed maximum deceleration value-D' max, the speed is continuously decelerated, and the track of the section is predicted to be used for tcd;
7) a uniform acceleration section, wherein the acceleration is uniformly accelerated from the actually allowed maximum deceleration value-D' max to a1, the speed is decelerated to v1, and the track of the section is predicted to be td 2; wherein, the acceleration value a1 is not equal to 0, and the velocity value v1 is not equal to 0.
To summarize, in the ramp-up section, the speed is from an initial value v0Continuously increasing to the actual allowable maximum speed value V'maxAcceleration value from initial value a0To the actual maximum acceleration value A'maxAnd then reduced to 0. The maximum speed V 'is kept in the uniform speed section'maxAnd is not changed. In the ramp deceleration section, the speed is from a maximum speed value V'maxContinuing to decrease to the final velocity value v1, the acceleration value changes from 0 to the final acceleration value a 1.
The actual allowed maximum speed value and the maximum acceleration value refer to the maximum values which can be actually reached by the modeling object in the moving process. Taking a robot as an example, the robot must have the maximum speed value and the maximum acceleration value which can be actually reached during the movement process due to the limitation of the movement performance.
Fig. 2 is a schematic diagram of an S-shaped trajectory model according to an embodiment of the invention. The figure has 4 curves with time as horizontal axis parameter, and the vertical axis parameters of the 4 curves are Jerk, Acceleration, Velocity, and track length. The Jerk is also called Jerk for describing the speed of acceleration change, and is a sudden change parameter.
The figure is marked with 8 dotted lines which are respectively: l1, L2, L3, L4, L5, L6, L7, and L8. Wherein, a space between L1 and L2 is a uniform acceleration section in the ramp acceleration section, and the corresponding time period is t e [ t ∈0,t1]In the track, the Jerk abruptly changes to a value of 100, Acceleration accelereration linearly increases from an initial value a0 to a maximum value of 20, and Velocity is in a continuously increasing state. A uniform acceleration section in the ramp acceleration section is defined between L2 and L3, and the corresponding time period is t e [ t ∈ [ [ t ]1,t2]In the track, the Jerk suddenly changes to a value of 0, the Acceleration Acceleration is kept unchanged at a maximum value of 20, and the Velocity is still in a continuously increasing state. A uniform reduction acceleration section in the ramp acceleration section is defined between L3 and L4, and the corresponding time period is t e [ t ∈ [ [ t ]2,t3]In the track, the Jerk is reversely suddenly changed to a value of-100, the Acceleration Acceleration is linearly reduced to a value of 0, and the Velocity is increased to a maximum value.
The constant speed section is arranged between L4 and L5, and the corresponding time section isFor said t e [ t ∈ [ ]3,t4]In the track, Jerk keeps a value of 0, Acceleration Accelation also keeps a value of 0, and Velocity keeps a maximum value.
A uniform reduction acceleration section of the slope deceleration section is arranged between L5 and L6, and the corresponding time period is t e [ t ∈4,t5]In the section of track, the Jerk suddenly changes to the value of-100, the Acceleration Acceleration linearly decreases to the reverse maximum value of-20, and the Velocity continuously decreases. A uniform deceleration section of the slope deceleration section is arranged between L6 and L7, and the corresponding time period is t e [ t ∈5,t6]In the track, the Jerk suddenly changes to a value of 0, the Acceleration Acceleration keeps a value of-20 unchanged, and the Velocity is continuously reduced. A uniform acceleration section of the slope deceleration section is arranged between L7 and L8, and the corresponding time period is t e [ t ∈6,t7]In the track, the Jerk suddenly changes to 100, the Acceleration accelereration increases to a final Acceleration value a1, and the Velocity continuously decreases to a final Velocity value v 1. It should be noted that the specific values of jerk, acceleration, and velocity used in the above embodiments are merely illustrative and are not limitations or limitations of the present invention.
It should be noted that in the velocity planning method provided by the present invention, the motion parameters corresponding to the termination state include non-zero parameters, and specifically, refer to the trajectory 7) uniform acceleration segment, and the final velocity value v1 and the final acceleration value a1 are both non-zero parameters, so as to implement establishment of an S-shaped velocity curve model from the non-zero state to the non-zero state. Therefore, when the speed planning curve is established, the speed planning can be carried out on the path segment in any starting and ending state without being limited by the starting and ending parameter values of the path segment. Moreover, the invention can cover all branch paths in the S-type acceleration and deceleration process, thereby greatly improving the application range. Finally, the speed planning method provided by the invention does not need to distinguish whether the speed is firstly constrained or the acceleration is firstly constrained, thereby greatly simplifying the modeling process and helping a user to improve the working efficiency.
