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Moving target dynamic tracking method, system and device based on S-curve acceleration and deceleration

A tracking device and dynamic tracking technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., to achieve the effect of improving tracking efficiency, ensuring accuracy, good dynamic performance and grasping efficiency

Active Publication Date: 2018-02-09
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Aiming at the deficiencies in the prior art and solving the problem of how to effectively and dynamically track the moving target and improve the tracking efficiency in the prior art, the present invention provides a dynamic tracking method, system and device for a moving target based on S-curve acceleration and deceleration, which is effective Realize the dynamic tracking of the moving target, make full use of the working space of the tracking device, dynamically track the moving target based on the principle of the shortest time, and have good dynamic performance and tracking efficiency

Method used

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  • Moving target dynamic tracking method, system and device based on S-curve acceleration and deceleration

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Embodiment 1

[0078] The purpose of Embodiment 1 is to provide a dynamic tracking method for a moving target based on S-curve acceleration and deceleration.

[0079] In order to achieve the above object, the present invention adopts the following technical scheme:

[0080] Such as figure 1 as shown,

[0081] A method for dynamic tracking of a moving target based on S-curve acceleration and deceleration, the method comprising:

[0082] Obtain the initial position of the target object and the initial position of the tracking device at the same time, predict the meeting point where the tracking device tracks the target object, and build a geometric model; divide the working area of ​​the tracking device according to the S-curve acceleration and deceleration algorithm, and calculate the initialization parameters of the working area;

[0083] Judging the relationship between the trajectory of the target object and the initial position of the tracking device, determining the working area of ​​t...

Embodiment 2

[0242] The purpose of Embodiment 2 is to provide a dynamic tracking method for a moving target based on S-curve acceleration and deceleration. Based on the basis of Embodiment 1, this embodiment adds a method for solving the dynamic tracking equation.

[0243] The dynamic tracking equation in the working area of ​​the tracking device can be analyzed by using a physical model and solved by a numerical analysis method; the solvability analysis of the dynamic tracking equation is a physical problem, and because the equations (11), (20), (29), (51) The situation is complicated, and it is difficult to analyze the monotonicity of the interval and the distribution of the solution only from the mathematical point of view. In order to analyze the uniqueness of the solution in the interval, this embodiment proposes a method based on actual work. The monotonicity of each equation in the value range is analyzed by using the simplified physical model and the S-curve displacement time graph...

Embodiment 3

[0263] The purpose of Embodiment 3 is to provide a computer-readable storage medium.

[0264] In order to achieve the above object, the present invention adopts the following technical scheme:

[0265] A computer-readable storage medium, in which a plurality of instructions are stored, and the instructions are suitable for being loaded by a processor of a terminal device and performing the following processing:

[0266] Obtain the initial position of the target object and the initial position of the tracking device at the same time, predict the meeting point where the tracking device tracks the target object, and build a geometric model; divide the working area of ​​the tracking device according to the S-curve acceleration and deceleration algorithm, and calculate the initialization parameters of the working area;

[0267] Judging the relationship between the trajectory of the target object and the initial position of the tracking device, determining the working area of ​​the ...

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Abstract

The invention relates to a moving target dynamic tracking method, system and device based on S-curve acceleration and deceleration. The method comprises the steps as follows: the initial positon of atarget object and the initial positon of the tracking device at the same time are acquired, the meeting point positon where the tracking device tracks the target object is predicted, and a geometric model is built; working areas of the tracking device are divided according to the S-curve acceleration and deceleration algorithm, and initialization parameters of the working areas are calculated; therelation between the moving track of the target object and the initial positon of the tracking device is judged, and the working areas, where the moving track of the target object passes, of the tracking device are determined; and dynamic tracking equations of the different working areas of the tracking device are built according to the geometric model and are solved on the basis of the shortestoverall time principle for dynamic tracking. According to the method, the system and the device, the working space of a robot is fully utilized, workpieces on a conveying belt are tracked dynamicallyon the basis of the shortest time principle, and the method, the system and the device have the good dynamic performance and grasping efficiency.

Description

technical field [0001] The invention belongs to the technical field of computer numerical control system motion control, and in particular relates to a dynamic tracking method, system and device for a moving target based on S-curve acceleration and deceleration. Background technique [0002] A common application field of robots is the tracking of moving objects to realize applications such as grasping, packaging, and sorting. For example, in robot sorting, applying the DELTA parallel manipulator to the visual sorting system can significantly improve production efficiency and enhance the robot's environmental adaptability. However, an efficient and reasonable grabbing mode is the prerequisite for the normal work of the visual sorting system. [0003] A typical visual sorting system includes the following devices: robots, linear conveyors, vision systems and workpieces. The conveyor belt is linearly transported from the upstream direction to the downstream direction at a con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1605B25J9/163B25J13/00
Inventor 张承瑞倪鹤鹏陈齐志姬帅刘亚男胡天亮
Owner SHANDONG UNIV
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