Optionally, the constraint conditions mentioned in the method S101 include a start-stop constraint condition, a preset constraint condition, and an actual constraint condition, which are specifically as follows:
the start-stop constraint conditions include:
wherein, toFor the start time of the trajectory model, s (t)0)，Respectively representing a track length value, a speed value and an acceleration value corresponding to the starting moment; t is tfS (t) is the termination time of the trajectory modelf)，And respectively representing the length value, the speed value and the acceleration value of the track corresponding to the termination time, wherein S is the length of the full track. The full trajectory is the total length of the model object moving during the movement.
It should be noted that at least one of the final motion parameters corresponding to the end trajectory is non-zero. That is, the start-stop constraints may beAndare all set to be nonzero, can also beAndone of which is set to non-zero and the other to zero, which is not a limitation of the present invention.
The presettingThe constraint conditions include:
wherein, the Vmax，Amax，Dmax，JmaxThe maximum speed value, the maximum acceleration value, the maximum deceleration value and the maximum jerk value are preset respectively. The preset constraint condition refers to an instruction condition set for a model object, and for example, when a speed planning curve is calculated for a robot, constraints such as a speed instruction maximum value, an acceleration instruction maximum value, a deceleration maximum value, a jerk maximum value and the like can be preset for the robot, so that the control of a system is facilitated, and the robot is prevented from being damaged or the service life of the robot is prevented from being reduced due to too fast motion parameters.
The actual constraints include:and ta1, tca, ta2, tcv, td1, tcd, td2 is more than or equal to 0;
wherein, the V'max，A′max，D′maxThe maximum speed value, the maximum acceleration value and the maximum deceleration value which can be reached by the model object of the track model in actual motion are respectively; the ta1, tca, ta2, tcv, td1, tcd, td2 are the predicted time of use of each segment track.
S102: and establishing a speed planning curve model according to the track model.
Optionally, the speed planning curve model includes predicted use time of each section of track, that is, predicted use time ta1 of a uniform acceleration section, predicted use time tca of a uniform acceleration section, and predicted use time ta2 of a uniform deceleration section of the ramp acceleration section; predicted time of use tcv for the uniform velocity segment; and the predicted time td1 of the uniformly-decreasing acceleration section, the predicted time tcd of the uniformly-decreasing acceleration section and the predicted time td2 of the uniformly-increasing acceleration section of the slope deceleration section. Wherein the total expected time of the ramp acceleration section is: t is tramp_upTa1+ tca + ta2, ramp decelerationThe total expected time of use for a segment is: t is tramp_down＝td1+tcd+td2。
It should be noted that in the ramp acceleration section, the speed is from the initial v0Smooth acceleration to the actual maximum allowable speed V'maxThe specific algorithm of the predicted time and the total time of each track in the ramp acceleration section is as follows:
the specific algorithm of the predicted time and the total time of each track in the slope deceleration section is as follows:
setting the length of the full track as S, the track length of the slope acceleration section as Sa, and the track length of the slope deceleration section as Sd, then the track length of the uniform velocity section is: s- (Sa + Sd). Thus, the predicted time of use of the uniform velocity segmentThe specific algorithms of Sa and Sd are as follows:
the Pa1, the Pa2, the Pd1 and the Pd2 are track lengths corresponding to the preset times ta1, ta2, td1 and td2 respectively.
S103: and solving by taking time optimum as a target to obtain an optimum motion parameter based on the speed planning curve model and according to the constraint condition.
Optionally, the obtaining of the optimal motion parameter by solving with the time optimal as the target may include: and establishing a corresponding objective function by taking the total time consumption minimum of the full track S as a target so as to solve the optimal parameter. The optimum parameter comprises a maximum speed value V'maxMaximum acceleration value A'maxAnd a maximum deceleration value D'max。
Specifically, the total time consumption of the full trajectory S is the sum of the time consumption of the ramp acceleration section, the time consumption of the constant speed section, and the time consumption of the ramp deceleration section. And f represents the total time consumption of the full track S, the objective function is as follows:
min f＝tramp1+tramp2+tcv；
in addition, in order to solve the objective function minf, the start-stop constraint conditions, the preset constraint conditions and the actual constraint conditions are comprehensively arranged into the following nonlinear constraint conditions:
the obtained target function and the nonlinear constraint conditionThe optimal motion parameters are as follows: maximum speed value V'maxMaximum acceleration value A'maxAnd a maximum deceleration value D'max. Furthermore, according to the optimal motion parameters, the expected time consumption ta1, tca, ta2, tcv, td1, tcd and td2 corresponding to each section of track can be obtained through solving. It should be noted that, if the predicted time corresponding to any one of the seven tracks is zero, it indicates that the one track does not actually exist.
S104: and generating a target speed planning curve according to the optimal motion parameters. And outputting the state at a given moment according to an S-shaped curve speed planning equation to generate a speed planning curve. The speed planning curve comprises a jerk planning curve, an acceleration planning curve and a speed planning curve, so that the position, the speed, the acceleration and the jerk parameter information at any time can be obtained.
Fig. 3 is a schematic diagram of a speed planning apparatus according to an embodiment of the invention. The speed planning apparatus includes: a track model establishing module 31, configured to establish a track model according to a time sequence and set constraint conditions; the track model comprises a tail end track, and at least one of final motion parameters corresponding to the tail end track is nonzero; a speed planning curve model building module 32 for building a speed planning curve model; and the processing module 33 is configured to solve the optimal motion parameter by taking time optimal as a target based on the speed planning curve model and according to the constraint condition, and generate a target speed planning curve according to the optimal motion parameter.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the processing module 33 may be a separate processing element, or may be integrated into a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and a function of the processing module may be called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 4 is a schematic diagram of a control system according to an embodiment of the invention. The control system comprises a processor 41, a memory 42, a display 43, an input device 44 and a bus 45; the memory 42 is used for storing computer programs, the processor 41 is used for executing the computer programs stored in the memory 42 so as to enable the control system to execute the speed planning method, the display 43 is used for displaying the execution result of the processor 41, the input device 44 is used for inputting external information, and the bus 45 is used for information interaction among the processor 41, the memory 42, the display 43 and the input device 44.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The memory may include a Random Access Memory (RAM), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the integrated circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.
The invention also provides a robot comprising the control system, and the specific implementation mode of the robot is similar to that of the control system, so that the detailed description is omitted.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. Based on such understanding, the technical solutions in the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a VPN gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present invention.
The present invention also provides a computer program product comprising one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
In summary, in the velocity planning method, the velocity planning system, the velocity planning control system, the robot, and the storage medium provided by the present invention, the final velocity value v1 and the final acceleration value a1 are all non-zero parameters, so that an S-shaped velocity curve model from a non-zero state to a non-zero state is established. Therefore, when the speed planning curve is established, the speed planning can be carried out on the path segment in any starting and ending state without being limited by the starting and ending parameter values of the path segment. Moreover, the invention can cover all branch paths in the S-type acceleration and deceleration process, thereby greatly improving the application range. Finally, the speed planning method provided by the invention does not need to distinguish whether the speed is firstly constrained or the acceleration is firstly constrained, thereby greatly simplifying the modeling process and helping a user to improve the working efficiency. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (11)
1. A method of speed planning, comprising:
establishing a track model according to a time sequence and setting constraint conditions; the track model comprises a tail end track, and at least one of final motion parameters corresponding to the tail end track is nonzero;
establishing a speed planning curve model according to the track model;
solving by taking time optimum as a target to obtain an optimum motion parameter based on the speed planning curve model and according to the constraint condition;
and generating a target speed planning curve according to the optimal motion parameters.
2. The method of claim 1, wherein the final motion parameters comprise acceleration and velocity, and the trajectory model comprises a ramp-up segment, a uniform velocity segment, and a ramp-down segment, wherein:
the ramp acceleration section may include the following trajectories in time order:
1)t∈[t0,t1]uniformly applying acceleration segments, acceleration from an initial value a0Adding acceleration to actual allowable maximum acceleration value A'maxVelocity from an initial value v0Continuously increasing, the trajectory of this segment is expected to be ta 1;
2)t∈[t1,t2]a uniform acceleration section, acceleration being maintained at said actual allowable maximum acceleration value A'maxThe speed is continuously accelerated, and the predicted use time of the track of the section is tca;
3)t∈[t2,t3]a homodyne acceleration segment, acceleration being from said actual allowable maximum acceleration value A'maxDeceleration acceleration to 0, speed continuously increasing to the actual allowable maximum speed value V'maxThe segment of the trajectory is expected to be ta 2; let the predicted time of the ramp acceleration section trajectory be tramp_up，tramp_up＝ta1+tca+ta2；
The uniform velocity segment comprises the following tracks:
4)t∈[t3,t4]in the constant speed section, the acceleration is kept at 0, and the speed is kept at the actually allowed maximum speed value V'maxThe segment of the trajectory is expected to be tcv;
the ramp deceleration segment may include the following trajectory in chronological order:
5)t∈[t4,t5]a homogenous deceleration acceleration section for decelerating acceleration from 0 to an actually allowable maximum deceleration value-D 'max, from which the speed is V'maxContinuously decelerating, wherein the track of the segment is predicted to be td 1;
6)t∈[t5,t6]even decreaseThe acceleration is kept at the actually allowed maximum deceleration value-D' max, the speed is continuously decelerated, and the track of the section is predicted to be used as tcd;
7)t∈[t6,t7]a uniform acceleration section, wherein the acceleration is uniformly accelerated from the actually allowed maximum deceleration value-D' max to a1, the speed is decelerated to v1, and the track of the section is predicted to be td 2; let the predicted time of the track of the slope deceleration section be tramp_down，tramp_down＝td1+tcd+td2；
The final motion parameters corresponding to the tail end track are an acceleration value a1 and a speed value v1 in the track 7), wherein the acceleration value a1 is not equal to 0, and the speed value v1 is not equal to 0.
3. The method of claim 2, wherein the constraints comprise start-stop constraints, preset constraints, and actual constraints, comprising:
the start-stop constraint conditions include:
wherein, toFor the start time of the trajectory model, s (t)0)，Respectively representing a track length value, a speed value and an acceleration value corresponding to the starting moment; t is tfS (t) is the termination time of the trajectory modelf)，Respectively representing the length value, the speed value and the acceleration value of the track corresponding to the termination time, wherein S is the length of the full track;
the preset constraint conditions comprise:
wherein,the V ismax，Amax，Dmax，JmaxRespectively setting a preset maximum speed value, a maximum acceleration value, a maximum deceleration value and a maximum acceleration value;
the actual constraints include:and ta1, tca, ta2, tcv, td1, tcd, td2 is more than or equal to 0;
wherein, the V'max，A′max，D′maxThe maximum speed value, the maximum acceleration value and the maximum deceleration value which can be reached by the model object of the track model in actual motion are respectively; the ta1, tca, ta2, tcv, td1, tcd, td2 are the predicted time of use of each segment track.
4. A method according to claim 3, characterized by establishing a velocity planning curve model from the trajectory model; solving by taking time optimum as a target to obtain an optimal motion parameter based on the speed planning curve model and according to the constraint condition, and specifically comprising the following steps of:
solving preset time respectively corresponding to the slope acceleration section, the constant speed section and the slope deceleration section, wherein the sum of the preset time is the total time consumption of the full track;
establishing a corresponding objective function by taking the total time consumption minimum of the full track as a target so as to solve the optimal parameter; wherein the optimum parameter comprises a maximum speed value V'maxMaximum acceleration value A'maxAnd a maximum deceleration value D'max。
5. The method according to claim 4, wherein the solving of the preset times corresponding to the slope acceleration section, the constant speed section and the slope deceleration section respectively, and the sum of the preset times being the total time consumption of the full trajectory specifically includes:
the preset time corresponding to each track in the slope acceleration section is ta1. tca and ta2, the preset time corresponding to the ramp acceleration section is tramp_upTa1+ tca + ta 2; wherein:
the preset time corresponding to each track in the slope deceleration section is td1, tcd and td2 respectively, and the preset time corresponding to the slope deceleration section is tramp_downTd1+ tcd + td 2; wherein:
the preset time tcv of the uniform velocity segment is as follows:wherein: s is the total length of the full track, Sa is the track length of the slope acceleration section, Sd is the track length of the slope deceleration section, and the Sa and Sd are as follows:
the Pa1, the Pa2, the Pd1 and the Pd2 are track lengths corresponding to the preset times ta1, ta2, td1 and td2 respectively.
6. The method according to claim 4, wherein aiming at the minimum total time consumption of the full trajectory, establishing a corresponding objective function to solve the optimal parameter specifically comprises:
the objective function includes: min ═ tramp1+tramp2+tcv(ii) a Wherein f is the total time consumption corresponding to the full track, and minf minimum total time consumption;
the start-stop constraint condition, the preset constraint condition and the actual constraint condition can be summarized as the following comprehensive constraint conditions:
and solving the optimal motion parameter according to the objective function and the comprehensive constraint condition: maximum speed value V'maxMaximum acceleration value A'maxAnd a maximum deceleration value D'max。
7. The method of any of claims 1-6, wherein the trajectory model comprises an S-shaped trajectory model, the speed profile model comprises an S-shaped speed profile model, and the target speed profile comprises an S-shaped target speed profile.
8. A speed planning apparatus, comprising:
the track model building module is used for building a track model according to the time sequence and setting constraint conditions; the track model comprises a tail end track, and at least one of final motion parameters corresponding to the tail end track is nonzero;
the speed planning curve model establishing module is used for establishing a speed planning curve model;
and the processing module is used for solving by taking time optimum as a target to obtain an optimum motion parameter based on the speed planning curve model and according to the constraint condition, and generating a target speed planning curve according to the optimum motion parameter.
9. A control system, comprising: a processor and a memory;
the memory for storing a computer program, the processor for executing the computer program stored by the memory to cause the control system to perform the speed planning method according to any one of claims 1 to 7.
10. A robot characterized by comprising a control system according to claim 9.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the speed planning method according to any one of claims 1 to 7.
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